A Method to Compensate Interaction between Actuator Dynamics and Control Allocator under Incremental Nonlinear Dynamic Inversion Controller

3rd International Conference on Automation, Control and Robotics Engineering

工业技术;计算机科学;无线电电子学

Li, Xiang^1 ; Jiang, Yi^1 ; Zhang, Jiannan^2 ; Shi, Shaoyan^1 ; Zhao, Liangyu^1

School of Aerospace Engineering, Beijing Institute of Technology, Beijing

100081, China^1

Institute of Flight System Dynamics, Technical University of Munich, Munich

85748, Germany^2

关键词: Actuator dynamics;    Constrained control allocation;    Control allocation;    Flight computers;    Flight control;    Flight systems;    Nonlinear dynamic inversion;    Second-order actuator dynamics;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/428/1/012048/pdf
DOI  :  10.1088/1757-899X/428/1/012048

来源: IOP

【 摘 要 】

When designing flight control allocator for an over-actuated flight system, actuator dynamics, generally, are assumed to be ideal since the bandwidths of actuators are much larger than the frequency of aircraft. However, under incremental nonlinear dynamic inversion controller, the interaction between the constrained control allocation frame and actuator dynamics can cause serious consequence. In this work, a method is developed to compensate for actuator dynamics in s-domain analysis. Here, first-order and second-order actuator dynamics are taken into consideration as more complicated actuator dynamics can be combined by these two simplified models. This method solves for gains, which post-processe the output of control allocation frame. The gains are terse in form and are easy to be calculated, which means that it can be implemented into typical flight computer. Simulation results show proposed method can significantly compensate the flaw caused by actuator dynamics.