基于lq控制的飞机刹车控制系统设计.doc
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基于lq控制的飞机刹车控制系统设计,基于lq控制的飞机刹车控制系统设计摘 要飞机自动防滑刹车系统是以调节作用在刹车机轮上的压力以改变刹车力矩来保证飞机无抱死的刹车，而刹车压力的调节应当与刹车时的飞机滑行速度和路面情况相适应。从理论上要求，刹车控制装置应能自动地对轮胎和跑道摩擦系数的最大值进行寻优，使刹车的滑跑距离最短，轮胎和刹车片的磨损量最小，这样刹车效...
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基于LQ控制的飞机刹车控制系统设计
摘 要
飞机自动防滑刹车系统是以调节作用在刹车机轮上的压力以改变刹车力矩来保证飞机无抱死的刹车，而刹车压力的调节应当与刹车时的飞机滑行速度和路面情况相适应。从理论上要求，刹车控制装置应能自动地对轮胎和跑道摩擦系数的最大值进行寻优，使刹车的滑跑距离最短，轮胎和刹车片的磨损量最小，这样刹车效率最高。然而在实际的刹车控制器设计中，实现起来有相当的难度。
在实际的系统设计中，普遍采取从飞机动力学控制出发，以机轮滑移率为控制对象来研制飞机刹车系统，这也是飞机液压刹车系统中最常用的设计方法。但由于飞机跑道情况及飞机运动的状态变化很大，外界干扰因素很多，因此飞机刹车系统要做到高精度控制是相当困难的。对于具体工程实际应用来说，为了保证系统状态渐近趋于平衡零值，即当系统受扰动偏离原零平衡状态后，希望系统能最优地恢复到原平衡状态，因此采用无限时间定常状态调节器，这样既可保证不产生稳态误差，同时又可做到闭环系统渐近稳定。最优控制可以从一切可能的控制方案中寻找最优解，进而得到一个鲁棒性非常好的飞机刹车系统控制器。本文通过利用MATLAB对基于LQ控制的飞机刹车系统进行仿真，结果表明经过LQ最优状态反馈的控制系统，能够稳定的将滑移率控制在理想值附近，使飞机实现高效率的刹车。
关键词：飞机刹车；滑移率；LQ最优控制
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 录
第一章 绪论…………………………………………………………………………1
1.1课题研究背景意义………………………………………………………1
1.2课题研究内容……………………………………………………………2
第二章 飞机刹车系统简介…………………………………………………………3
2.1 飞机刹车系统分类………………………………………………………3
2.2 国内外飞机刹车系统研究现状…………………………………………4
2.3 飞机刹车系统发展前景…………………………………………………6
2.4 飞机刹车系统物理动力学模型…………………………………………7
第三章 飞机刹车系统控制器设计…………………………………………………10
3.1 无限时间定常状态调节器………………………………………………10
3.2 飞机刹车最优控制系统的算法…………………………………………10
3.3 PID控制及参数整定……………………………………………………12
第四章 飞机刹车系统的仿真………………………………………………………14
4.1 Matlab软件介绍…………………………………………………………14
4.2 最优控制在飞机刹车系统中的仿真研究………………………………15
4.3 仿真结果分析……………………………………………………………17
总结…………………………………………………………………………………18
参考文献……………………………………………………………………………19
谢辞…………………………………………………………………………………20
摘 要
飞机自动防滑刹车系统是以调节作用在刹车机轮上的压力以改变刹车力矩来保证飞机无抱死的刹车，而刹车压力的调节应当与刹车时的飞机滑行速度和路面情况相适应。从理论上要求，刹车控制装置应能自动地对轮胎和跑道摩擦系数的最大值进行寻优，使刹车的滑跑距离最短，轮胎和刹车片的磨损量最小，这样刹车效率最高。然而在实际的刹车控制器设计中，实现起来有相当的难度。
在实际的系统设计中，普遍采取从飞机动力学控制出发，以机轮滑移率为控制对象来研制飞机刹车系统，这也是飞机液压刹车系统中最常用的设计方法。但由于飞机跑道情况及飞机运动的状态变化很大，外界干扰因素很多，因此飞机刹车系统要做到高精度控制是相当困难的。对于具体工程实际应用来说，为了保证系统状态渐近趋于平衡零值，即当系统受扰动偏离原零平衡状态后，希望系统能最优地恢复到原平衡状态，因此采用无限时间定常状态调节器，这样既可保证不产生稳态误差，同时又可做到闭环系统渐近稳定。最优控制可以从一切可能的控制方案中寻找最优解，进而得到一个鲁棒性非常好的飞机刹车系统控制器。本文通过利用MATLAB对基于LQ控制的飞机刹车系统进行仿真，结果表明经过LQ最优状态反馈的控制系统，能够稳定的将滑移率控制在理想值附近，使飞机实现高效率的刹车。
关键词：飞机刹车；滑移率；LQ最优控制
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 录
第一章 绪论…………………………………………………………………………1
1.1课题研究背景意义………………………………………………………1
1.2课题研究内容……………………………………………………………2
第二章 飞机刹车系统简介…………………………………………………………3
2.1 飞机刹车系统分类………………………………………………………3
2.2 国内外飞机刹车系统研究现状…………………………………………4
2.3 飞机刹车系统发展前景…………………………………………………6
2.4 飞机刹车系统物理动力学模型…………………………………………7
第三章 飞机刹车系统控制器设计…………………………………………………10
3.1 无限时间定常状态调节器………………………………………………10
3.2 飞机刹车最优控制系统的算法…………………………………………10
3.3 PID控制及参数整定……………………………………………………12
第四章 飞机刹车系统的仿真………………………………………………………14
4.1 Matlab软件介绍…………………………………………………………14
4.2 最优控制在飞机刹车系统中的仿真研究………………………………15
4.3 仿真结果分析……………………………………………………………17
总结…………………………………………………………………………………18
参考文献……………………………………………………………………………19
谢辞…………………………………………………………………………………20
