论文部分内容阅读
运输机超低空空投重型货物是一个对控制精度要求较高的复杂技术过程。本文针对飞机-货物间约束力的理想特性,采用拉格朗日分析力学的第二类方程,建立了机-货两体系统的耦合动力学方程,比起牛顿矢量力学方法,受力分析和建模过程简洁方便。在定义飞机及货物状态变量的基础上,将上述方程组转化为状态空间描述。为了有效抵抗货物移动对运输机姿态的影响,基于现代鲁棒控制理论,设计了状态反馈H∞最优控制律。最后,对空投过程进行了无控和闭环控制两种条件下的数值仿真对比。结果显示,本文设计的H∞最优控制能有效抑制货物移动对运输机姿态的影响,改善了飞行品质,且控制量在工程允许的范围内,该控制律是有效的。
Transport aircraft ultra-low-altitude dropped heavy-duty cargo is a high precision control of complex technical process. In this paper, according to the ideal characteristics of the binding between aircraft and cargo, the second type of Lagrangian analytical mechanics is used to establish the coupled dynamic equations of the two-body system. Compared with Newtonian vector mechanics, Modeling process is simple and convenient. Based on the definition of aircraft and cargo state variables, the above equations are transformed into state space description. In order to effectively resist the influence of cargo movement on the attitude of the transporter, the state feedback H∞ optimal control law is designed based on the modern robust control theory. Finally, the numerical simulation of airdropping under both uncontrolled and closed-loop control conditions is carried out. The results show that the H∞ optimal control designed in this paper can effectively restrain the influence of cargo movement on the attitude of the transport aircraft and improve the flight quality. The control law is valid within the range allowed by the project.