航空学报2026，Vol.47Issue(9)：250-266,17.DOI:10.7527/S1000-6893.2025.32465
增强型ERG控制框架:模块设计与实验验证
Enhanced ERG-based control framework:Module design and experimental validation
摘要
Abstract
The control framework based on the Explicit Reference Governor(ERG)demonstrates significant application potential in the aerospace field,with its core advantage lying in achieving safety control under multiple constraints with limited computational resources.However,its practical effectiveness depends on the accuracy and conservatism of dy-namic safety margin calculations.Focusing on a two-Degree-of-Freedom(2-DOF)helicopter control platform with model uncertainties,this study proposes an enhanced ERG framework integrating a lowest-order Uncertainty and Disturbance Estimator(UDE)and a risk assessment module.The framework achieves performance breakthroughs through two key designs:The introduction of the UDE to actively compensate for uncertainties,thereby improving the accuracy of trajec-tory prediction based on the nominal model and ensuring reliable dynamic safety margin calculation.The embedding of a risk assessment module to avoid system response delays caused by overly conservative transitions of the auxiliary refer-ence.Multiple sets of simulation and physical comparative experiments demonstrate that the enhanced framework re-tains inherent advantages while solving the problems of sensitivity to model accuracy and conservative auxiliary reference adjustments,simultaneously achieving reduced steady-state error and increased response speed.关键词
二自由度直升机/不确定性与干扰估计器/干扰抑制/显式参考管理器/轨迹预测/约束控制Key words
2-DOF helicopter/uncertainty and disturbance estimator/disturbance rejection/explicit reference governor/trajectory prediction/constraints control分类
航空航天引用本文复制引用
金宇,杨夏,张雷,唐家成,朱波..增强型ERG控制框架:模块设计与实验验证[J].航空学报,2026,47(9):250-266,17.基金项目
国家重点研发计划(2024YFC3015801) （2024YFC3015801）
中国高校产学研创新基金(2024ZY006) （2024ZY006）
国家自然科学基金(62373386) National Key R&D Program of China(2024YFC3015801) （62373386）
University-Industry-Research Innovation Fund of China(2024ZY006) （2024ZY006）
National Natural Science Foundation of China(62373386) （62373386）
