| 摘要 |
<p>A vehicle control system and method combining control allocation and phase compensation for forming a phase compensated actuator command signal (x) based on a control demand signal (u). The system further comprises feedback means including a matrix multiplication unit for forming an estimated behaviour signal (y'), from a control efficiency matrix and said actuator command signal (x). The estimated behaviour signal is fed to a second summation unit (225) for forming a difference signal µ. Said difference signal µ from the summation unit (225) is processed by a filter unit (240) for forming a feedback signal (´) which is connected to a first summation unit (210) for forming a modified control demand signal (u'), such that u' is adjusted to always represent a control demand realisable by the vehicle. Said modified control demand signal (u') of the first summation unit (210) is further connected to the second summation unit (225) and to a control allocator (220) which output is then connected to the matrix multiplier to form a feedback loop.</p> |
