摘要
基于轨迹线性化控制(TLC)理论提出了一种全驱动平流层飞艇轨迹跟踪控制设计的新方法.该方法由期望姿态生成、运动学控制和动力学控制3部分组成.首先利用期望轨迹的Frenet标架构造期望的艇体坐标系,导出期望姿态的计算公式;然后将系统运动学部分按照移动和转动分解,动力学部分按纵向与横向分解,将整个系统划分为4个回路,并分别用TLC理论进行控制设计,避免了设计时对全系统求逆的困难;最后给出了控制方法的计算步骤和平流层飞艇跟踪典型轨迹的仿真结果,结果验证了所提出方法的可行性.
A new design method of trajectory tracking controller for fully-actuated stratospheric airship based on the trajectory linearization control（TLC） strategy is presented,which consists of desired attitude calculation,kinematics controllers and dynamics controllers.Firstly,based on the desired trajectory,the Frenet frame is established to construct the desired airship-fixed frame.Then the system kinematics is divided to position and attitude kinematics,the system dynamics is split to longitudinal and lateral dynamics,such that corresponding four controllers can be designed separately,which avoids the difficulty of inverting the system dynamics with six degree of freedom.Finally,the control algorithm is described,and the simulation results for airship to track the typical trajectory show the feasibility of the proposed method.
出处
《控制与决策》
EI
CSCD
北大核心
2011年第10期1479-1484,1492,共7页
Control and Decision
基金
北京市教委共建重点学科项目(XK100060422)
关键词
平流层飞艇
轨迹跟踪
轨迹线性化控制
纵向控制
横向控制
stratospheric airship
trajectory tracking
trajectory linearization control
longitudinal control
lateral control
