民机四维航迹/姿态一体化自适应控制
|
摘要
出于运营效率和飞行安全的考虑,民用飞机在航路终端区需有效减少飞行总系统误差(TSE),提高空域资源利用率。在此航段中,飞行技术误差(FTE)是最主要的组成部分,需采用引导控制一体化的设计思想,实现民机起飞/着陆段四维航迹精确跟踪,有效减小飞行技术误差。基于回路传递函数恢复(LTR)技术协调设计随机线性系统状态观测器和最优控制器,解决大气紊流作用下的民机飞行控制系统设计问题。在此基础上,引入自适应投影算子估计大气扰动导致的气动参数不确定性,并对其作用效果进行补偿。仿真结果表明,基于LQG/LTR(Linear Quadratic Gaussian/Loop Transfer Recovery)控制技术的自适应飞行控制律可以有效抑制气动参数不确定性影响,能够实现民机四维航迹/姿态一体化高精度控制的目标。
Considering operating efficiency and flight safety,it is necessary to reduce the Total System Error(TSE)to improve the airspace resource utilization in the terminal area of the air route.During this route segment,Flight Technology Error(FTE)is the main composition.By proposing guidance and control integration design according to accurate tracking problem of four-dimensional trajectory during take-off and landing stage to reduce the flight technology error effectively.Considering the atmosphere turbulence,Loop Transfer Recovery(LTR)has been used to design state observer and optimal control and has realized the flight controller of civil aircraft.Based on that,the adaptive projection operator has been used to estimate the aerodynamic parameter uncertainties in inhomogeneous wind field and the uncertainties have been compensated.Numerical simulations demonstrate that the adaptive controller based on Linear Quadratic Gaussian/Loop Transfer Recovery(LQG/LTR)control technology can restrain the effect caused by uncertainty of aerodynamic parameters and atmospheric turbulence,and an integration controller of four-dimensional trajectory and attitudes for civil aircraft has been achieved.
Considering operating efficiency and flight safety,it is necessary to reduce the Total System Error(TSE)to improve the airspace resource utilization in the terminal area of the air route.During this route segment,Flight Technology Error(FTE)is the main composition.By proposing guidance and control integration design according to accurate tracking problem of four-dimensional trajectory during take-off and landing stage to reduce the flight technology error effectively.Considering the atmosphere turbulence,Loop Transfer Recovery(LTR)has been used to design state observer and optimal control and has realized the flight controller of civil aircraft.Based on that,the adaptive projection operator has been used to estimate the aerodynamic parameter uncertainties in inhomogeneous wind field and the uncertainties have been compensated.Numerical simulations demonstrate that the adaptive controller based on Linear Quadratic Gaussian/Loop Transfer Recovery(LQG/LTR)control technology can restrain the effect caused by uncertainty of aerodynamic parameters and atmospheric turbulence,and an integration controller of four-dimensional trajectory and attitudes for civil aircraft has been achieved.
引文
[1]PETER D S,KARL R H,CHARLES A S.Validation of an integrated flight and propulsion control design for fighter aircraft[C]∥23rd Joint Propulsion Conference.Reston,VA:AIAA,1987:1928.
[2]LAMBERT H H,GILYARD G B,CHISHOLM J D,et al.Preliminary flight evaluation of an engine performance optimization algorithm[C]∥27th Joint Propulsion Conference.Reston,VA:AIAA,1991:1998.
[3]SMITH R H,CHISHOLM J D,STEWART J F.Optimizing aircraft performance with adaptive integrated flight/propulsion control[J].Journal of Engineering for Gas Turbines and Power,1991,113(1):87-94.
[4]WILLIAMS D E,RICHMAN J,FRIEDLAND B.Design of an integrated strapdown guidance and control system for a tactical missile[C]∥AIAA Guidance and Control Conference.Reston,VA:AIAA,1983:2169.
[5]IDAN M,SHIMA T.Integrated sliding mode guidance and control for a missile with on-off actuators[J].Journal of Guidance,Control,and Dynamics,2007,30(4):1081-1089.
[6]SHTESSEL Y B,SHKOLNIKOV I A,LEVANT A.Guidance and control of missile interceptor using secondorder sliding modes[J].IEEE Transactions on Aerospace and Electronic Systems,2009,45(1):110-124.
[7]KIM B S,CALISE A J,SATTIGERI R.Adaptive integrated guidance and control design for line-of-sight based formation flight[J].Journal of Guidance,Control,and Dynamic,2007,30(5):1386-1398.
[8]KIM B,KIM J,KIM B,et al.Adaptive integrated guidance and control design for automatic landing of a fixed wing unmanned aerial vehicle[J].Journal of Aerospace Engineering,2012,25(4):490-500.
[9]SHARMA M,RICHARDS N.Adaptive integrated guidance and control for missile interceptors[C]∥AIAA Guidance Navigation and Control Conference and Exhibit.Reston,VA:AIAA,2004:4880.
[10]MENON K,OHLMEYER E J.Integrated design of agile missile guidance and autopilot systems[J].Control Engineering Practice,2001(9):1095-1106.
[11]MENON K,OHLMEYER E J.Nonlinear integrated guidance-control laws for homing missiles[C]∥AIAAGuidance Navigation and Control Conference and Exhibit.Reston,VA:AIAA,2001:4160.
[12]MENON K,OHLMEYEN E J.Optimal fixed-interval integrated guidance-control laws for hit-to-kill missiles[C]∥AIAA Guidance Navigation and Control Conference and Exhibit.Reston,VA:AIAA,2003:5579.
[13]张杨,吴文海,汪杰.舰载无人机横侧向着舰控制律设计[J].航空学报,2017,38(S1):721489.ZHANG Y,WU W H,WANG J.Design of carrier UAVlateral/directional landing control law[J].Acta Aeronautica et Astronautica Sinica,2017,38(S1):721489(in Chinese).
[14]TIAN Y,LI Y,REN Z.Vision-based adaptive guidance law for intercepting a manoeuvring target[J].IET Control Theory&Applications,2011,5(3):421-428.
[15]CHOI H,KIM Y.UAV guidance using a monocular-vision sensor for aerial target tracking[J].Control Engineering Practice,2014,22(1):10-19.
[16]MEHTA S S,TON C,KAN Z,et al.Vision-based navigation and guidance of a sensorless missile[J].Journal of the Franklin Institute,2015,352(12):5569-5598.
[17]WEN L,TAO G,YANG H,et al.Aircraft turbulence compensation using adaptive multivariable disturbance rejection techniques[J].Journal of Guidance,Control,and Dynamics,2014,38(5):954-962.
[18]肖业伦,金长江.大气扰动中的飞行力学[M].北京:国防工业出版社,1991:11-89.XIAO Y L,JIN C J.Flight dynamics in atmospheric disturbance[M].Beijing:National Defense Industry Press,1991:11-89(in Chinese).
[19]肖业伦.飞行器运动方程[M].北京:航空工业出版社,1987:62-89.XIAO Y L.Kinematic equation of aviation aircraft[M].Beijing:Aviation Industry Press,1987:62-89(in Chinese).
[20]秦永元.卡尔曼滤波与组合导航原理[M].西安:西北工业大学出版社,2012:170-175.QIN Y Y.Theory of Kalman filter and integrated navigation[M].Xi’an:Northwestern Polytechnical University Press,2012:170-175(in Chinese).
[21]DOYLE J C.Guaranteed margins for LQG regulators[J].IEEE Transactions on Automatic Control,1978,23(4):756-757.
[22]DOYLE J C,STEIN G.Multivariable feedback design:Concepts for a classical/modern synthesis[J].IEEETransactions on Automatic Control,1981,26(1):4-16.
[23]RIDGELY D B,BANDA S S,MCQUADE T E,et al.Linear-quadratic-gaussian with loop-transfer recovery methodology for an unmanned aircraft[J].Journal of Guidance,Control,and Dynamics,1987,10(1):82-89.
[24]ZHOU K,REN Z.A new controller architecture for high performance robust and fault-tolerant Control[J].IEEETransactions on Automatic Control,2001,46(10):1613-1618.
[25]韩京清.自抗扰控制技术[M].北京:国防工业出版社,2009:183-207.HAN J Q.Active disturbance rejection control technique[M].Beijing:National Defense Industry Press,2009:183-207(in Chinese).
[26]CHEN X,LI D H,GAO Z Q,et al.Tuning method for second-order active disturbance rejection control[C]∥Proceedings of the 30th Chinese Control Conference.Piscataway,NJ:IEEE Press,2011:6322-6327.
[27]李杰,齐晓慧,夏元清,等.线性/非线性自抗扰切换控制方法研究[J].自动化学报,2016,42(2):202-212.LI J,QI X H,XIA Y Q,et al.On linear/nonlinear active disturbance rejection switching control[J].Acta Automatica Sinica,2016,42(2):202-212(in Chinese).
[28]STEPANYAN V,HOVAKIMYAN N.Adaptive disturbance rejection controller for visual tracking of a maneuvering target[J].Journal of Guidance,Control,and Dynamics,2007,30(4):1090-1106.
[29]SASTRY S,BODSON M.Adaptive control:Stability,convergence and robustness[M].Upper Saddle River,NJ:Prentice-Hall,1989:18-19.
[2]LAMBERT H H,GILYARD G B,CHISHOLM J D,et al.Preliminary flight evaluation of an engine performance optimization algorithm[C]∥27th Joint Propulsion Conference.Reston,VA:AIAA,1991:1998.
[3]SMITH R H,CHISHOLM J D,STEWART J F.Optimizing aircraft performance with adaptive integrated flight/propulsion control[J].Journal of Engineering for Gas Turbines and Power,1991,113(1):87-94.
[4]WILLIAMS D E,RICHMAN J,FRIEDLAND B.Design of an integrated strapdown guidance and control system for a tactical missile[C]∥AIAA Guidance and Control Conference.Reston,VA:AIAA,1983:2169.
[5]IDAN M,SHIMA T.Integrated sliding mode guidance and control for a missile with on-off actuators[J].Journal of Guidance,Control,and Dynamics,2007,30(4):1081-1089.
[6]SHTESSEL Y B,SHKOLNIKOV I A,LEVANT A.Guidance and control of missile interceptor using secondorder sliding modes[J].IEEE Transactions on Aerospace and Electronic Systems,2009,45(1):110-124.
[7]KIM B S,CALISE A J,SATTIGERI R.Adaptive integrated guidance and control design for line-of-sight based formation flight[J].Journal of Guidance,Control,and Dynamic,2007,30(5):1386-1398.
[8]KIM B,KIM J,KIM B,et al.Adaptive integrated guidance and control design for automatic landing of a fixed wing unmanned aerial vehicle[J].Journal of Aerospace Engineering,2012,25(4):490-500.
[9]SHARMA M,RICHARDS N.Adaptive integrated guidance and control for missile interceptors[C]∥AIAA Guidance Navigation and Control Conference and Exhibit.Reston,VA:AIAA,2004:4880.
[10]MENON K,OHLMEYER E J.Integrated design of agile missile guidance and autopilot systems[J].Control Engineering Practice,2001(9):1095-1106.
[11]MENON K,OHLMEYER E J.Nonlinear integrated guidance-control laws for homing missiles[C]∥AIAAGuidance Navigation and Control Conference and Exhibit.Reston,VA:AIAA,2001:4160.
[12]MENON K,OHLMEYEN E J.Optimal fixed-interval integrated guidance-control laws for hit-to-kill missiles[C]∥AIAA Guidance Navigation and Control Conference and Exhibit.Reston,VA:AIAA,2003:5579.
[13]张杨,吴文海,汪杰.舰载无人机横侧向着舰控制律设计[J].航空学报,2017,38(S1):721489.ZHANG Y,WU W H,WANG J.Design of carrier UAVlateral/directional landing control law[J].Acta Aeronautica et Astronautica Sinica,2017,38(S1):721489(in Chinese).
[14]TIAN Y,LI Y,REN Z.Vision-based adaptive guidance law for intercepting a manoeuvring target[J].IET Control Theory&Applications,2011,5(3):421-428.
[15]CHOI H,KIM Y.UAV guidance using a monocular-vision sensor for aerial target tracking[J].Control Engineering Practice,2014,22(1):10-19.
[16]MEHTA S S,TON C,KAN Z,et al.Vision-based navigation and guidance of a sensorless missile[J].Journal of the Franklin Institute,2015,352(12):5569-5598.
[17]WEN L,TAO G,YANG H,et al.Aircraft turbulence compensation using adaptive multivariable disturbance rejection techniques[J].Journal of Guidance,Control,and Dynamics,2014,38(5):954-962.
[18]肖业伦,金长江.大气扰动中的飞行力学[M].北京:国防工业出版社,1991:11-89.XIAO Y L,JIN C J.Flight dynamics in atmospheric disturbance[M].Beijing:National Defense Industry Press,1991:11-89(in Chinese).
[19]肖业伦.飞行器运动方程[M].北京:航空工业出版社,1987:62-89.XIAO Y L.Kinematic equation of aviation aircraft[M].Beijing:Aviation Industry Press,1987:62-89(in Chinese).
[20]秦永元.卡尔曼滤波与组合导航原理[M].西安:西北工业大学出版社,2012:170-175.QIN Y Y.Theory of Kalman filter and integrated navigation[M].Xi’an:Northwestern Polytechnical University Press,2012:170-175(in Chinese).
[21]DOYLE J C.Guaranteed margins for LQG regulators[J].IEEE Transactions on Automatic Control,1978,23(4):756-757.
[22]DOYLE J C,STEIN G.Multivariable feedback design:Concepts for a classical/modern synthesis[J].IEEETransactions on Automatic Control,1981,26(1):4-16.
[23]RIDGELY D B,BANDA S S,MCQUADE T E,et al.Linear-quadratic-gaussian with loop-transfer recovery methodology for an unmanned aircraft[J].Journal of Guidance,Control,and Dynamics,1987,10(1):82-89.
[24]ZHOU K,REN Z.A new controller architecture for high performance robust and fault-tolerant Control[J].IEEETransactions on Automatic Control,2001,46(10):1613-1618.
[25]韩京清.自抗扰控制技术[M].北京:国防工业出版社,2009:183-207.HAN J Q.Active disturbance rejection control technique[M].Beijing:National Defense Industry Press,2009:183-207(in Chinese).
[26]CHEN X,LI D H,GAO Z Q,et al.Tuning method for second-order active disturbance rejection control[C]∥Proceedings of the 30th Chinese Control Conference.Piscataway,NJ:IEEE Press,2011:6322-6327.
[27]李杰,齐晓慧,夏元清,等.线性/非线性自抗扰切换控制方法研究[J].自动化学报,2016,42(2):202-212.LI J,QI X H,XIA Y Q,et al.On linear/nonlinear active disturbance rejection switching control[J].Acta Automatica Sinica,2016,42(2):202-212(in Chinese).
[28]STEPANYAN V,HOVAKIMYAN N.Adaptive disturbance rejection controller for visual tracking of a maneuvering target[J].Journal of Guidance,Control,and Dynamics,2007,30(4):1090-1106.
[29]SASTRY S,BODSON M.Adaptive control:Stability,convergence and robustness[M].Upper Saddle River,NJ:Prentice-Hall,1989:18-19.