多目标非线性控制分配方法研究

294Vol29No420087ACTAAERONAUTICAETASTRONAUTICASINICAJuly2008:20070619;:20071210:(60504002);(2005ZD51019):Email:[e-mail]:10006893(2008)040995071,2,2(1.,100012)(2.,100083)ResearchonMultiobjectNonlinearControlAllocationMethodYangEnquan1,GaoJinyuan2,LiWeiqi2(1.AviationIndustryDevelopmentResearchCenterofChina,Beijing100012,China)(2.SchoolofAutomationScienceandElectricalEngineering,BeijingUniversityofAeronauticsandAstronautics,Beijing100083,China):,,,,,,,:;;;;:V249:AAbstract:Anovelmultiobjectnonlinearcontrolallocationmethodisbroughtforwardinthisarticle.Thetheory,modelingandproblemsolvingofthemethodarepresentedindetail.Theevaluationindexesandevaluationwayofthemultiobjectnonlinearcontrolallocationsolutionaredescribed.Themultiobjectnonlinearcontrolallocationmethoddoesnotrelyontheassumptionthattheproducedpseudocontrolcommands,generallypitch,yawandrollmomentsarelinearrelationwiththegeneralizedcontroleffectordeflections.Themethodcandealwiththenonlinearrelationbetweentheproducedmomentsandthecontroleffectordeflectionsdirectly.Itcanalsomakefulluseoftheredundantcontroleffectorstorealizetheintegratedtradeoffmultiobjectcontrolallocationundervaryingflightconditionsandmissions.Thesimulationresultsshowthatthecontrolallocationmethodiseffectiveandverysatisfactorysimulationaccuracyisobtained.Itcanhandlethecontrolallocationproblemunderthecircumstanceoftheaircrafteffectorfaultandprovidealgorithmguaranteeforreconfiguration.Keywords:multiobjectoptimization;nonlinearcontrol;controlallocation;multiplecontroleffectors;flightcontrol,,,,,,[1][2],,[311]:,,291,,,,,,,,,,,,,(1):min[f1(u),f2(u),!,fp(u)]T(p1)s.t.ddes=G(u)u-∀u∀u+(1)3::fi(u),i=1,2,!,p;ddes;G(u);u-∀u∀u+,(1):,,p1.1,:,,,,,,,,,,,(2):f=min{wS1(u1-uS1)2+wS2(u2-uS2)2+!+wSm(um-uSm)2}(2):m;wSi,i=1,2,!,m,1,#mi=1wSi=1;uSi,i=1,2,!,m1.2ddes=G(u),,ddes=Bu,B,,,,(HMa),,,,1.3,umin∀u∀umax|u|∀urate(3),t:|u|∃|u(t)-u(t-T)|T∀urate(4)t9964::u-(t)∀u(t)∀u+(t)(5):u-(t)=max{umin,u(t-T)-urateT}u+(t)=min{umax,u(t-T)-urateT}(6):T1.4x=f(x)+p(x,0)+g(u)=f(x)+g(u)(7)(7)g(u),3,gij(ui)=klijhij(ksiui+uki)(i=1,2,!,m;j=1,2,!,n)(8):n;uii;gij(ui)ij;klij;ksi,,ksi=0,,ksi=1;uki,,uki=0;hij(%)ij1.5,[12],,,,,,SiSjaij:aij=1SiSj;aij=3SiSj;aij=5SiSj;aij=7SiSj;aij=9SiSj;aij=2,4,6,8SiSj1,3,5,7,9(m&2),Si(i=1,2,!,m)Sj(i=1,2,!,m)aijm∋m[aij]=a11!a1m!!!am1!amm(9),iSi(i=1,2,!,m)ai1,ai2,!,aimSi,Siai,ai=mai1!aim(i=1,2,!,m)(10),wi=ai#mj=1aj(i=1,2,!,m)(11):,,aijSiSj,aikSiSk,ajkSjSk,:aij=aikajk(i,j,k=1,2,!,m)(12),(12),,1.6,,,,(13),:fS=#tf+TTi=0#mj=1wSj(uj(i)-uSj)2T(13):tf;uj(i)ij99729,,:,,,,1.7(1):((2),)1.5,,,,,∗1.2,,,,1Fig1Problemsolvinganditsimplementationofmultiobjectnonlinearcontrolallocation9984:+,(8),,1.3,,−(),.−∗+,,,/,,,,,,,,,(,,,2,,2.1ICE101[13]ICE101(InnovativeControlEffectors,ICE),12:,,112.25:S1()S2()S3()S4()S5(),,,,,,,,,,S1,S2S3,S5,S45∋52.3H=4572m,Ma=0.6:1s2s135564N%m;1~5s135564sin(1.5t)N%m;0N%m:50%;+300():w1=04013,w2=02526,w3=01895,w4=00563,w5=01003S12.42~42Fig2Rollmoments999293Fig3Pitchmoments4Fig4Yawmoments2~4,,,,,5,5,,,55,,(1)(3,5),,,,5Fig5Evaluationofsingleobjectallocationandmultiobjectallocation3,,,,,,[1],./[J].,2007,28(1):187190.ZhouRui,WangJun.Adaptivecontrolallocationbetweenaerodynamicfinandsidethrusterandcontrollerdesignusingmultiobjectiveoptimization[J].ActaAeronauticaetAstronauticaSinica,2007,28(1):187190.(inChinese)[2]ChiP,ChenZJ,ZhouR,etal.Autonomouscontrolreconfigurationofaerospacevehiclebasedoncontroleffectivenessestimation[J].ChineseJournalofAeronautics,2007,20(5):443451.[3]DurhamWC.Constrainedcontrolallocation[J].JournalofGuidance,Control,andDynamics,1993,16(4):717725.10004:[4]BordignonKA.Constrainedcontrolallocationforsystemswithredundantcontroleffectors[D].Blacksburg,VA:VirginiaPolytechnicInstituteandStateUniversity,1996.[5]BuffingtonJM,EnnsDF.Lyapunovstabilityanalysisofdaisychaincontrolallocation[J].JournalofGuidance,Control,andDynamics,1996,19(6):12261230.[6]DurhamWC.Computationallyefficientcontrolallocation[J].JournalofGuidance,Control,andDynamics,2001,24(3):519524.[7],,.[J].,2005,31(11):11171180.LiWeiqi,WeiChen,ChenZongji.Newalgorithmforconstrainedcontroldirectallocation[J].JournalofBeijingUniversityofAeronauticsandAstronautics,2005,31(11):11171180.(inChinese)[8]HodelAS,CallahanR.Dynamiccontrolallocationforreusablelaunchvehicles[C]1ProceedingsoftheThirtyfourthSoutheasternSymposiumonSystemTheory.2002:9296.[9]PetersenJAM,BodsonM.Constrainedquadraticprogrammingtechniquesforcontrolallocation[C]1Proceedingsofthe42ndIEEEConferenceonDecisionandControl.2003:33783383.[10]BodsonM.Evaluationofoptimizationmethodsforcontrolallocation[R].AIAA20014223,2001.[11],.[J].,2005,23(3):14.YangEnquan,GaoJinyuan.Researchanddevelopmentonadvancedfightercontrolallocationmethods[J].FlightDynamics,2005,23(3):14.(inChinese)[12].[M].:,1990.HuYuda.Practicalmutiobjectiveoptimization[M].Shanghai:ShanghaiScientificandTechnicalPublishers,1990.(inChinese)[13]AddingtonGA,MyattJH.Controlsurfacedeflectioneffectsontheinnovativecontroleffectors(ICE101)design[R].AirForceReport,AFRLVAWPTR20003027,2000.:(1977-),:Email:[e-mail](1936