上海交通大学学报(自然版) ›› 2017, Vol. 51 ›› Issue (2): 157-.

• 航空、航天 • 上一篇    下一篇

多螺旋桨浮空器的抗饱和控制器设计

刘芬,陈丽,段登平   

  1. 上海交通大学  航空航天学院, 上海 200240
  • 出版日期:2017-02-28 发布日期:2017-02-28
  • 基金资助:

    国家自然科学基金项目(11272205, 61175074)资助

Anti-Windup Controller Design for a Multi-Propeller Aerostat

LIU Fen,CHEN Li,DUAN Dengping   

  1. School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, China
  • Online:2017-02-28 Published:2017-02-28

摘要:

针对执行机构受不对称约束的多螺旋桨浮空器,采用直接法和间接法设计了抗饱和控制器,通过线性变换将不对称约束转换为对称约束,利用广义扇形条件处理饱和非线性,采用2次Lyapunov方程分析饱和受限闭环系统的L2性能,给出了基于线性矩阵不等式(LMI)的综合条件,并将抗饱和控制器设计转化为LMI的凸优化求解问题,采用现有的YALMIP工具箱进行求解,分别给出采用直接法和间接法设计的抗饱和稳定控制器的仿真结果,以验证2种控制器设计方法的有效性.

关键词:  , 多螺旋桨浮空器, 控制器, 不对称约束, 抗饱和, 线性矩阵不等式

Abstract:

 Two controller design methods,  direct method and indirect method, are used to design antiwindup controller for the multipropeller aerostat with asymmetric actuator constraints. A linear transformation is applied to transfer the asymmetric constraint into a symmetric one. As a result, the generalized sector condition is used to deal with the saturation nonlinearity. By using a quadratic Lyapunov function, linear matrix inequality (LMI) based synthesis condition is presented to address the problem of L2 performance analysis of the saturation constraint closedloop system. The indirect method and the direct method are applied to design controller. The solution of the controller is transformed to a convex optimization expressed in a LMI form and solved by YALMIP toolbox. Finally, simulation results of the direct method and the indirect method show their effectiveness.

Key words: multi-propeller aerostat, controller, asymmetric constraints, anti-windup;linear matrix inequality (LMI)

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