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研究生： 王昱琪
Wang, Yu-Chi
論文名稱： 由指定特徵根決定參數之整合性非線性動力反算控制法
A Unified Approach to Nonlinear Dynamic Inversion Control with Parameter Determination by Eigenvalue Assignment
指導教授： 許棟龍
Sheu, Donglong
林清一
Lin, Chin E.
學位類別： 博士
Doctor
系所名稱： 工學院 - 航空太空工程學系
Department of Aeronautics & Astronautics
論文出版年： 2016
畢業學年度： 104
語文別： 英文
論文頁數： 178
中文關鍵詞： 非線性動力反算法 、特徵根指定法 、非最小象限系統 、強健性 、飛行控制系統設計
外文關鍵詞： nonlinear dynamic inversion method, eigenvalue assignment method, non-minimum phase system, robustness, flight control system design
相關次數： 點閱：155  下載：7 
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    • 本篇論文針對現有非線性動力反算控制方法提出一個整合性非線性動力反算法，並應用特徵根指定法於追蹤動態設計求得控制系統增益值，以改善現有控制方法的問題。此方法將可以非常直接方便的方式被應用於實際系統。藉由使用此方法，不須在控制設計開始前以回授線性化方法將非線性方程式轉換成線性方程式。如果小心地選定追蹤動態的特徵根使得期望動態穩定，此方法的應用不限於仿射非線性控制系統，也不限於最小象限系統的問題。使用此方法的控制設計顯示對於模型的誤差具有強健性。為驗證此方法，本文以類似F-16外型的無人機為例，做控制系統設計，數值模擬結果顯示對於性能的設計相當顯著。

    This dissertation presents a unified approach to nonlinear dynamic inversion control algorithm with the parameters for desired dynamics determined in unmanned aerial vehicle using an eigenvalue assignment method, which may be applied for actual systems in a very straightforward and convenient way. By using the proposed method, it is not necessary to transform the nonlinear equations into linear equations by feedback linearization before beginning control designs. The applications of this method are not limited to affine nonlinear control systems, nor are limited to minimum phase problems if the eigenvalues of tracking dynamics are carefully assigned so that the desired dynamics is stable. The control design by using this method is shown to be robust to modeling uncertainties. To validate the theory, the design of F-16 like UAV control system is presented as an example with numerical simulations to show the performance of the design to be quite remarkable.

    Abstract in Chinese.....i 第一章 緒論.....ii 第二章 回顧非線性動力反算法.....iii 第三章 一整合性非線性動力反算法.....v 第四章 無人機之NDI飛行控制系統設計.....vi 第五章 結論.....vii Abstract.....viii Acknowledgments.....ix Contents.....x List of Tables.....xiv List of Figures.....xvi Nomenclature.....xx Chapter 1 Introduction.....1 1.1 Motivations.....1 1.2 Problem Statement.....2 1.3 Literature Survey.....3 Chapter 2 Review of Nonlinear Dynamic Inversion Control Methods.....6 2.1 Feedback Linearization.....6 2.2 Zero Dynamics.....10 2.3 Non-minimum Phase Problems.....13 2.4 Multiple Time-Scale NDI Control Method.....15 Chapter 3 A Unified Approach to Nonlinear Dynamic Inversion Control.....22 3.1 Nonlinear Dynamic Inversion Control.....22 3.2 Parameter Determination by Eigenvalue Assignment.....23 3.3 Robust Analysis.....29 Chapter 4 NDI Flight Control System Design for a UAV.....31 4.1 Flight Dynamics Equations of Motion.....31 4.2 NDI Flight Control Design.....33 4.3 Case 1.....38 4.3.1 Flight Control Design.....38 4.3.2 Flight Simulations.....39 4.4 Case 2.....45 4.4.1 Flight Control Design.....45 4.4.2 Flight Simulations.....47 4.5 Case 3.....53 4.5.1 Flight Control Design.....53 4.5.2 Flight Simulations.....55 4.6 Case 4.....60 4.6.1 Flight Control Design.....61 4.6.2 Flight Simulations.....62 4.7 Conclusion Remark.....68 Chapter 5 Conclusion.....70 5.1 Conclusion.....70 5.2 Dissertation Contribution.....70 5.3 Future Work.....72 References.....73 Appendices.....78 Appendix A Derivation of Flight Dynamics Equations of Motions.....79 A.1 Derivation of the Equation of Motion.....79 A.2 Derivatives f_x.....85 A.3 Derivatives f_u.....94 A.4 Trim.....96 A.5 Open-loop Eigenvalues.....97 A.5.1 Longitudinal Dynamics Analysis.....97 A.5.2 Lateral Dynamics Analysis.....99 Appendix B Primary Idea.....102 Appendix C Aerodynamic Data Computations — VORSTAB Code.....105 Appendix D Wind Disturbance Model.....115 Appendix E Comparative Cases.....116 E.1 Case 1A - Influence of λ_1 and λ_2.....116 E.1.1 Flight Control Design.....116 E.1.2 Flight Simulations.....117 E.2 Case 1B - Influence of λ_3 and λ_4.....122 E.2.1 Flight Control Design.....122 E.2.2 Flight Simulations.....123 E.3 Case 1C - Influence of λ_5.....128 E.3.1 Flight Control Design.....128 E.3.2 Flight Simulations.....129 E.4 Case 1D - Influence of λ_6.....134 E.4.1 Flight Control Design.....134 E.4.2 Flight Simulations.....135 E.5 Case 1E - Influence of λ_7 and λ_8.....139 E.5.1 Flight Control Design.....139 E.5.2 Flight Simulations.....140 E.6 Case 1F - Influence of λ_9.....144 E.6.1 Flight Control Design.....144 E.6.2 Flight Simulations.....145 Publication List.....150 VITA.....152

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