动力机械和机身手册3(89)

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Qc-[B AB' A2B A3B A4B]      (6,347)
2) Form matrices Pi to Ps as follows:
            Pi-[0 0 O 0 l]Qci
                                             P2 = Pi A
                                                                P.3 = PI A2
                                               P4 = Pl A3
                                 P5 =

Then the phase-variable forms Ap and Bp are given by
                                 Ap = PAP-i
                                   Bp = PB
(6.348)
(6.349)
(6.350)
(6.351)
(6.352)
(6.353)
(6.354)
(6.355)
610           PERFORMANCE, STABILITY, DYNAMICS, AND CONTROL
     For the general a\riation airplane, the lateral-directional'controllability matrix is
given by
           0   5.0  -4.0  -36.0   162.0
           0   3.0  -33.0  212.0  -1664.0
   Qc- 3.0 -33.0 212.0 -1664.0 14,376.0
          O   -5.0  3.0   30.0   -115.0
           -5.0  3.0   30.0 . -115.0   511.0
so that
        0.0000  -0.6953 -0.0717 -0.0369 -0.2549
       -3.8467  0.3386  0.0499  -4.2354 -0.0312
 Qci= -1.1859 0.0187  0.0063 -1.2253 -0.0147
       -0.7785  0.0926  0.0131  -0.8208 -0.0046
        -0.0815  0.0113  0.0016  -0.0867 -0.0003
        -0.0815  0.0113  0.0016  -0.0867 -0.0003
       -0.0070 -0.0148 -0.0022   0   -0.0014
     P -   0.0320   -0.0013   0.0046      0      0.0031
        -0.0692  0.0058  -0.0415   0   -0.0241
        0.5791  -0.0126  0.3650    0   -0.0039
       0.0000  1.0000   0.0000   0-0000   0.0000
       0.0000  0.0000   1-0000   0.0000   0.0000
 Ap= 0.0000 0.0000  0.0000  1.0000  0.0000
       0.0000  0.0000  0.0000   0.0000   1.0000
       0.0000 -0.4253 -48.8614 -14.1354 -9.4685
Bp =
    The input with full-state feedback in the transformed system is
                                       U -r(t) - KZ
where K is given by
              K-[ki k2 k3 k4 ks)
Then,
                                 Z = (Ap - BpK)Z + Bpr(t)
　
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