基于多模型MPC的变体飞机协调优化控制

doi:10.12305/j.issn.1001-506X.2023.09.30

摘要/Abstract

摘要：

针对变体飞机纵向动力学模型的变形机构、升降舵、发动机推力的协调优化控制问题, 基于多模型切换的模型预测控制方法, 建立了变体飞机的纵向动力学模型与气动模型, 并分析了其在不同状态和构型下的动力学特性。针对变体飞机纵向运动的平衡点转移问题, 基于小扰动线性模型设计了一种多模型切换的模型预测控制器。该控制器能够通过协调控制变形机构、发动机推力和升降舵优化飞行性能, 并保证了输入幅值和速率受限的条件下变体飞机的状态变量不超出预先设定的范围。然后, 给出了将控制器求解转换为二次规划的详细可行步骤。最后, 通过仿真验证了方法的有效性。

关键词: 多模态切换, 模型预测控制, 变体飞机, 协调控制, 约束控制

Abstract:

Based on the switching multi-mode model predictive control method, the coordinated optimal control of the morphing mechanism, elevator, and thrust of morphing aircraft in the cruise phase is explored. The longitudinal dynamic model and aerodynamic model of longitudinal morphing aircraft are established, and the dynamic characteristics of morphing aircraft under different flight conditions are analyzed. In view of the problem of the transfer between the equilibrium points in longitudinal movement, a multi-mode switching model predictive controller is proposed. This controller can optimize the flight performance by coordinating the morphing mechanism, engine thrust, and elevator, and ensure that the state variables of morphing aircraft do not exceed the preset range under the condition of limited input amplitude and rate. Then, the detailed and feasible solving steps and the method of transforming the optimization problem into quadratic programming are given. Finally, the simulation verifies the effectiveness of the method.

Key words: multi-mode switching, model predictive control, morphing aircraft, coordinated control, constrained control

中图分类号:

V24
TP273

徐文丰, 李颖晖, 裴彬彬, 禹志龙. 基于多模型MPC的变体飞机协调优化控制[J]. 系统工程与电子技术, 2023, 45(9): 2902-2911.

Wenfeng XU, Yinghui LI, Binbin PEI, Zhilong YU. Coordinated optimization control of morphing aircraft based on multi-model MPC[J]. Systems Engineering and Electronics, 2023, 45(9): 2902-2911.

图/表 6

图1

图2

图3

图4

图5

图6

参考文献 35

1	CHU L L , LI Q , GU F , et al. Design, modeling, and control of morphing aircraft: a review[J]. Chinese Journal of Aeronautics, 2022, 35 (5): 220- 246. doi: 10.1016/j.cja.2021.09.013
2	BARBARINO S , BILGEN O , AJAJ R M , et al. A review of morphing aircraft[J]. Journal of Intelligent Material Systems and Structures, 2011, 22 (9): 823- 877. doi: 10.1177/1045389X11414084
3	LI D C , ZHAO S W , DA-RONCH A , et al. A review of modelling and analysis of morphing wings[J]. Progress in Aerospace Sciences, 2018, 100, 46- 62. doi: 10.1016/j.paerosci.2018.06.002
4	CHENG H Y , DONG C Y , JIANG W L , et al. Non-fragile switched H-infinity control for morphing aircraft with asynchronous switching[J]. Chinese Journal of Aeronautics, 2017, 30 (3): 1127- 1139. doi: 10.1016/j.cja.2017.01.008
5	XU W , LI Y , LYU M , et al. Modeling and switching adaptive control for nonlinear morphing aircraft considering actuator dynamics[J]. Aerospace Science and Technology, 2022, 122, 107349. doi: 10.1016/j.ast.2022.107349
6	WANG Q , GONG L , DONG C Y , et al. Morphing aircraft control based on switched nonlinear systems and adaptive dynamic programming[J]. Aerospace Science and Technology, 2019, 93, 105325. doi: 10.1016/j.ast.2019.105325
7	YAN B B , LI Y , DAI P , et al. Aerodynamic analysis, dynamic modeling, and control of a morphing aircraft[J]. Journal of Aerospace Engineering, 2019, 32 (5): 04019058. doi: 10.1061/(ASCE)AS.1943-5525.0001047
8	JIANG W L , WU K S , WANG Z L , et al. Gain-scheduled control for morphing aircraft via switching polytopic linear parameter- varying systems[J]. Aerospace Science and Technology, 2020, 107, 106242. doi: 10.1016/j.ast.2020.106242
9	CAI G B , YANG Q , MU C X , et al. Design of linear parameter-varying controller for morphing aircraft using inexact scheduling parameters[J]. IET Control Theory and Applications, 2023, 17 (4): 493- 503. doi: 10.1049/cth2.12380
10	YUE T , ZHANG X Y , WANG L X , et al. Flight dynamic modeling and control for a telescopic wing morphing aircraft via asymmetric wing morphing[J]. Aerospace Science and Technology, 2017, 70, 328- 338. doi: 10.1016/j.ast.2017.08.013
11	郭建国, 吴林旭, 周军. 非对称变翼飞行器复合控制系统设计[J]. 宇航学报, 2018, 29 (1): 52- 59.
	GUO J G , WU L X , ZHOU J . Compound control system design for asymmetric morphing-wing aircraft[J]. Journal of Astronautics, 2018, 29 (1): 52- 59.
12	SUN L , HUO W , JIAO Z X . Adaptive backstepping control of spacecraft rendezvous and proximity operations with input saturation and full-state constraint[J]. IEEE Trans.on Industrial Electronics, 2017, 64 (1): 480- 492. doi: 10.1109/TIE.2016.2609399
13	QIAO H Y , MENG H , WANG M J , et al. Adaptive control for hypersonic vehicle with input saturation and state const-raints[J]. Aerospace Science and Technology, 2019, 84 (1): 107- 119.
14	FARRELL J, POLYCARPOU M, SHARMA M. Adaptive backstepping with magnitude, rate, and bandwidth constraints: aircraft longitude control[C]//Proc. of the IEEE American Control Conference, 2003: 3898-3904.
15	XU B , WANG S X , GAO D X , et al. Command filter based robust nonlinear control of hypersonic aircraft with magnitude constraints on states and actuators[J]. Journal of Intelligent and Robotic Systems, 2014, 73 (4): 233- 247.
16	BORRELLI F , BEMPORAD A , MORARI M . Predictive control for linear and hybrid systems[M]. New York: Cambridge University Press, 2013.
17	ZHANG X G , ZHANG L , ZHANG Y C . Model predictive current control for pmsm drives with parameter robustness improvement[J]. IEEE Trans.on Power Electronics, 2019, 34 (2): 1645- 1657. doi: 10.1109/TPEL.2018.2835835
18	MUHAMMAD D , AHMAD Z , AZIZ N . Low density polyethylene tubular reactor control using state space model predictive control[J]. Chemical Engineering Communications, 2021, 208 (4): 500- 516. doi: 10.1080/00986445.2019.1674816
19	LI H , FREI R , WENSING P M . Model hierarchy predictive control of robotic systems[J]. IEEE Robotics and Automation Letters, 2021, 6 (2): 3373- 3380.
20	GRIMM F , KOLAHIAN P , ZHANG Z B , et al. A sphere decoding algorithm for multistep sequential model-predictive control[J]. IEEE Trans.on Industry Applications, 2021, 57 (3): 2931- 2940. doi: 10.1109/TIA.2021.3060694
21	KHAC H N , MODABBERIAN A , STORM X , et al. Model predictive control for a multiple injection combustion model[J]. Open Engineering, 2021, 11 (1): 1134- 1140.
22	LI D , DE-SCHUTTER B . Distributed model-free adaptive predictive control for urban traffic networks[J]. IEEE Trans.on Control Systems Technology, 2022, 30 (1): 180- 192.
23	LI S Q , WANG H P , ZHANG S . Human-robot collaborative manipulation with the suppression of human-caused disturbance[J]. Journal of Intelligent and Robotic Systems, 2021, 102 (4): 1- 11.
24	FRANZE G , LUCIA W , TEDESCO F . Resilient model predictive control for constrained cyber-physical systems subject to severe attacks on the communication channels[J]. IEEE Trans.on Automatic Control, 2022, 67 (4): 1822- 1836.
25	刘富春, 高焕丽. 小型无人直升机的模型预测控制算法研究[J]. 控制理论与应用, 2018, 35 (10): 1538- 1545.
	LIU F C , GAO H L . Model predictive control for small-scale unmanned helicopte[J]. Control Theory and Applications, 2018, 35 (10): 1538- 1545.
26	高莘青, 马钊, 梁颖茜. 基于模型预测控制的直升机轨迹跟踪控制[J]. 计算机仿真, 2021, 38 (6): 31- 36.
	GAO X Q , MA Z , LIANG Y X . Trajectory tracking of unmanned helicopters based on model predictive control[J]. Computer Simulation, 2021, 38 (6): 31- 36.
27	MISRA G , BAI X L . Output-feedback stochastic model predictivecontrol for glideslope tracking during aircraft carrier landing[J]. Journal of Guidance Control and Dynamics, 2019, 42 (9): 2098- 2105.
28	韩维, 崔凯凯, 刘洁, 等. 基于自校正MPC的舰载机着舰控制技术[J]. 系统工程与电子技术, 2022, 44 (1): 250- 261.
	HAN W , CUI K K , LIU J , et al. Carrier landing control technology based on self-tuning MPC[J]. Systems Engineering and Electronics, 2022, 44 (1): 250- 261.
29	DOFF-SOTTA M , CANNON M , BACIC M . Predictive energy management for hybrid electric aircraft propulsion systems[J]. IEEE Trans.on Control Systems Technology, 2023, 31 (2): 602- 614.
30	QU S , ZHU G M , SU W H , et al. Linear parameter-varying-based transition flight control design for a tilt-rotor aircraft[J]. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2022, 236 (16): 3354.
31	DONG Z H , JIANG J J , LIU C J , et al. Economic model-predictive control for aircraft forced landing: framework and two-level implementation[J]. IEEE Trans.on Aerospace and Electronic Systems, 2022, 52 (2): 1119- 1132.
32	YU B , LI Z Y , KE H W , et al. Wide-range model predictive control for aero-engine transient state[J]. Chinese Journal of Aeronautics, 2022, 35 (7): 246- 260.
33	SEIGLER T. Dynamics and control of morphing aircraft[D]. Blacksburg: Virginia Polytechnic Institute and State University, 2005.
34	STEVENS B L , LEWIS F L . Aircraft control and simulation[M]. New York: Wiley, 2003.
35	FIORENTINI L , SERRANI A . Adaptive restricted trajectory tracking for a non-minimum phase hypersonic vehicle model[J]. Automatica, 2012, 48 (7): 1248- 1261.

[1]	张宏, 吴云华, 钟胜钧, 郭海波. 基于反步法的空间目标复合指向控制方法研究[J]. 系统工程与电子技术, 2023, 45(9): 2884-2893.
[2]	孙田野, 孙伟, 吴建军. 改进Quatre算法的无人机编队快速集结方法[J]. 系统工程与电子技术, 2022, 44(9): 2840-2848.
[3]	胥彪, 李翔, 李爽, 张金鹏. 基于非线性模型预测控制的火星大气进入智能制导方法[J]. 系统工程与电子技术, 2021, 43(7): 1943-1953.
[4]	王晓海, 孟秀云, 李传旭. 基于MPC的无人机航迹跟踪控制器设计[J]. 系统工程与电子技术, 2021, 43(1): 191-198.
[5]	杨宇, 吴达, 高峰, 邓建军. 适用于超低空拦截的复合制导律设计方法[J]. 系统工程与电子技术, 2021, 43(1): 208-215.
[6]	朱梦圆, 吕娜, 陈柯帆, 钟赟, 刘创, 高维廷. 航空集群协同搜索马尔可夫运动目标方法[J]. 系统工程与电子技术, 2019, 41(9): 2041-2047.
[7]	宋敏, 戴静, 孔韬. 基于NMPC的无人机自主防撞控制方法[J]. 系统工程与电子技术, 2019, 41(9): 2092-2099.
[8]	王超, 张胜修, 宋仔标, 杨建业, 吴晓露. 飞行器抗饱和鲁棒自适应非线性模型预测控制[J]. 系统工程与电子技术, 2018, 40(2): 393-400.
[9]	盖俊峰, 赵国荣, 宋超. 基于线性近似和神经网络逼近的模型预测控制[J]. 系统工程与电子技术, 2015, 37(2): 394-399.
[10]	唐贤伦，李洋，李鹏，张毅. 基于多Agent粒子群优化的多步SVR模型预测控制[J]. 系统工程与电子技术, 2014, 36(5): 958-964.
[11]	祁晓明, 魏瑞轩, 沈东, 茹常剑, 周欢. 基于运动目标预测的多无人机分布式协同搜索[J]. 系统工程与电子技术, 2014, 36(12): 2417-2425.
[12]	高晓光，李青原，邸若海. 基于DBN威胁评估的MPC无人机三维动态路径规划[J]. 系统工程与电子技术, 2014, 36(11): 2199-2205.
[13]	陈进东，潘丰. 基于在线支持向量机和遗传算法的预测控制[J]. Journal of Systems Engineering and Electronics, 2013, 35(6): 1275-1280.
[14]	遆晓光，郝创洲. 吸气式高超声速飞行器抗航迹姿态解耦控制[J]. Journal of Systems Engineering and Electronics, 2013, 35(5): 1045-1048.
[15]	陈孚, 赵光宙. 基于收缩序列集的约束PWA系统鲁棒预测控制[J]. Journal of Systems Engineering and Electronics, 2009, 31(5): 1176-1179.