为进行飞行姿态仿真研究,基于dSPACE建立了地面飞行姿态半物理仿真模拟系统,运用混杂不变集原理和无源控制器设计方法对有界高阶耦合非线性系统进行鲁棒控制器设计.使用Lagrange法建立了具有控制约束的非线性Euler-Lagrange (EL)动力学模型;利用EL系统内在特性,基于非线性状态依赖动态脉冲系统的不变集原理的有关结果和混杂能量控制方法,设计了输入受限的非线性混杂控制器,并进行了数学仿真.最后,将所设计的混杂控制器应用于地面飞行姿态模拟器中进行了半物理仿真实验,得到的动态响应时间为20 s,稳态精度优于5%,超调量约为25%,在外加扰动作用时仍能实现稳定调节.结果表明,给出的饱和控制算法可靠性较强,对系统参数误差和外干扰具有鲁棒性.%In order to control the flight attitude for an aircraft, a ground semi-physical flight attitude simulation system was established based on a dSPACE system. The invariant set principle and Passivity-based Controller (PBC) design method was used to deal with the aircraft simulation system,for it was a kind of higher order nonlinear control system with strong coupling. A nonlinear Euler-Lagrange (EL) dynamic model with controller constraints for the aircraft simulation system was established by the Largange method. Then, based on the internal characters of EL systems and the recent results on invariant set stability theorems of nonlinear impulsive hybrid systems, a saturation dynamical hybrid controller for the aircraft simulation system was presented, and the mathematic simulation was also given out to verify the effect of the proposed controller. Finally, a semi-physical simulation experiment was undertaken with the proposed controller.Obtained results show that the dynamic response time is about 20 s, steady-state accuracy is less than 5% and the overshoot is about 25%. These data indicate that the designed saturation controller is valid and robust to both the system parameter errors and disturbance.
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