飞控系统执行机构受限的抗饱和自适应容错控制研究

The project studies the problem of fault-tolerant control for flight control systems with constrained actuators. For the inevitable problem of constrained actuator response capacity during the process of fault-tolerant control, traditional fault-tolerant control strategy cannot be effectively executed when the actuator's amplitude, rate of change, and acceleration are constrained. To overcome the difficulty, an anti-saturation adaptive fault-tolerant controller is designed to deal with the problem in the project. Firstly, the new features that occurs with the concurrency of the actuator's three saturation phenomena and system failure are investigated, and an analysis is conducted on the interactive mechanism between the saturation and the failure, and further, a new system model according to its characteristics is constructed. Secondly, based on this new model, the patterns of intrinsic variations are explored when the anti-saturation construction and adaptive fault-tolerant construction are combined, and further to find the quantitativ relationship between the actuator's fault tolerance and the domain of attraction, performance, and disturbance tolerance; The next consideration is on how to design the adaptive control strategy to estimate the failure information, and to synthesized regulate the fault-tolerant control signals and anti-saturation compensation signal, so as to compensate for its effects on the system. A comprehensive optimization is achieved among fault tolerance and domain of attraction, performance, and disturbance tolerance, and further to improve the safety performance of the system; The ultimate goal is the transformation of theoretical results to applied results, and to provide a useful explorat.

项目旨在研究飞行控制系统执行机构受限下的容错控制问题。针对系统容错控制过程中存在且不可避免的执行器响应能力受限问题，设计抗饱和自适应容错控制器，解决执行机构在三种（幅值、变化率及加速度）饱和现象下，传统容错控制策略无法被有效执行的问题。首先，将探究执行器三种饱和现象与系统故障现象并存时出现的新特征，分析饱和与故障间的相互作用机理, 建立相应的系统模型；其次，基于新的模型，研究抗饱和控制和自适应容错控制联合作用的内在变化规律，寻找执行器故障容忍度与吸引域、性能及扰动容许能力之间的定量关系；然后，设计适当的自适应控制策略来估计故障信息，通过自适应律对容错控制信号与抗饱和补偿信号进行综合调节，实现故障容忍度与吸引域、性能及扰动容许能力间的综合优化，提高系统的性能及安全性；最终，实现理论型成果向应用型成果转化，在实际工程中，为飞行器执行机构受限下的抗饱和容错控制提供强有力的理论指导。

在国家自然科学基金资助下,项目组成员针对飞控系统的三种饱和现象研究了容错控制及网络控制等问题。项目组共发表论文9篇,其中SCI检索论文3篇,EI检索论文9篇,著写英文专著1部,已在美国出版发行,申请国家发明专利1项,国家实用新型专利1项。项目负责人获批辽宁省优秀人才培养计划(第二层次)资助。 项目负责人及项目组成员赴新加坡国立大学及澳大利亚中央昆士兰大学访学，在飞行器控制及网络控制系统领域进行了深入的学习与交流。培养硕士研究生7人。.项目针对系统容错控制过程中存在且不可避免的执行器响应能力受限问题,设计抗饱和自适应容错控制器,解决执行机构在三种(幅值、变化率及加速度)饱和现象下,传统容错控制策略无法被有效执行的问题。设计了抗饱和自适应容错控制器。并以此为基础，定义网络系统的性能指标,通过自适应律的设计,实现对系统故障的实时估计,从而调节控制器参数,在考虑网络系统所具有的时延特性下保证被控对象在故障状态及正常工作状态下的吸引区域达到最大,同时具有较强的抗扰动能力。随着问题的进一步深入，网络化控制系统的同步问题也被纳入到项目的研究内容当中，同时形成了有价值的理论成果。.在项目组成员的共同努力下，项目取得的理论成果被有效的应用于飞机起落架系统的抗饱和自适应容错半主动控制过程当中。在构建落震平台后成功实现了抗饱和容错控制的落震实验。形成了发明专利和实用新型专利各一项。