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控制分配解决给定的控制输入指令到各个可用的执行机构的分配问题。现有的控制分配算法忽略了执行机构的动态性,假设执行机构偏转与力矩之间为静态关系,通常执行机构动态性被忽略的原因是执行机构的带宽远远比飞行器的带宽大得多。然而忽略控制分配器与执行机构交互影响可能会有严重的后果。文中将控制分配问题转化为有约束的二次规划问题,并将二次规划问题转化为基于线性矩阵不等式的动态控制分配问题。通过与传统的静态控制分配方法对比分析,本文提出的方法可以显著提高飞行器控制分配模块的有效性与精度,从而提高了飞行器姿态控制系统的有效性与精度。
Control Assignment Assigns a given control input command to each available actuator assignment. The existing control distribution algorithm ignores the dynamics of the actuator. Assuming that the actuator deflection and torque are static, the reason that actuator dynamics are usually neglected is that the actuator bandwidth is far greater than the bandwidth of the aircraft. However, ignoring the control distributor’s interaction with the actuator can have serious consequences. In this paper, the control assignment problem is transformed into a constrained quadratic programming problem, and the quadratic programming problem is transformed into a dynamic control assignment problem based on linear matrix inequality. Compared with the traditional static control allocation method, the proposed method can significantly improve the effectiveness and accuracy of the aircraft control distribution module, thus improving the effectiveness and accuracy of the aircraft attitude control system.