基于LQ控制的飛機(jī)剎車控制系統(tǒng)設(shè)計(jì)



摘  要


飛機(jī)自動(dòng)防滑剎車系統(tǒng)是以調(diào)節(jié)作用在剎車機(jī)輪上的壓力以改變剎車力矩來(lái)保證飛機(jī)無(wú)抱死的剎車，而剎車壓力的調(diào)節(jié)應(yīng)當(dāng)與剎車時(shí)的飛機(jī)滑行速度和路面情況相適應(yīng)。從理論上要求，剎車控制裝置應(yīng)能自動(dòng)地對(duì)輪胎和跑道摩擦系數(shù)的最大值進(jìn)行尋優(yōu)，使剎車的滑跑距離最短，輪胎和剎車片的磨損量最小，這樣剎車效率最高。然而在實(shí)際的剎車控制器設(shè)計(jì)中，實(shí)現(xiàn)起來(lái)有相當(dāng)?shù)碾y度。

在實(shí)際的系統(tǒng)設(shè)計(jì)中，普遍采取從飛機(jī)動(dòng)力學(xué)控制出發(fā)，以機(jī)輪滑移率為控制對(duì)象來(lái)研制飛機(jī)剎車系統(tǒng)，這也是飛機(jī)液壓剎車系統(tǒng)中最常用的設(shè)計(jì)方法。但由于飛機(jī)跑道情況及飛機(jī)運(yùn)動(dòng)的狀態(tài)變化很大，外界干擾因素很多，因此飛機(jī)剎車系統(tǒng)要做到高精度控制是相當(dāng)困難的。對(duì)于具體工程實(shí)際應(yīng)用來(lái)說(shuō)，為了保證系統(tǒng)狀態(tài)漸近趨于平衡零值，即當(dāng)系統(tǒng)受擾動(dòng)偏離原零平衡狀態(tài)后，希望系統(tǒng)能最優(yōu)地恢復(fù)到原平衡狀態(tài)，因此采用無(wú)限時(shí)間定常狀態(tài)調(diào)節(jié)器，這樣既可保證不產(chǎn)生穩(wěn)態(tài)誤差，同時(shí)又可做到閉環(huán)系統(tǒng)漸近穩(wěn)定。最優(yōu)控制可以從一切可能的控制方案中尋找最優(yōu)解，進(jìn)而得到一個(gè)魯棒性非常好的飛機(jī)剎車系統(tǒng)控制器。本文通過(guò)利用MATLAB對(duì)基于LQ控制的飛機(jī)剎車系統(tǒng)進(jìn)行仿真，結(jié)果表明經(jīng)過(guò)LQ最優(yōu)狀態(tài)反饋的控制系統(tǒng)，能夠穩(wěn)定的將滑移率控制在理想值附近，使飛機(jī)實(shí)現(xiàn)高效率的剎車。

關(guān)鍵詞：飛機(jī)剎車；滑移率；LQ最優(yōu)控制


 


 


 


 


 

Abstract


The plane automatic abs adjustment role is in the brake pressure to change according to ensure the braking moment without holding in death of brake, and brake pressure regulation shall braking and the plane to glide speed and adapt to the situation. In theory, the brake control device requirements shall be automatically to tires and the runway friction coefficient of the maximum for optimal, make the shortest distance run smooth braking, tires and the least amount of wear pads, so that the brake efficiency is the highest. However, in the actual brake controller design, realization up and rather difficult.

In the actual system design, generally adopted from the plane dynamic control, based on the slip rate is the control object to research aircraft braking system, this also is the plane hydraulic brake system is the most common design method. But because the runways and aircraft motion state changes a lot, outside interference factors a lot, so the plane brake system to achieve high precision control is rather difficult. For a specific project for practical application, in order to guarantee the system state asymptotic equilibrium zero, and that is when the system by the original zero balance from disturbance, the optimal system can hope to return to its original balance state, so by infinite time unsteady state regulator, such already can ensure that do not produce the steady-state error, and at the same time, it will be of closed-loop system is asymptotically stable. The optimal control can from every possible control scheme in search for optimal solution, and then get a robust very good aircraft braking system controller. This article through the use of MATLAB to based on the brake control LQ system, and simulation results show that the optimal after LQ state feedback control system, can stable will slip ratio control in an ideal value, the plane near the brakes of efficiently. 

Keywords: aircraft braking; Sliding rate; LQ optimal control


 

目 錄


第一章 緒論…………………………………………………………………………1

1.1課題研究背景意義………………………………………………………1

1.2課題研究?jī)?nèi)容……………………………………………………………2

第二章 飛機(jī)剎車系統(tǒng)簡(jiǎn)介…………………………………………………………3

2.1 飛機(jī)剎車系統(tǒng)分類………………………………………………………3

2.2 國(guó)內(nèi)外飛機(jī)剎車系統(tǒng)研究現(xiàn)狀…………………………………………4

2.3 飛機(jī)剎車系統(tǒng)發(fā)展前景…………………………………………………6

     2.4 飛機(jī)剎車系統(tǒng)物理動(dòng)力學(xué)模型…………………………………………7

第三章 飛機(jī)剎車系統(tǒng)控制器設(shè)計(jì)…………………………………………………10

     3.1 無(wú)限時(shí)間定常狀態(tài)調(diào)節(jié)器………………………………………………10

     3.2 飛機(jī)剎車最優(yōu)控制系統(tǒng)的算法…………………………………………10

     3.3 PID控制及參數(shù)整定……………………………………………………12

第四章 飛機(jī)剎車系統(tǒng)的仿真………………………………………………………14

     4.1 Matlab軟件介紹…………………………………………………………14

     4.2 最優(yōu)控制在飛機(jī)剎車系統(tǒng)中的仿真研究………………………………15

     4.3 仿真結(jié)果分析……………………………………………………………17

總結(jié)…………………………………………………………………………………18

參考文獻(xiàn)……………………………………………………………………………19

謝辭…………………………………………………………………………………20