引用本文:程志强,朱纪洪,袁夏明,王向阳.推力矢量垂直短距飞机轨迹优化与控制[J].控制理论与应用,2020,37(1):38~46.[点击复制]
CHENG Zhi-qiang,ZHU Ji-hong,YUAN Xia-ming,WANG Xiang-yang.Trajectory optimization and control design for transition of thrust-vectored vertical and/or short take-off and landing aircraft[J].Control Theory and Technology,2020,37(1):38~46.[点击复制]
推力矢量垂直短距飞机轨迹优化与控制
Trajectory optimization and control design for transition of thrust-vectored vertical and/or short take-off and landing aircraft
摘要点击 2254  全文点击 866  投稿时间：2018-07-12  修订日期：2019-07-05
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DOI编号  10.7641/CTA.2019.80515
  2020,37(1):38-46
中文关键词  推力矢量  过渡过程  最优化
英文关键词  Thrust vector  Transition process  optimization
基金项目  国家自然科学基金
作者单位E-mail
程志强 清华大学计算机科学与技术 czq92@foxmail.com 
朱纪洪* 清华大学计算机科学与技术  
袁夏明 清华大学计算机科学与技术  
王向阳 清华大学计算机科学与技术  
中文摘要
      推力矢量垂直短距起降(Vertical and/or short take-off and landing，V/STOL)飞机是一种兼顾巡航飞行速度和起降灵活性的新型飞机.本文首先建立了包含执行器饱和的V/STOL飞机动力学模型；然后针对V/STOL飞机在过渡过程阶段面临的强耦合、强非线性的特点，使用梯度下降法进行最优过渡过程轨迹优化并采用适应性矩估计算法(Adaptive moment,Adam)加速了优化过程；在此基础上，以最优轨迹为基础设计前馈控制器，同时通过对比真实飞行状态与所设计的最优状态给出反馈补偿量，保证了实际的过渡过程沿着最优轨迹进行.经过仿真实验可以发现，该方法具有过渡过程时间短、姿态平稳、鲁棒性强的优点.
英文摘要
      Thrust-vectored vertical and/or short take-off and landing (V/STOL) aircraft which combines the merits of fast cruise speeds and take-off flexibility has attracted much attentions those years. Firstly, this paper builds the aerodynamic model of thrust-vectored V/STOL aircraft including saturation of actuators. Secondly, aiming at the characteristic of strong coupling and strong nonlinearity faced by transition process, optimal trajectories for V/STOL aircraft transitions is generated through gradient descent method and the computing process is accelerated by adaptive moment(Adam) algorithm. Thirdly, a new method has been designed in this paper which takes optimal trajectory as a special feedforward which will be compensated according to the real flight states. Through a series of simulation, the performance of the proposed method is verified and it can be easily seen that this method has the advantages of short time, stable attitude and strong robustness during transition process.