运输机重装空投二阶终端滑模控制方法研究

Second-Order Terminal Sliding Mode Control of a Transport for Heavyweight Airdrop

摘要:

针对重装空投过程中,货物的持续移动及瞬间出舱影响空投任务完成性、威胁飞行安全等问题,提出了一种二阶终端滑模纵向飞行控制方法；该方法利用非线性多输入多输出反馈线性化完成系统解耦线性化,在此基础上采用二阶终端滑模变结构控制设计系统内环速度与俯仰姿态跟踪控制器,保证了系统鲁棒性,结合外环PID高度保持控制器完成了整个飞行控制系统的设计；数值仿真结果表明,该系统具有良好的响应特性,且对系统不确定性具有较强的鲁棒性。

Abstract:

In order to dealing with the influence caused by the continuous movement of the cargo and its sudden deplaning during airdrop operations, a novel flight controller based on the second-order terminal sliding mode control approach is designed. This method uses the feedback linearization technique to decouple the nonlinear airdrop model. On this basis, a second-order terminal sliding mode control law is proposed for airspeed and pith attitude control, which can guarantee robustness of the system. The overall flight control system is completed with the outer-loop altitude-hold control based on a PID controller. Simulation results show the good performance of the proposed control scheme.