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首页> 外文期刊>Journal of aerospace engineering >Rotorcraft Trajectory Optimization with Relizability Considerations
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Rotorcraft Trajectory Optimization with Relizability Considerations

机译：考虑可靠性的旋翼飞行器轨迹优化

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This paper considers the problem of computing optimal trajectories for rotorcraft systems. The vehicle is described through a flight mechanics model, and the optimal control problem is solved by discretizing the vehicle governing equations using a finite-element method, followed by optimization of the resulting finite-dimensional problem. It is found that the computed control policies exhibit oscillations and very high—and therefore unrealistic—time rates, especially for aggressive or emergency maneuvers. Highly oscillatory controls can affect the vehicle trajectory by, for example, exciting short period type oscillations. We argue that this behavior of the computed controls is due to the lack of modeling detail of the vehicle actuators, implied by the classical treatment of the system controls as algebraic variables. We propose a simple, low-cost solution that is based on the recovery of the control time rates through a Galerkin projection. This approach is motivated by the desire to avoid direct modeling of the actuator dynamics, which typically requires one to resolve fine temporal scales in the solution. The recovered control rates can then be constrained to remain within physically acceptable bounds during the solution and can also be included in the optimization cost functions. Numerical experiments are shown to demonstrate that smoother control time histories and vehicle trajectories are computed through this approach.
机译：本文考虑了旋翼飞机系统最优轨迹的计算问题。通过飞行力学模型描述飞行器，并通过使用有限元方法离散化飞行器控制方程，然后优化所得的有限维问题来解决最佳控制问题。已经发现，所计算的控制策略表现出振荡和非常高的（因此是不切实际的）时间率，尤其是对于激进或紧急演习而言。高度振荡的控制会通过例如激发短周期类型的振荡来影响车辆的轨迹。我们认为，计算控件的这种行为是由于缺少车辆执行器的建模细节，这是将系统控件作为代数变量的经典处理所暗示的。我们提出了一种简单的低成本解决方案，该解决方案基于通过Galerkin投影恢复控制时间速率。这种方法的动机是希望避免对执行器动力学进行直接建模，这通常需要一个人来解析解决方案中的精细时间尺度。然后，可以将恢复的控制率限制为在求解过程中保持在物理可接受的范围内，并且还可以将其包含在优化成本函数中。数值实验表明，通过这种方法可以计算出更平滑的控制时间历史和车辆轨迹。

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