本发明公开了一种基于非约束力矢量和方向控制的拖曳体位置控制方法,属于飞行器导航、制导与控制领域;具体为:首先,基于多刚体建模方法,建立考虑拖曳体外力的缆绳动力学模型;然后,考虑缆绳拉力及风扰动影响,建立拖曳体的六自由度动力学模型;利用缆绳动力学模型,建立基于缆绳位形与拖曳体的非约束力矢量和方向关系的拖曳体位置外环控制器,用于输出期望的拖曳体气流角;基于固定时间控制理论和拖曳体的六自由度动力学模型,设计内环的抗扰动控制器,并输入期望的拖曳体气流角,快速精确控制拖曳体的位置;本发明实现拖曳体对风扰动和参数摄动的抵抗和对位置指令的快速精确跟踪。
The invention discloses a towed body position control method based on a non-constraining force vector and direction control, and belongs to the field of aircraft navigation, guidance and control. The method specifically comprises the following steps: firstly, based on a multi-rigid-body modeling method, establishing a cable dynamic model considering external force of a towing body; then, considering the influence of cable tension and wind disturbance, and establishing a six-degree-of-freedom dynamic model of the towed body; establishing a towed body position outer ring controller based on a non-constraining force vector and direction relation of a cable configuration and a towed body by utilizing a cable dynamic model, and outputting an expected towed body airflow angle; based on a fixed time control theory and a six-degree-of-freedom kinetic model of the towed body, designing an anti-disturbance controller of an inner ring, inputting an expected airflow angle of the towed body, and rapidly and accurately controlling the position of the towed body; according to the invention, the resistance of the towed body to wind disturbance and parameter perturbation and the rapid and accurate tracking of the position instruction are realized.
一种基于非约束力矢量和方向控制的拖曳体位置控制方法
2024-04-16
Patent
Elektronische Ressource
Chinesisch