Application and Research of Dual Control in Vertical Landing Aircraft
|School||Harbin Institute of Technology|
|Course||Control Science and Engineering|
|Keywords||adaptive dual control cautious control Real-Time Windows Target S-function real time simulation|
Vertical landing aircraft is a new type flight vehicle, which combines the vertical take-off and landing and strong maneuvering capability in the sky. So it is the research hotspot in the field of aviation. Adaptive dual control can improve the performance of system in transitional behavior notably, which takes the existing uncertainty into account for the control strategy. With the control signal cautiously following the control goal, it excites the plant to quicken the parameters estimation process via exciting signals. In order to research the flight control problem of this aircraft in the condition of laboratory, a vertical take-off and landing plant is established. And this plant is used to research the application of adaptive dual control.Firstly, this paper introduces some fundamental theories of adaptive dual control and its development process, while the control effects of the three kinds of controller are compared. It doesn’t take the uncertainty of parameters estimation into account in the traditional adaptive controller based on Certainty Equivalence Principle. Though cautious controller considers the accuracy of parameters estimation, it may cause“turn off”phenomena. Moreover its process of adaptation is slow. The insufficient control performance brought by the uncertainty of estimation and the phenomena of“turn off”,“windup”and“bursting”for cautious control system is eliminated significantly by the adaptive dual control algorithm. Aiming at the math model of the vertical take-off and landing plant, we do simulation testings of the three kinds of controller. And the simulation results show that the adaptive dual controller have improved performance of control.Secondly, an experimental plant for the vertical landing aircraft is established. And a motor driver card is designed. It also introduces the PCI1711 data acquisition card, the rate gyroscope and the angle sensor using in the plant. Then it accomplishes the analysis of mechanical plant. At last, the math model of the plant is built up. The transfer function of the whole system is determined by the experimentation of calibrating unknown parameters.Finally, under the simulation environment of RTW, it is accomplished that the communication between computer and the plant. The real time simulation algorithm of adaptive dual control is set up by S-function. Then the simulation of hardware-in- loop is accomplished. And the simulation results show the improvement of the control effect of adaptive dual controller.