论文标题
无缝的主动变形机翼同时阵风和机动负荷减轻
Seamless Active Morphing Wing Simultaneous Gust and Maneuver Load Alleviation
论文作者
论文摘要
本文介绍了一个无缝主动翼的同时阵风和操纵负荷减轻问题。提出了具有二次编程控制分配和虚拟形状函数的增量非线性动态反演（称为INDI-QP-V）来实现此目标。设计的控制分配器提供了最佳的解决方案，同时满足执行器位置约束，速率约束和相对位置约束。虚拟形状的功能可确保每时每刻变形机翼的平滑度。在存在模型不确定性，外部干扰和控制分配误差的情况下，在Lyapunov的意义上可以保证闭环稳定性。风隧道测试表明，Indi-QP-V可以使无缝的机翼积极地变体，以抵抗``1-cos''的阵风并同时修改跨度提升分布。尽管有意外的执行器断层和非线性反弹，但翼根剪切力和弯矩已被44％以上减轻。此外，在实验过程中，所有输入约束都得到满足，机翼形状始终光滑，并且对控制定律是实时执行的。此外，与线性二次高斯（LQG）控制相比，INDI-QP-V的硬件实现更加容易； INDI-QP-V的稳健性能也很出色。
This paper deals with the simultaneous gust and maneuver load alleviation problem of a seamless active morphing wing. The incremental nonlinear dynamic inversion with quadratic programming control allocation and virtual shape functions (denoted as INDI-QP-V) is proposed to fulfill this goal. The designed control allocator provides an optimal solution while satisfying actuator position constraints, rate constraints, and relative position constraints. Virtual shape functions ensure the smoothness of the morphing wing at every moment. In the presence of model uncertainties, external disturbances, and control allocation errors, the closed-loop stability is guaranteed in the Lyapunov sense. Wind tunnel tests demonstrate that INDI-QP-V can make the seamless wing morph actively to resist ``1-cos'' gusts and modify the spanwise lift distribution at the same time. The wing root shear force and bending moment have been alleviated by more than 44% despite unexpected actuator fault and nonlinear backlash. Moreover, during the experiment, all the input constraints were satisfied, the wing shape was smooth all the time, and the control law was executed in real time. Furthermore, as compared to the linear quadratic Gaussian (LQG) control, the hardware implementation of INDI-QP-V is easier; the robust performance of INDI-QP-V is also superior.
