Research On Control System Of Morphing Wings Based On CAN Bus

With the rapid development of science and technology, researches on morphing wing aircrafts have received much attention in many countries. As a new aircraft,morphing wing aircrafts can change its shape according to the change of fight environment and missions, in order to meet the requirement of keeping optimal flight status and performing multi-missions. Compared with traditional fixed-configuration aircrafts, the most special part of morphing wing aircrafts is the shape-change function. In this paper, several aspects of the problem of shape control in morphing wing aircrafts are investigated, including designing the structure of the morphing wing aircrafts system, developing the software of network communication and control, researching distributed coordination control problem based on Consensus algorithm and optimizing the coordinated controller under the network characteristics.First of all, a hardware system of morphing wing based on CAN bus is constructed. In order to verify the feasibility of distributed mechanical drive mechanism, morphing wing experimental system with nine distributed drive element is designed, meeting the requirement of thickness and curvature changeable. As the main contents of hardware development, drive element is built from three aspects of communication module based on CAN bus, drive and implement module and displacement measurement module. Besides, the reliability of morphing wing system is improved by bus redundancy method.Next, the network communications and control software of morphing wing control system are designed. In order to regulate the information transmission, the CAN network communication software is realized on the basis of formulating CAN application layer protocol. Meanwhile, the sampled control software of drive element is developed according the sensor sampling and servo control functions, and researching the scheduling problem of main program. Under the standard library provided by bus adapter, the communication interface module and interface display module of PC are developed, realizing the airfoil monitoring and interaction function of PC.The following, the distributed coordination control problem based on Consensus algorithm is researched, in order to keep continuous, smooth shape changing. Under the object of drive and implement structure, the transfer function and state equation are established. Then, distributed coordination control law is designed, and analyzing the stability of morphing wing control system. Besides, the MATLAB simulation and experimental validation prove the effectiveness of distributed coordination control algorithmFinally, under the consideration of delay and packet loss characteristics, the distributed coordination controller is researched and optimized. The network model of drive and implement structure is established by assuming that the network exists only between the sensor and controller. According the network features, optimizing the coordination controller and giving the exponential stability condition of the system. The experiment shows the superiority of coordination controller under the network characteristics.