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Research On Attitude Control Method For Vehicle With Blended Actuators

Posted on:2008-09-13Degree:MasterType:Thesis
Country:ChinaCandidate:T ChaoFull Text:PDF
GTID:2132360245997659Subject:Control Science and Engineering
Abstract/Summary:PDF Full Text Request
The flight profile of modern flight vehicle is enlarging. During the flight in rare air the efficiencies of the aero actuators are low and during the flight in space they drop to zero. So, the topic of controlling the vehicle with both aero actuators and direct force actuators is widely discussed.An attitude control method for flight vehicles with aerodynamic actuators and direct force actuators, called blended actuators vehicle (BAV), is proposed, from the view of considering the system to be a hybrid dynamic system.The mathematical model of the attitude kinematics and dynamics for this kind of vehicles is derived using flight mechanics theory. The characteristics of the aero actuators and direct force actuators are also discussed. These results are combined to be the mathematical model of the attitude control system. The model presents some characteristics of hybrid dynamic system. So, the theory of hybrid dynamic system can be used to design attitude controller for BAV.A hierarchical coordination control method for BAV is proposed.Hierarchical coordination control framework is described basing on the theory of hybrid automata. The design methods of coordination level and execution level controllers are also given. Coordination level is designed using discrete event dynamic system theory and excution level is designed using continuous variable dynamic system theory.The proposed control method is used to design the attitude control system of a BAV. The hierarchical coordination frame for the BAV is given and the two-level controller is designed. The necessity of blended actuators is proved through numerical simulation at first. Then, the dynamic characteristics, disturbance resistance and robustness of the designed attitude control system are demonstrated through simulation. Simulation results show that the proposed hierarchical coordination is effective and useful.
Keywords/Search Tags:attitude control, hybrid dynamic system, blended control, hierarchical coordination control
PDF Full Text Request
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