推力矢量飞机非线性飞行控制律设计研究
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摘要
推力矢量控制技术在战斗机上的应用，使战斗机有能力进入过失速飞行领域，使飞机的飞行包线得以扩展。推力矢量控制技术和过失速机动使战斗机的空战效能大大增加，引起了世界各国的关注。本文主要针对推力矢量飞机非线性飞行控制的理论和应用问题进行了一定的探索和研究，进行的主要工作有：
1、研究了推力矢量在飞机上的应用背景和收益，分析了现有推力矢量喷管的主要形式和特点，给出了推力矢量力、力矩的数学模型，并在此基础上推导了带三轴推力矢量飞机的非线性运动方程，为控制律的设计奠定基础。
2、对一般非线性系统，推导了一种综合运用非线性动态逆、自适应模糊逻辑系统和滑动模态控制进行控制律设计的方法。根据李亚普诺夫定理导出了参数的自适应调整规律，从而保证了闭环系统的稳定性和跟踪误差的收敛性。这种方法建立了模糊逻辑系统与自适应控制的联系，实现了自适应控制和鲁棒控制的有机结合。运用这种方法对推力矢量飞机进行了适用于过失速机动的非线性飞行控制系统设计。
3、讨论了过失速机动条件下的空气动力特性和飞行力学机理，在此基础上对自适应模糊逻辑系统的输入进行了分析，确定了自适应模糊逻辑系统的输入。结合所设计的控制律对几种典型的过失速机动(动态进入大迎角和退出大迎角，最短时间180°航向转弯机动)进行了仿真研究，分析了推力矢量对过失速机动完成的影响。仿真结果表明，该控制律能控制推力矢量飞机顺利完成过失速机动，对系统模型的不确定性具有较强的鲁棒性。
4、探讨了所设计的控制律在重构飞行控制中的应用，讨论了自适应调整率对自适应控制性能的影响、滑模鲁棒控制补偿项对控制性能的影响；对几种舵面损伤的仿真结果表明，本文的控制律较自适应控制具有响应改善速度快、响应振荡小的优点，具有较好的重构功能。
5、分析了推力矢量的两种应用方式：力控制和力矩控制的机理，研究了推力矢量对飞机超音速性能、起降性能、低速大迎角性能的影响，讨论了推力矢量与过失速机动对空战效能的影响。
The application of thrust vectoring control technology makes the aircraft possess the ability to fly in post-stall domain, therefore the flight envelope is extended. The thrust vectoring control technology and post-stall maneuverability enhance the aircraft's combat effectiveness greatly, and cause the worldwide interest. In this dissertation, an exploring study on flight control law design of the aircraft with thrust vectoring is completed. The main contents are summarized as follows:
1. The application background of thrust vectoring technology on aircraft and its advantages are analyzed. The main characteristics of some type of vectoring nozzles are discussed, the expression of thrust vectoring force and moment are set up. Then, the nonlinear motion equations of aircraft with three axes of thrust vectoring are deduced.
2. For general nonlinear system, a control law design method which integrated the nonlinear dynamic inverse theory, adaptive fuzzy system and slide model control is developed. A stable adaptive law is determined by using the Lyapunov theory, and the boundedness of all signals as well as the convergence of the tracking errors of the closed-loop system is guaranteed. This method set up a link between fuzzy system and adaptive control theory, realized the unification of adaptive control and robust control. Using this method, the flight control law which suits to the vectored aircraft flight in post-stall domain is designed in this paper.
3. The aerodynamic characteristics and mechanism of flight dynamics under the condition of post-stall maneuvers are discussed, and then the inputs of adaptive fuzzy system are determined. Using the control law and nonlinear motion equations built above, some typical post-stall maneuvers are simulated and the effects of thrust vectoring on post-stall maneuver are analyzed. The results show that the control law can control vectored aircraft to accomplish post-stall maneuvers very well and it is very robust to model uncertainty.
4. The application of control law developed above to the problem of reconflgurable flight control is described. Based on the simulation results, the effects of learning rate (or adaptation gain) and slide model terms on the control system are
discussed. Comparing with adaptive control, the control law is helpful to improve system's transition response and reduce undesirable oscillations, provides nearly perfect tracking in the case of undetected failure.
5. The mechanism of two possible ways of thrust vectoring control: force and moment control are analyzed. The effects of thrust vectoring on aircraft supersonic performance, take-off and landing performance, low speed and high angle of attack performance are studied. The air combat effectiveness of thrust vectoring control and post-stall maneuvers are also analyzed.
1、研究了推力矢量在飞机上的应用背景和收益，分析了现有推力矢量喷管的主要形式和特点，给出了推力矢量力、力矩的数学模型，并在此基础上推导了带三轴推力矢量飞机的非线性运动方程，为控制律的设计奠定基础。
2、对一般非线性系统，推导了一种综合运用非线性动态逆、自适应模糊逻辑系统和滑动模态控制进行控制律设计的方法。根据李亚普诺夫定理导出了参数的自适应调整规律，从而保证了闭环系统的稳定性和跟踪误差的收敛性。这种方法建立了模糊逻辑系统与自适应控制的联系，实现了自适应控制和鲁棒控制的有机结合。运用这种方法对推力矢量飞机进行了适用于过失速机动的非线性飞行控制系统设计。
3、讨论了过失速机动条件下的空气动力特性和飞行力学机理，在此基础上对自适应模糊逻辑系统的输入进行了分析，确定了自适应模糊逻辑系统的输入。结合所设计的控制律对几种典型的过失速机动(动态进入大迎角和退出大迎角，最短时间180°航向转弯机动)进行了仿真研究，分析了推力矢量对过失速机动完成的影响。仿真结果表明，该控制律能控制推力矢量飞机顺利完成过失速机动，对系统模型的不确定性具有较强的鲁棒性。
4、探讨了所设计的控制律在重构飞行控制中的应用，讨论了自适应调整率对自适应控制性能的影响、滑模鲁棒控制补偿项对控制性能的影响；对几种舵面损伤的仿真结果表明，本文的控制律较自适应控制具有响应改善速度快、响应振荡小的优点，具有较好的重构功能。
5、分析了推力矢量的两种应用方式：力控制和力矩控制的机理，研究了推力矢量对飞机超音速性能、起降性能、低速大迎角性能的影响，讨论了推力矢量与过失速机动对空战效能的影响。
The application of thrust vectoring control technology makes the aircraft possess the ability to fly in post-stall domain, therefore the flight envelope is extended. The thrust vectoring control technology and post-stall maneuverability enhance the aircraft's combat effectiveness greatly, and cause the worldwide interest. In this dissertation, an exploring study on flight control law design of the aircraft with thrust vectoring is completed. The main contents are summarized as follows:
1. The application background of thrust vectoring technology on aircraft and its advantages are analyzed. The main characteristics of some type of vectoring nozzles are discussed, the expression of thrust vectoring force and moment are set up. Then, the nonlinear motion equations of aircraft with three axes of thrust vectoring are deduced.
2. For general nonlinear system, a control law design method which integrated the nonlinear dynamic inverse theory, adaptive fuzzy system and slide model control is developed. A stable adaptive law is determined by using the Lyapunov theory, and the boundedness of all signals as well as the convergence of the tracking errors of the closed-loop system is guaranteed. This method set up a link between fuzzy system and adaptive control theory, realized the unification of adaptive control and robust control. Using this method, the flight control law which suits to the vectored aircraft flight in post-stall domain is designed in this paper.
3. The aerodynamic characteristics and mechanism of flight dynamics under the condition of post-stall maneuvers are discussed, and then the inputs of adaptive fuzzy system are determined. Using the control law and nonlinear motion equations built above, some typical post-stall maneuvers are simulated and the effects of thrust vectoring on post-stall maneuver are analyzed. The results show that the control law can control vectored aircraft to accomplish post-stall maneuvers very well and it is very robust to model uncertainty.
4. The application of control law developed above to the problem of reconflgurable flight control is described. Based on the simulation results, the effects of learning rate (or adaptation gain) and slide model terms on the control system are
discussed. Comparing with adaptive control, the control law is helpful to improve system's transition response and reduce undesirable oscillations, provides nearly perfect tracking in the case of undetected failure.
5. The mechanism of two possible ways of thrust vectoring control: force and moment control are analyzed. The effects of thrust vectoring on aircraft supersonic performance, take-off and landing performance, low speed and high angle of attack performance are studied. The air combat effectiveness of thrust vectoring control and post-stall maneuvers are also analyzed.
引文
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