AI 中文总结
本文梳理非线性动态逆（NDI）及增量式NDI（INDI）的演进形式，分析其优势与缺陷，为未来飞行控制律开发提供结构化概述与方法学考量。
AI 中文摘要
非线性动态逆（Nonlinear Dynamic Inversion, NDI）已成为飞行控制律设计中的标准方法。它提供了一种直观的方法来解耦指令变量响应、处理系统非线性并适应运行工况；还具有结构良好的架构，通过在独立组件中处理各类功能方面来减少设计工作量，且能直接集成扩展能力，如包络保护、控制饱和处理以及故障或损伤补偿。一项引发大量新关注的进展是使用（角）加速度传感器部分替代逆模型方程，该进展被称为增量式NDI（Incremental NDI, INDI），其对建模误差的敏感性更低，且控制律复杂度也更低。然而，增量式NDI在先前存在的逆模型方程和基础反馈信号综合方面缺乏有用的设计自由度，且在控制分配、干扰抑制和跨学科耦合等设计方面存在缺陷，这催生了近期开发的混合方法和数学重构方法。本文旨在从概念、历史、架构和数学视角，对各类演进形式的NDI提供最新的结构化概述，并通过从方法学、设计和应用视角回顾其各类形式与潜力，为未来飞行控制律开发提供有用的考量。
英文摘要
Nonlinear Dynamic Inversion (NDI) has become a standard methodology in flight control law design. It offers an intuitive approach to decouple commanded variable responses, handle system nonlinearities, and adapt to operating conditions. NDI also comes with a well-structured architecture that reduces design effort by addressing various functional aspects in separate components, and that allows straightforward integration of extended capabilities, such as envelope protection, control saturation handling, and compensating for faults or damage. A development that has resulted in considerable renewed attention is the use of (angular) acceleration sensors to partially replace inverse model equations. Known as incremental NDI, or INDI, this development offers reduced sensitivity to modeling errors and lower control law complexity. Incremental NDI, however, lacks useful design degrees of freedom in the previously present inverse model equations and underlying feedback signal synthesis, and comes with pitfalls in design aspects like control allocation, disturbance rejection, and inter-disciplinary couplings. This has given rise to recently developed hybrid and mathematically restructured approaches. The aim of this article is to give an up-to-date, structured overview of the various evolved forms of NDI from conceptual, historical, architectural, and mathematical perspectives. It hereby intends to provide useful considerations for future flight control law developments by reviewing its various forms and potentials from methodological, design, and application points of view.
Comments82 pages, 31 figures, invited to be published in "Progress in Aerospace Sciences"
