Tilt rotor aircraft conversion control based on nonlinear model predictive control
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摘要:
提出一种基于降阶模型和光滑切换控制的非线性模型预测控制用于倾转旋翼机过渡机动。建立了倾转旋翼机的仿真模型和降阶的预测模型。在模型预测算法框架内采用降阶模型预测飞行器的后继状态，并结合速度和高度的光滑切换控制和分段短舱角速率控制策略推导了适用于倾转过渡的指令跟踪目标函数，在约束中考虑操纵行程、俯仰角速率和俯仰角限制。通过倾转走廊内的非动态倾转和动态倾转飞行仿真，分别验证该过渡控制对姿态、速率指令跟踪和动态倾转过渡的表现。结果表明：飞行器在不同短舱角的固有特性差异对控制器的跟踪性能影响小。在动态倾转飞行中，控制器辅以短舱控制策略让飞行器以较小的高度和光滑的俯仰姿态变化完成不同短舱速率的过渡过程，同时速度跟踪和横、航向姿态保持效果优。
Abstract:A nonlinear model predictive control based on a reduced order model and smooth switching control was proposed for the conversion maneuvering of tiltrotor aircraft. The simulation model and the reduced order prediction model of tiltrotor aircraft were established. In the framework of the model prediction algorithm, the reduced order model was used to predict the successor states of the vehicle. Combined with smooth switching control of speed and altitude, along with the nacelle control strategy of segmented nacelle tilting rate, the command tracking objective function suitable for transition maneuvering was derived. The control saturation, pitch angle rate, and pitch angle limits were considered in the constraints. The performance of the conversion control method on attitude and rate command tracking during different conversion phases and dynamic transition maneuvering was verified by flight simulations, respectively. Results showed that the inherent characteristics of aircraft at different nacelle angles had little impact on the tracking performance of the controller. In the conversion maneuvering, the controller and the nacelles control strategy enabled the aircraft to complete the conversion procedures with small altitude variation and smooth pitch attitude variation, and the speed tracking and the attitude holding of lateral and heading were excellent.
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图 3 倾转旋翼机过渡飞行控制闭环回路
Figure 3. Conversion flight control closed loop of tilt rotor aircraft
图 4 分段短舱角速率和固定短舱角速率短舱控制策略
Figure 4. Nacelle control strategies with segmented variable tilting rate and fixed tilting rate
图 5 直升机模式和过渡模式，NMPC控制器的姿态和速率指令跟踪对比结果
Figure 5. Attitude and rate command tracking comparison results of NMPC controller in helicopter and conversion modes
图 6 过渡模式和飞机模式，NMPC控制器的姿态和速率指令跟踪对比结果
Figure 6. Attitude and rate command tracking comparison results of NMPC controller in conversion and airplane modes
图 7 动态倾转过渡过程中状态量时间历程
Figure 7. Time history of states during dynamic tilting conversion process
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