CAJ | 학술논문

针对大包线下变体飞行器在翼型快速变化过程中的姿态控制问题，提出了一种基于速度线性化的鲁棒线性变参数（linear parameter varying，LPV）控制方法。所提方法将状态量的微分增广至状态方程，得到系统任意状态下的线性化模型，解除了传统小扰动线性化方法要求系统处于平衡点邻域的限制。建立了具有凸多胞形式的变体飞行器 LPV 模型，给出了参数依赖鲁棒 H ∞状态反馈控制器存在的充分条件，依据顶点控制器和变参数进行凸插值得到鲁棒 LPV 控制器。仿真结果表明，设计的控制器在飞行器快速变形和参数大范围快速变化的情况下仍具有良好的控制性能和鲁棒性。
침대대포선하변체비행기재익형쾌속변화과정중적자태공제문제，제출료일충기우속도선성화적로봉선성변삼수（linear parameter varying，LPV）공제방법。소제방법장상태량적미분증엄지상태방정，득도계통임의상태하적선성화모형，해제료전통소우동선성화방법요구계통처우평형점린역적한제。건립료구유철다포형식적변체비행기 LPV 모형，급출료삼수의뢰로봉 H ∞상태반궤공제기존재적충분조건，의거정점공제기화변삼수진행철삽치득도로봉 LPV 공제기。방진결과표명，설계적공제기재비행기쾌속변형화삼수대범위쾌속변화적정황하잉구유량호적공제성능화로봉성。
The attitude control problem of morphing vehicles with alterable wings during fast morphing process is researched.A new robust linear parameter varying (LPV)controller using velocity-based lineariza-tion is presented to ensure flight stability and performance within full envelope.The velocity-based linearization associates a linear system with every operating point of a nonlinear system by augmented state vector.This ap-proach relaxes the slow variation restriction of the traditional method which is only fitted to equilibrium opera-ting points.The polytopic LPV model is established for the morphing vehicle.A sufficient condition is proposed to find the parameter-dependent robust H ∞ state feedback controller.The LPV controller can be obtained by in-terpolation using variable parameters and vertex controllers.The simulation results show that the proposed ap-proach can guarantee good robustness and control performance of the morphing vehicles during the fast resha-ping process within full flight envelope.