高超声速飞行器的离线双模预测控制方法
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摘要
针对预测控制在高超声速飞行器控制中面临的在线计算时间问题,提出了离线双模预测控制方法。首先采用LQR方法设计无约束反馈控制增益,然后根据计算得到的控制增益和高超声速飞行器的约束条件计算多面体不变集,根据多参数二次规划解的性质将多面体不变集进行区域划分并计算相应区域的自由控制变量。在线时只需要搜索当前时刻状态所处的分区,极大地减小了在线计算时间,为高超声速飞行器的实时控制提供了保证。仿真试验表明,提出的方法在保持在线算法的控制性能的同时,极大减少了仿真运行时间,实现了高超声速飞行器的实时控制。
Considering the problem of the online computation time in the model predictive control for hypersonic vehicle,the off-line dual-mode predictive control was proposed. Firstly,the unconstrained control gain was designed by using the LQR( Liner quadratic regulor) method. Then the polyhedral invariant set was calculated according to the control gain and the constraints of the hypersonic vehicle. The polyhedral invariant set was divided based on the solution of the multi-parameter quadratic program,and the relevant free control variables were calculated simultaneously. On-line,the control law was obtained by searching the region of the current state,which reduces the online computation time noticeably. Simulation results show that the proposed method can not only maintain the control performance but also reduce the simulation time,and the real-time control for hypersonic vehicle can be attained.
Considering the problem of the online computation time in the model predictive control for hypersonic vehicle,the off-line dual-mode predictive control was proposed. Firstly,the unconstrained control gain was designed by using the LQR( Liner quadratic regulor) method. Then the polyhedral invariant set was calculated according to the control gain and the constraints of the hypersonic vehicle. The polyhedral invariant set was divided based on the solution of the multi-parameter quadratic program,and the relevant free control variables were calculated simultaneously. On-line,the control law was obtained by searching the region of the current state,which reduces the online computation time noticeably. Simulation results show that the proposed method can not only maintain the control performance but also reduce the simulation time,and the real-time control for hypersonic vehicle can be attained.
引文
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[13]Cheng L,Jiang C S,Pu M.On-line-SVR-compensated nonlinear generalized predictive control for hypersonic vehicles[J].Science China-Information Sciences,2011,54(3):551-562.
[14]Kouvaritakis B,Rossiter J A,Schuurmans J.Efficient robust model predictive control[J].IEEE Transactions on Automatic Control.2000,45(8):1545-1549.
[15]Pluymers B,Rossiter J A,Suykens J,et al.A simple algorithm for robust MPC[C]//Proceedings of the IFAC World Congress,2005,Prague,Czech Republic.
[16]Bemporad A,Morari M,Dua V,et al.The explicit linear quadratic regulator for constrained systems[J].Automatica,2002,30(1):3-20.
[17]Rossiter J A.Model-based predictive control-a practical approach[M].Florida:CRC,2003:103-151.
[18]Gilbert E G,Tan T K.Linear systems with state and control constraints:the theory and application of maximal output admissible sets[J].IEEE Transactions on Automatic Control,1991,36(9):1008-1020.
[2]孙未蒙,张靖男,张志强.高超声速飞行器控制技术的几个增长点[C]//中国航空学会控制与应用第十二届学术年会论文集,2006:162-166.
[3]黄琳,段志生,杨剑影.近空间高超声速飞行器对控制科学的挑战[J].控制理论与应用,2011,28(10):1496-1505.
[4]Wang Q,Stengel R F.Robust nonlinear control of a hypersonic aircraft[J].Journal of Guidance,Control,and Dynamics,2000,23(4):577-585.
[5]Sigthorsson D O,Jankovsky P,Serrani A,et al.Robust linear output feedback control of an air-breathing hypersonic vehicle[J].Journal of Guidance,Control,and Dynamics,2008,31(4):1052-1066.
[6]Wilconx Z D,Mackunis W,Bhat S,et al.Lyapunov-based exponential tracking control of a hypersonic aircraft with aerothermoelastic effects[J].Journal of Guidance Control and Dynamics,2010,33(4):1213-1224.
[7]Fiorentini L,Serrani A,Bolender M A,et al.Nonlinear robust adaptive control of flexible air-breathing hypersonic vehicles[J].Journal of Guidance,Control,and Dynamics,2009,32(2):402-417.
[8]Xu H J,Mirmirani M D,Ioannou P A.Adaptive sliding mode control design for a hypersonic flight vehicle[J].Journal of Guidance Control and Dynamics,2004,27(5):829-838.
[9]Xu B,Sun F C,Yang C G,et al.Adaptive discrete-time controller design with neural network for hypersonic flight vehicle via back-stepping[J].International Journal of Control,2011,84(9):1543-1552.
[10]Li H Y,Wu L G,Gao H J,et al.Reference output tracking control for a flexible air-breathing hypersonic vehicle via output feedback[J].Optimal Control Applications and Methods,2011,33:461-487.
[11]Tao X Y,Hua C,Li N,et al.Robust model predictive controller design for a hypersonic flight vehicle[C]//2012Proceedings of International Conference on Modelling,Identification and Control(ICMIC),NJ:IEEE,2012:1299-1304.
[12]Yang J,Zhao Z H,Li S H,et al.Composite predictive flight control for airbreathing hypersonic vehicle[J].International Journal of Control,2014,87(9):1970-1984.
[13]Cheng L,Jiang C S,Pu M.On-line-SVR-compensated nonlinear generalized predictive control for hypersonic vehicles[J].Science China-Information Sciences,2011,54(3):551-562.
[14]Kouvaritakis B,Rossiter J A,Schuurmans J.Efficient robust model predictive control[J].IEEE Transactions on Automatic Control.2000,45(8):1545-1549.
[15]Pluymers B,Rossiter J A,Suykens J,et al.A simple algorithm for robust MPC[C]//Proceedings of the IFAC World Congress,2005,Prague,Czech Republic.
[16]Bemporad A,Morari M,Dua V,et al.The explicit linear quadratic regulator for constrained systems[J].Automatica,2002,30(1):3-20.
[17]Rossiter J A.Model-based predictive control-a practical approach[M].Florida:CRC,2003:103-151.
[18]Gilbert E G,Tan T K.Linear systems with state and control constraints:the theory and application of maximal output admissible sets[J].IEEE Transactions on Automatic Control,1991,36(9):1008-1020.