非線性H(下標 ∞)控制理論在飛機控制上的實現

Nonlinear H(subscript ∞) Control Theory and Implement in Flight Control

孔健君(Chien-Chung Kung) ； 楊憲東(Ciann-Dong Yang)

《中國航空太空學會學刊》 33卷1期 (2001/03) Pp. 23-30

https://doi.org/10.6124/TAASRC.200103_33(1).04

摘要

本論文將非線性H(下標 ∞)控制理論直接應用在飛機的非線性六自由度方程式上，以設計一個外擾消除(disturbance rejection)控制器。不論是非線性速度控制或非線性姿態控制的求解，最後都有一組非線性偏微分不等式待求解，而吾人選取的兩組Lyapunov function可將此兩組非線性偏微分不等式求出其解析解。非線性H(下標 ∞)控制理論求出所需要之力與力矩，還需要一個迭代運算，將力與力矩轉換成控制翼面角命令，本文將說明此迭代運算的設計理念與實現上的問題，並以模擬說明非線性H(下標 ∞)控制器在經過轉換成控制翼面角命令，再以致動器輸出後，會造成控制命令之延遲與受限，使得實際控制效果與非線性H(下標 ∞)控制理論的預測值之間稍有差距。

關鍵字

非線性H(下標 ∞)控制 ； F16戰鬥機 ； 控制翼面角轉換

並列摘要

This paper investigates the implementation of nonlinear H(subscript ∞) control theory for F-l6 flight control system. The complete six degree-of-freedom nonlinear equations of motion for F-16 are considered directly to design the nonlinear H(subscript ∞) flight controller by treating the longitudinal and lateral motions as a whole. The associated Hamilton-Jacobi partial differential inequality is solved analytically, resulting in a nonlinear H(subscript ∞) controller with simple proportional feedback structure. Real aerodynamic data and engine data of F-16 are employed to determine the angles of control surface deflection from the nonlinear H(subscript ∞) control command. Feasibility of tracking nonlinear H(subscript ∞) control command by using F-16 actuator system is discussed in detail, and the guaranteed stability and robustness of nonlinear H(subscript ∞) flight control system implemented by F-16 actuators are confirmed over large flight envelope in a six degree-of-freedom flight simulator.

並列關鍵字

Nonlinear H(subscript ∞) Control ； F-l6 fighter ； Angles of Control Surface Deflection