基本介紹
- 書名：飛行控制系統的自癒合控制
- 作者：陳復揚,王瑾
- ISBN：9787121331718
- 頁數：204
- 開本：16開
圖書信息,內容簡介,圖書目錄,
圖書信息
作 譯 者：陳復揚,王瑾
出版時間：2017-12 千 字 數：285
版 次：01-01 頁 數：204
開 本：16開
裝 幀：
I S B N ：9787121331718
內容簡介
本書主要介紹自癒合控制概念的起源與研究現狀，著重描述飛行控制系統的自癒合控制的新方法。針對三自由度雙旋翼直升機，以狀態觀測器技術為基礎研究了三自由度雙旋翼直升機在發生執行器故障時的故障診斷方法，為自癒合控制策略設計提供準確的故障診斷結果；針對發生驅動器故障的四旋翼直升機，基於自適應控制理論，介紹了三種針對四旋翼直升機的自癒合控制方法；針對飛行器發生多故障情形，介紹了三種多故障自癒合控制設計方法。數字仿真及半物理仿真結果表明，這些研究結果可增強機載控制自癒合性，從而保證航空器在故障和損傷等惡劣條件下的安全飛行。
圖書目錄
第1 章 緒論 ················································································································ 1
1.1 自癒合控制的研究背景 ··························································································· 1
1.2 國內外研究現狀 ······································································································· 2
1.3 最新研究成果 ·········································································································· 6
第2 章 基於觀測器設計的雙旋翼直升機故障診斷方法 ····················································· 9
2.1 引言 ····················································································································· 9
2.2 雙旋翼直升機控制系統建模及半物理仿真平台 ·················································· 10
2.2.1 縱列式雙旋翼直升機 ················································································· 10
2.2.2 雙旋翼直升機半物理仿真平台·································································· 13
2.3 基於自適應觀測器的多執行器卡死故障診斷 ······················································ 22
2.3.1 執行器卡死故障系統描述 ········································································· 22
2.3.2 魯棒快速自適應故障估計方法·································································· 23
2.3.3 多模型故障診斷方法 ················································································· 26
2.3.4 仿真與分析 ································································································ 29
2.4 基於自適應滑模觀測器的執行器時變故障診斷 ·················································· 34
2.4.1 系統描述 ···································································································· 35
2.4.2 基於自適應滑模觀測器的故障診斷方法 ·················································· 36
2.4.3 仿真與分析 ································································································ 39
2.5 相對階大於1 的非線性系統執行器故障診斷 ······················································ 44
2.5.1 微分幾何基本知識 ····················································································· 44
2.5.2 三自由度雙旋翼直升機非線性模型分析 ·················································· 45
2.5.3 基於構造輔助輸出的執行器故障診斷 ······················································ 46
2.5.4 仿真分析 ···································································································· 50
2.6 本章小結 ················································································································ 53
第3 章 基於自適應控制的雙旋翼直升機多故障自癒合控制 ··········································· 54
3.1 引言 ····················································································································· 54
3.2 三自由度雙旋翼直升機改進模型 ········································································· 55
3.3 基於自適應控制的多故障自癒合控制器設計 ······················································ 58
3.4 仿真驗證及結果分析 ····························································································· 60
3.5 本章小結 ················································································································ 63
第4 章 含有未知參數的四旋翼直升機多故障自癒合控制 ··············································· 64
4.1 引言 ··················································································································· 64
4.2 四旋翼直升機動力學模型 ····················································································· 66
4.3 聯級控制系統基本控制器設計 ············································································· 67
4.4 針對執行器部分失效故障的滑模自癒合控制器設計 ·········································· 71
4.5 針對未知參數的自適應容錯控制器設計 ······························································ 75
4.6 各控制器間的時間尺度分析 ················································································· 77
4.7 仿真驗證及結果分析 ····························································································· 78
4.8 本章小結 ················································································································ 84
第5 章 基於前饋補償和直接自適應的四旋翼直升機自癒合控制 ··································· 85
5.1 引言 ···················································································································· 85
5.2 四旋翼直升機控制系統與問題描述 ······································································ 86
5.3 自癒合控制方案設計 ····························································································· 87
5.3.1 內環基礎控制律設計 ················································································· 87
5.3.2 直接自適應重構控制器設計 ····································································· 87
5.3.3 前饋補償器設計 ························································································· 90
5.4 系統仿真驗證與分析 ····························································································· 92
5.5 本章小結 ················································································································ 95
第6 章 基於組合多模型的四旋翼直升機自癒合控制 ······················································· 96
6.1 引言 ················································································································· 96
6.2 飛行控制系統問題描述 ························································································· 97
6.3 自癒合控制系統設計 ····························································································· 98
6.3.1 參考模型最佳化設計 ····················································································· 98
6.3.2 自適應重構控制律設計 ············································································· 99
6.3.3 多模型集建立及控制器設計 ··································································· 101
6.4 系統仿真驗證與分析 ··························································································· 104
6.5 本章小結 ·············································································································· 108
第7 章 基於H 故障觀測器的四旋翼直升機自癒合控制 ·············································· 109
7.1 引言 ··············································································································· 109
7.2 控制系統及故障描述 ··························································································· 110
7.3 自癒合控制系統設計 ··························································································· 111
7.3.1 帶故障補償項的自適應控制律設計 ························································ 111
7.3.2 H 故障觀測器設計 ················································································ 114
7.4 系統仿真驗證與分析 ··························································································· 117
7.5 本章小結 ·············································································································· 120
第8 章 基於反步控制與干擾觀測器的四旋翼無人機自癒合控制 ································· 121
8.1 引言 ·················································································································· 121
8.2 帶干擾塊的四旋翼無人機數學模型 ···································································· 122
8.3 非線性干擾觀測器設計 ······················································································· 127
8.4 反步控制器設計 ··································································································· 130
8.4.1 反步控制相關知識 ··················································································· 130
8.4.2 欠驅動系統的反步設計 ··········································································· 135
8.4.3 全驅動系統的反步設計 ··········································································· 138
8.4.4 反步輸入控制 ··························································································· 139
8.4.5 反步控制器的容錯設計 ··········································································· 140
8.5 仿真驗證及結果分析 ··························································································· 142
8.6 本章小結 ·············································································································· 147
第9 章 四旋翼無人機的魯棒反步滑模控制設計 ···························································· 148
9.1 引言 ··················································································································· 148
9.2 四旋翼無人機數學模型 ······················································································· 149
9.3 姿態角系統軌跡跟蹤滑模控制設計 ···································································· 150
9.3.1 滑模控制相關知識 ··················································································· 150
9.3.2 姿態角滑模跟蹤控制設計 ······································································· 154
9.4 位置軌跡跟蹤的反步滑模控制設計 ···································································· 157
9.5 仿真驗證及結果分析 ··························································································· 164
9.6 本章小結 ·············································································································· 167
第10 章 高超聲速飛行器的多故障魯棒自適應控制 ······················································ 168
10.1 引言 ··················································································································· 168
10.2 高超聲速飛行器的非線性縱向模型 ·································································· 169
10.3 針對完全失效故障的自適應觀測器設計 ·························································· 171
10.4 針對緩變故障和模型不確定性的支持向量機補償控制器設計 ······················· 174
10.5 仿真驗證及結果分析 ························································································· 178
10.6 本章小結 ············································································································ 182
參考文獻 ·····························································································183
