基于滑模控制的折叠翼飞行器辅助机动研究
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摘要
基于滑模控制策略,研究了折叠翼飞行器辅助机动问题.分析了系统折叠角与气动参数的关系,把机翼折叠角看成额外的控制输入,构造了包含折叠辅助机动的飞行器动力学模型.针对非线性系统,加入混合干扰,设计了非奇异动态终端滑模控制(NDTSMC)器,能够较好地抑制折叠翼飞行器的不确定性,同时完成姿态跟踪控制.仿真结果表明,NDTSMC改善了折叠翼飞行器的控制精度和鲁棒性能,具有较好的抖振消除效果.与传统飞行器相比,加入折叠辅助机动的折叠翼飞行器拥有更高的机动性和抗干扰能力.
Based on the sliding mode control strategy,the morphing-aided maneuver problem of the folding-wing aircraft is studied. The relationship between the aircraft folding angle and the aerodynamic parameters is analyzed.The wing folding angle is viewed as an extra control input and the dynamic model of the morphing-aided maneuver is constructed. For the nonlinearity and the hybrid disturbances of the system,a novel feedback linearizationbased non-singular dynamic terminal sliding mode control( NDTSMC) approach is proposed. NDTSMC can restrain the uncertainty of the folding-wing aircraft and complete the attitude tracking control. Simulation results show that the control precision and the robustness of the morphing aircraft are improved by NDTSMC,with a better chattering elimination. It is also shown that the folding-wing aircraft with morphing-aided maneuver has higher maneuverability and disturbance rejection capability when compared to the traditional aircraft.
Based on the sliding mode control strategy,the morphing-aided maneuver problem of the folding-wing aircraft is studied. The relationship between the aircraft folding angle and the aerodynamic parameters is analyzed.The wing folding angle is viewed as an extra control input and the dynamic model of the morphing-aided maneuver is constructed. For the nonlinearity and the hybrid disturbances of the system,a novel feedback linearizationbased non-singular dynamic terminal sliding mode control( NDTSMC) approach is proposed. NDTSMC can restrain the uncertainty of the folding-wing aircraft and complete the attitude tracking control. Simulation results show that the control precision and the robustness of the morphing aircraft are improved by NDTSMC,with a better chattering elimination. It is also shown that the folding-wing aircraft with morphing-aided maneuver has higher maneuverability and disturbance rejection capability when compared to the traditional aircraft.
引文
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2 Kudva J N.Overview of the DARPA smart wing project.Journal of Intelligent Material Systems and Structures,2004,15(4):261~267
3 Rodriguez A R.Morphing aircraft technology survey.In:Proceeding.of the 45th AIAA Aerospace Science Meeting and Exhibit,2007:1~16
4 Ivanco T G,Scott R C,Love M H,et al.Validation of the lockheed Martin morphing concept with wind tunnel testing.In:Proceeding.of the 48th AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics,and Materials Conference,2007:1~17
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9 Wang Q,Chen Y,Tang H.Mechanism design for aircraft morphing wing.In:Proceeding.of the 53rd AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics and Materials Conference,2012:1~12
10殷明,陆宇平,何真.变体飞行器LPV建模与鲁棒增益调度控制.南京航空航天大学学报,2013,45(2):202~208.(Yin M,Lu Y P,He Z.LPV modeling and robust gain scheduling control of morphing aircraft.Journal of Nanjing University of Aeronautics&Astronautics,2013,45(2):202~208(in Chinese))
11 Boothe K,Fitzpatrick K,Lind R.Controllers for disturbance rejection for a linear input-varying class of morphing aircraft.In:Proceeding.of the 46th AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics and Materials Conference,2005:1~14
12 Valasek J,Lampton A,Marwaha M.Morphing unmanned air vehicle intelligent shape and flight control.In:Proceeding.of the AIAA Infotech@Aerospace Conference,2009:1~27
13 Hurst A C,Wickenheiser A M,Garcia E.Control of an adaptive aircraft with a morphing input.In:Proceeding.of the 50th AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics,and Materials Conference,2009:1~6
14 Feng Y,Yu X H,Man Z H.Non-Singular terminal sliding mode control of rigid manipulators.Automatica,2002,38(12):2159~2167
15 Yang J,Li S H,Su J Y,et al.Continuous nonsingular terminal sliding mode control for systems with mismatched disturbances.Automatica,2013,49(7):2287~2291
16蒲明,吴庆宪,姜长生等.新型快速Terminal滑模及其在近空间飞行器上的应用.航空学报,2011,32(7):1283~1291(Pu M,Wu Q X,Jiang C S,et al.New fast terminal sliding mode and its application to near space vehicles.Acta Aeronautica et Astronautica Sinica,2011,32(7):1283~1291(in Chinese))
17许晨,陆宇平,刘燕斌等.多运动体航天器旋量理论动力学建模与滑模控制.系统工程与电子技术,2012,34(12):2535~2540(Xu C,Lu Y P,Liu Y B,et al.Dynamic modeling and sliding mode control of multi-moving-body spacecraft using screw theory.Systems Engineering and Electronics,2012,34(12):2535~2540(in Chinese))
18 Li H,Dou L H,Su Z.Adaptive nonsingular fast terminal sliding mode control for electromechanical actuator.International Journal of Systems Science,2013,44(3):401~415
19郑剑飞,冯勇,陆启良.永磁同步电机的高阶终端滑模控制方法.控制理论与应用,2009,26(6):697~700(Zheng J F,Feng Y,Lu Q L.High-order terminal sliding-mode control for permanent magnet synchronous motor.Control Theory&Applications,2009,26(6):697~700(in Chinese))
20王艳敏.柔性机械手非奇异终端滑模控制方法的研究[博士学位论文].哈尔滨:哈尔滨工业大学,2009(Wang Y M.Research on nonsingular terminal sliding mode control method for flexible manipulator[Ph.D Thesis].Harbin:Harbin Institute of Technology,2009(in Chinese))
21 Lin F J,Chou P H,Chen C S,et al.Three-degree-offreedom dynamic model-based intelligent nonsingular terminal sliding mode control for a gantry position stage.IEEE Trans.on Fuzzy Systems,2012,20(5):971~985
22 Liu J K,Sun F C.A novel dynamic terminal sliding mode control of uncertain nonlinear systems.Journal of Control Theory and Applications,2007,5(2):189~193
23耿洁,刘向东,王亮.高超声速飞行器的动态滑模飞行控制器设计.兵工学报,2012,33(3):307~312(Geng J,Liu X D,Wang L.Dynamic sliding mode control of a hypersonic flight vehicle.Acta Armamentarii,2012,33(3):307~312(in Chinese))
24 Zong Q,Wang J,Tao Y.Adaptive high-order dynamic sliding mode control for a flexible air-breathing hypersonic vehicle.International Journal of Robust and Nonlinear Control,2013,23(15):1718~1736
25 Ansarifar G R,Davilu H,Talebi H A.Gain scheduled dynamic sliding mode control for nuclear steam generators.Progress in Nuclear Energy,2011,53(6):651~663
2 Kudva J N.Overview of the DARPA smart wing project.Journal of Intelligent Material Systems and Structures,2004,15(4):261~267
3 Rodriguez A R.Morphing aircraft technology survey.In:Proceeding.of the 45th AIAA Aerospace Science Meeting and Exhibit,2007:1~16
4 Ivanco T G,Scott R C,Love M H,et al.Validation of the lockheed Martin morphing concept with wind tunnel testing.In:Proceeding.of the 48th AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics,and Materials Conference,2007:1~17
5 Bowman J,Sanders B,Cannon B,et al.Development of next generation morphing aircraft structures.In:Proceeding.of the 48th AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics,and Materials Conference,2007:1~10
6 Jouannet C,Lundstr9m D,Amadori K,et al.Morphing wing design,from study to flight test.In:Proceeding.of the 47th AIAA Aerospace Sciences Meeting Including The New Horizons Forum and Aerospace Exposition,2009:1~12
7 Matteo N D,Guo S,Ahmed S,et al.Design and analysis of a morphing flap structure for high lift wing.In:Proceeding.of the 51st AIAA/ASME/ASCE/AHS/ASCStructures,Structural Dynamics,and Materials Conference,2010:1~12
8 Felício J,Santos P,Gamboa P,et al.Evaluation of a variable-span morphing wing for a small UAV.In:Proceeding.of the 52nd AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics and Materials Conference,2011:1~17
9 Wang Q,Chen Y,Tang H.Mechanism design for aircraft morphing wing.In:Proceeding.of the 53rd AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics and Materials Conference,2012:1~12
10殷明,陆宇平,何真.变体飞行器LPV建模与鲁棒增益调度控制.南京航空航天大学学报,2013,45(2):202~208.(Yin M,Lu Y P,He Z.LPV modeling and robust gain scheduling control of morphing aircraft.Journal of Nanjing University of Aeronautics&Astronautics,2013,45(2):202~208(in Chinese))
11 Boothe K,Fitzpatrick K,Lind R.Controllers for disturbance rejection for a linear input-varying class of morphing aircraft.In:Proceeding.of the 46th AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics and Materials Conference,2005:1~14
12 Valasek J,Lampton A,Marwaha M.Morphing unmanned air vehicle intelligent shape and flight control.In:Proceeding.of the AIAA Infotech@Aerospace Conference,2009:1~27
13 Hurst A C,Wickenheiser A M,Garcia E.Control of an adaptive aircraft with a morphing input.In:Proceeding.of the 50th AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics,and Materials Conference,2009:1~6
14 Feng Y,Yu X H,Man Z H.Non-Singular terminal sliding mode control of rigid manipulators.Automatica,2002,38(12):2159~2167
15 Yang J,Li S H,Su J Y,et al.Continuous nonsingular terminal sliding mode control for systems with mismatched disturbances.Automatica,2013,49(7):2287~2291
16蒲明,吴庆宪,姜长生等.新型快速Terminal滑模及其在近空间飞行器上的应用.航空学报,2011,32(7):1283~1291(Pu M,Wu Q X,Jiang C S,et al.New fast terminal sliding mode and its application to near space vehicles.Acta Aeronautica et Astronautica Sinica,2011,32(7):1283~1291(in Chinese))
17许晨,陆宇平,刘燕斌等.多运动体航天器旋量理论动力学建模与滑模控制.系统工程与电子技术,2012,34(12):2535~2540(Xu C,Lu Y P,Liu Y B,et al.Dynamic modeling and sliding mode control of multi-moving-body spacecraft using screw theory.Systems Engineering and Electronics,2012,34(12):2535~2540(in Chinese))
18 Li H,Dou L H,Su Z.Adaptive nonsingular fast terminal sliding mode control for electromechanical actuator.International Journal of Systems Science,2013,44(3):401~415
19郑剑飞,冯勇,陆启良.永磁同步电机的高阶终端滑模控制方法.控制理论与应用,2009,26(6):697~700(Zheng J F,Feng Y,Lu Q L.High-order terminal sliding-mode control for permanent magnet synchronous motor.Control Theory&Applications,2009,26(6):697~700(in Chinese))
20王艳敏.柔性机械手非奇异终端滑模控制方法的研究[博士学位论文].哈尔滨:哈尔滨工业大学,2009(Wang Y M.Research on nonsingular terminal sliding mode control method for flexible manipulator[Ph.D Thesis].Harbin:Harbin Institute of Technology,2009(in Chinese))
21 Lin F J,Chou P H,Chen C S,et al.Three-degree-offreedom dynamic model-based intelligent nonsingular terminal sliding mode control for a gantry position stage.IEEE Trans.on Fuzzy Systems,2012,20(5):971~985
22 Liu J K,Sun F C.A novel dynamic terminal sliding mode control of uncertain nonlinear systems.Journal of Control Theory and Applications,2007,5(2):189~193
23耿洁,刘向东,王亮.高超声速飞行器的动态滑模飞行控制器设计.兵工学报,2012,33(3):307~312(Geng J,Liu X D,Wang L.Dynamic sliding mode control of a hypersonic flight vehicle.Acta Armamentarii,2012,33(3):307~312(in Chinese))
24 Zong Q,Wang J,Tao Y.Adaptive high-order dynamic sliding mode control for a flexible air-breathing hypersonic vehicle.International Journal of Robust and Nonlinear Control,2013,23(15):1718~1736
25 Ansarifar G R,Davilu H,Talebi H A.Gain scheduled dynamic sliding mode control for nuclear steam generators.Progress in Nuclear Energy,2011,53(6):651~663