变负载条件下多体折展机翼改进自抗扰控制方法

doi:10.16183/j.cnki.jsjtu.2024.208

上海交通大学学报 ›› 2024, Vol. 58 ›› Issue (11): 1762-1771.doi: 10.16183/j.cnki.jsjtu.2024.208

变负载条件下多体折展机翼改进自抗扰控制方法

韩一凡¹^,², 陈柏屹¹^,²(), 刘燕斌¹^,², 陈金宝¹^,²

1.南京航空航天大学航天学院,南京 211106
2.南京航空航天大学宇航空间机构全国重点实验室,南京 211106

收稿日期:2024-06-06 修回日期:2024-07-03 接受日期:2024-07-08 出版日期:2024-11-28 发布日期:2024-12-02
通讯作者: 陈柏屹,副研究员;E-mail:chenboyi1989@nuaa.edu.cn.
作者简介:韩一凡(2000—),硕士生,从事多体飞行器动力学建模与控制研究.
基金资助:
国家自然基金青年基金资助项目(62103187)

Improved Active Disturbance Rejection Control for Multibody Folding Wing Under Variable Loads

HAN Yifan¹^,², CHEN Boyi¹^,²(), LIU Yanbin¹^,², CHEN Jinbao¹^,²

1. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
2. National Key Laboratory of Aerospace Mechanism, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China

Received:2024-06-06 Revised:2024-07-03 Accepted:2024-07-08 Online:2024-11-28 Published:2024-12-02

摘要/Abstract

摘要：

针对多体折展机翼在协调倾转过程中受到气动负载变化、重力换向及受外部干扰的问题,提出基于双曲正切函数与调相补偿结合的改进自抗扰控制策略.通过拉格朗日方程,将单元翼的气动负载作用于质心处,并给出重力项随机体姿态角的偏置,从而建立多体折展机翼的动力学模型.设计改进自抗扰控制器实现折展机翼的期望角度轨迹的跟踪,并选取合理的控制器参数对关节振动进行抑制.仿真结果表明,改进自抗扰控制方法在变负载条件下可以有效实现轨迹跟踪和关节振动的抑制,并在受到外界扰动时具有更小的跟踪误差和更好的动态性能及鲁棒性.

关键词: 多体折展机翼, 拉格朗日法建模, 变负载, 自抗扰控制

Abstract:

To address the issue of multi-body folding wings being subjected to aerodynamic load changes, gravity reversal, and external disturbances during coordinated tilting, an improved active disturbance rejection control (ADRC) strategy based on the combination of hyperbolic tangent function and phase compensation is proposed. Using the Lagrange equation, the aerodynamic load on the unit wing is applied to the center of mass, and the offset of the gravity term with the attitude angle of the body is provided, thereby establishing the dynamic model of the multi-body folding wing. An improved ADRC controller is designed to track the desired angular trajectory of the folding wing, and appropriate controller parameters are selected to suppress joint vibration. The simulation results show that the improved ADRC method can effectively achieve trajectory tracking and joint vibration suppression under variable load conditions, and it demonstrates smaller tracking errors and better dynamic performance and robustness when subjected to external disturbances.

Key words: multi-body folding wing, Lagrange modeling, variable load, active disturbance rejection control (ADRC)

中图分类号:

韩一凡, 陈柏屹, 刘燕斌, 陈金宝. 变负载条件下多体折展机翼改进自抗扰控制方法[J]. 上海交通大学学报, 2024, 58(11): 1762-1771.

HAN Yifan, CHEN Boyi, LIU Yanbin, CHEN Jinbao. Improved Active Disturbance Rejection Control for Multibody Folding Wing Under Variable Loads[J]. Journal of Shanghai Jiao Tong University, 2024, 58(11): 1762-1771.

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变负载条件下多体折展机翼改进自抗扰控制方法

Improved Active Disturbance Rejection Control for Multibody Folding Wing Under Variable Loads

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