Dynamics decoupled direct force control technology

An improved direct force control technology which decouples dynamics is presented. In the new technology, the closed loop controller of wings' aerodynamic force is included, so that the model can be divided into the aerodynamics model and the rigid-body dynamics model, and then the influence of the uncertainty and the nonlinear coupling of the aerodynamic model can be avoided. After analyzing the controllability of different aerodynamic forces, an inversed dynamic model and the control allocation algorithm based on the generalized inverse are designed. The control system is established as a hierarchical control system. The results of the mathematic simulations show that the new direct control technology based on the inversed dynamics of the aircraft has a good performance in the aircraft's altitude and the path decoupling control, and has a good anti-interference capability and robustness, which shows a good anticipation of the engineering use.