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High-altitude-airship horizontal position control method based on characteristic model

A technology of feature model and control method, applied in the field of aircraft control, can solve the problem of weak controllable system without strong interference

Active Publication Date: 2016-08-31
BEIJING INST OF CONTROL ENG
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Problems solved by technology

It must be pointed out that the characteristic modeling and control of all the above-mentioned literatures are not aimed at strong disturbance and weak controllable systems, especially nonlinear multivariable systems with strong disturbance and weak controllability

Method used

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  • High-altitude-airship horizontal position control method based on characteristic model
  • High-altitude-airship horizontal position control method based on characteristic model
  • High-altitude-airship horizontal position control method based on characteristic model

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Embodiment Construction

[0049] figure 2 The contents shown in the dotted line and the dotted frame (including carrying out human-computer interaction according to the environment and system identification information, and carrying out trajectory planning by the control target given by the large system loop of the ship) do not belong to the content scope of the present invention, and are expressed in figure 2 In order to more clearly illustrate the extension relationship of the technology of the present invention.

[0050] Such as figure 1 Shown is the method flow chart of the present invention, specifically described below:

[0051] [1] Based on the analysis of the motion model of the high-altitude airship in the horizontal plane, the characteristic model is established and the parameter range is given.

[0052] Such as image 3 , establish a ground coordinate system x with a reference point on the ground as the origin g the y g z g (generally, x g axis points east, y g Axis points north, ...

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Abstract

The invention discloses a horizontal position control method based on a characteristic model. The method comprises the following steps of firstly, based on motion model analysis in a horizontal plane, through generalized inverse processing, acquiring a characteristic model form in which input and output are simultaneously decoupled and giving out a parameter range; and then operating a cycle control process; based on the characteristic model and the parameter range, carrying out on-line identification and acquiring a characteristic parameter estimation value; based on the characteristic parameter estimation value, designing a controller and calculating to acquire a control law; carrying out generalized interference estimation and estimating generalized interferences of two channels in the horizontal plane; carrying out coupling and conservative distribution processing and calculating to acquire an execution mechanism command; carrying out detection, configuration and decoupling processing, and calculating actual control amounts of the two channels. The control method adopts combination of adaptive combination control and generalized interference compensation based on the characteristic parameter estimation value so that simultaneous decoupling of the input and output is realized and maintenance precision of the horizontal position under the condition that a wind field changes randomly is increased.

Description

technical field [0001] The invention relates to a technology for controlling the horizontal position of an airship, in particular to a method for controlling the horizontal position of a high-altitude airship based on a characteristic model, and belongs to the field of aircraft control. Background technique [0002] The near-space field between aerospace and aerospace is becoming a new commanding height in the competition between domestic and foreign advanced technology state organizations. High-altitude airships have great application prospects because they can take into account the advantages of rotorcraft that can hover over any hot spot, high resolution, reusability, large satellite coverage, and long endurance. However, compared with satellites, high-altitude airships have complex aerodynamic characteristics, compared with airplanes, the influence of wind field is more prominent, compared with submarines, the density of the surrounding flow field varies in a wide range,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05B13/04
CPCG05B13/042G05D1/101
Inventor 李智斌王鹤张国琪田科丰
Owner BEIJING INST OF CONTROL ENG
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