右逆システムを用いたモデルマッチング制御器設計 : MuPAL - aへの適用とその地上 / 飛行実験結果

概要

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This paper considers application of the right inverse system in the design of model-matching controllers. In practice, it is impossible to apply the ideal right inverse system to a strictly proper system, such as linearized airplane motions, because differentiators are required. However, considering that there is no need for the right inverse property to hold over all frequency ranges, a filtered right inverse system that has the right inverse property only in the low frequency range is adopted. To investigate their practical application, several filtered right inverse systems were designed as model-matching controllers for the lateral/directional motions of NAL’s MuPAL-α flight research aircraft, and their model-matching performances were examined by simulations. These examinations confirmed that when a higher fidelity system model is used to design the controller, the controller exhibits better performance but noise may be amplified by the inverse system, limiting its ultimate usefulness. There is therefore a trade-off between performance and practicality in designing controllers using the right inverse system. Subsequent flight experiments verified that suitably designed model-matching controllers for the longitudinal and lateral/directional motions of MuPAL-α gave good performance.
社団法人日本航空宇宙学会の論文
2003-06-05