基于嵌套飽和的輸入約束浮空器非線性控制

孫丁山; 陳麗; 溫余彬; 段登平

doi:10.13374/j.issn2095-9389.2018.12.015

基于嵌套飽和的輸入約束浮空器非線性控制

doi: 10.13374/j.issn2095-9389.2018.12.015

1) 上海交通大學航空航天學院, 上海 200240
2) 上海工程技術大學航空運輸學院, 上海 201620

基金項目:

國家自然科學基金資助項目（61733017）；上海浦江人才計劃資助項目（18PJD018）

詳細信息

中圖分類號: V411
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出版歷程
- 收稿日期: 2017-11-13

Nonlinear control of aerostat with input constraints based on nested saturation

1) School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, China
2) School of Air Transportation, Shanghai University of Engineering Science, Shanghai 201620, China

摘要

摘要: 提出用嵌套飽和函數描述的控制律形式，可以同時解決速率和幅值約束的控制問題.建立浮空器的三自由度模型，將除螺旋槳推力外的其他作用力作為擾動項，進而把該系統化為類積分鏈式系統；基于嵌套飽和控制理論，研究了類積分鏈式系統的控制輸入幅值及速率約束與控制器飽和函數參數的關系；以浮空器為研究對象，進行縱向和橫向通道解耦控制器設計，實現控制系統輸入的幅值和速率有界.利用Lyapunov穩定性原理證明了系統的全局穩定性，分析了可調控制器參數對改善系統的動態性能的影響，在考慮風擾動的情況下，仿真驗證了控制器的有效性和魯棒性.
- 多螺旋槳組合浮空器 /
- 抗飽和控制器 /
- 嵌套飽和函數 /
- 幅值及速率約束 /
- 微分有界控制器
Abstract: The propellers of an aerostat are prone to both amplitude and rate saturations during the movement of the aerostat, thus affecting the stability and movement of the system. Generally, the conventional method of processing saturation can only handle the amplitude saturation of the system input, and the rate saturation problem is usually converted to an amplitude saturation problem, so it is a complex process. Therefore, it is worthwhile to study the control method that can simultaneously deal with amplitude and rate saturations. Some anti-windup compensator design methods can only be applied to linear systems, and some nonlinear anti-windup control methods for nonlinear systems require much online calculations to obtain the control law, which is not conducive to real-time control. Therefore, a novel control method was applied to the nonlinear research object. The nested saturation function could realize the bounded amplitude and differential of the input when used as a control law because of its specific form. Thus, it could be used to solve the amplitude and rate saturation problems in an aerostat system. This paper presented the design of an anti-windup controller for a nonlinear multi-propeller aerostat with amplitude and rate saturations of control input. First, the three-DOF model of the aerostat was established and transformed into two chain-like integral systems by taking forces other than propeller thrust as disturbances. Based on the theory of nested saturation control, the relationship between the amplitude and rate saturations of control inputs and the parameters of saturation function was obtained. Taking the aerostat as the research object, decoupled controller for longitudinal and lateral channels was designed to realize the bounded amplitude and rate of the system input. The global stability of the system was proved by the Lyapunov stability theorem, and the dynamic performance of the system was analyzed under different adjustable parameters. Considering the wind disturbance, the effectiveness and robustness of the controller was verified by simulations.
- multi-propeller aerostat /
- anti-windup controller /
- nested saturation function /
- amplitude and rate constraints /
- differential bounded controller

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參考文獻(18)

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