动态逆控制方法对于模型精确性要求很高,在系统模型参数摄动较大的情况下,动态逆控制并不能保证系统的鲁棒性,甚至有可能使得控制系统不稳定。采用鲁棒控制理论对动态逆设计方法进行完善。为了改善动态逆控制性能,采取双回路的控制策略。内环为动态逆控制,对复合得到的伪线性系统定量进行分析,得到数学模型并给出其参数不确定性的范围;外环采用包含了混合灵敏度和模型匹配方法的双自由度鲁棒回路整形完成系统的综合,并将其转换为标准的H∞问题进行求解,分别设计了3个通道的鲁棒控制器,从而增强动态逆控制系统的鲁棒性。

Dynamic inversion method makes high requirement for model accuracy. The robustness of dynamic inversion controller couldn't be guaranteed with uncertain parameter. Perfection of design methodology of nonlinear dynamic inversion using robust control was discussed. In order to improve the performance of dynamic inversion controller, double-loop was adopted. Dynamic inversion was used in inner loop, the mathematical model of pseudo-linear system was studied based on quantitative analysis, and its parameter uncertainty was presented. The outer loop was designed via 2DOF robust loop shaping which include mixed sensitivity and model matching, and is formulated within the framework of H∞ problem. The robust controllers of three channels were designed using the model of pseudo-linear system, and robustness of dynamic inversion controller was enhanced.