Actuator modelling for attitude control using incremental nonlinear dynamic inversion

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2020-01-01 DOI:10.1177/1756829320961925

F. Binz, D. Moormann

引用次数: 2

Abstract

Recently, the concept of incremental nonlinear dynamic inversion has seen an increasing adoption as an attitude control method for a variety of aircraft configurations. The reasons for this are good stability and robustness properties, moderate computation requirements and low requirements on modelling fidelity. While previous work investigated the robust stability properties of incremental nonlinear dynamic inversion, the actual closed-loop performance may degrade severely in the face of model uncertainty. We address this issue by first analysing the effects of modelling errors on the closed-loop performance by observing the movement of the system poles. Based on this, we analyse the neccessary modelling fidelity and propose simple modelling methods for the usual actuators found on small-scale electric aircraft. Finally, we analyse the actuator models using (flight) test data where possible.

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基于增量非线性动态反演的姿态控制执行器建模

近年来，增量非线性动态反演的概念越来越多地被用作各种飞机构型的姿态控制方法。其原因是具有良好的稳定性和鲁棒性、适度的计算要求以及对建模保真度的低要求。虽然之前的工作研究了增量非线性动态反演的鲁棒稳定性，但面对模型的不确定性，实际的闭环性能可能会严重下降。我们首先通过观察系统极点的运动来分析建模误差对闭环性能的影响，从而解决这个问题。在此基础上，我们分析了必要的建模保真度，并为小型电动飞机上常见的执行器提出了简单的建模方法。最后，我们在可能的情况下使用（飞行）测试数据分析致动器模型。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.