高超声速飞行器的多幂次滑模控制
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摘要
针对高超声速飞行器巡航飞行中存在的模型参数不确定和外界干扰的问题,提出一种基于多幂次趋近律的滑模控制方法。首先,通过精确反馈线性化实现了高超声速飞行器速度和高度子系统的解耦;其次,设计了基于多幂次趋近律的滑模控制器,通过三个幂次项系数针对系统趋近滑模面的不同阶段进行调节,可显著提高系统收敛速度,并采用线性扩张状态观测器实现对模型不确定项和外界干扰的精确估计和补偿,可大幅增强系统的扰动抑制能力;然后,通过Lyapunov稳定性理论证明了系统可快速收敛到平衡点附近的邻域内。仿真实例验证了所设计方法的有效性。
In the presence of model parametric uncertainties and external disturbances,a sliding mode controller based on multi power reaching law is proposed for the cruising flight control of hypersonic flight vehicle( HFV). Firstly,the decoupling of HFV's velocity and altitude subsystem is realized via exact feedback linearization technique. Then,multi power reaching law based sliding controller,which adjusts the sliding surface reaching process through three exponential coefficients,is exploited. So the system convergence speed can be improved significantly.And a linear extended state observer( LESO) is used for the precise estimation and compensation of the model uncertainties and external disturbances,which enormously enhances the ability of disturbance rejection.Furthermore,it is demonstrated that the system can converge to neighborhood of equilibrium point quickly via Lyapunov stability theory.Finally,simulation results demonstrates the validity of the proposed method.
In the presence of model parametric uncertainties and external disturbances,a sliding mode controller based on multi power reaching law is proposed for the cruising flight control of hypersonic flight vehicle( HFV). Firstly,the decoupling of HFV's velocity and altitude subsystem is realized via exact feedback linearization technique. Then,multi power reaching law based sliding controller,which adjusts the sliding surface reaching process through three exponential coefficients,is exploited. So the system convergence speed can be improved significantly.And a linear extended state observer( LESO) is used for the precise estimation and compensation of the model uncertainties and external disturbances,which enormously enhances the ability of disturbance rejection.Furthermore,it is demonstrated that the system can converge to neighborhood of equilibrium point quickly via Lyapunov stability theory.Finally,simulation results demonstrates the validity of the proposed method.
引文
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[10]杨文骏,张科,王佩.含LESO的高超声速飞行器动态面控制[J].宇航学报,2017,38(8):830-838.YANG Wenjun,ZHANG Ke,WANG Pei.LESO-based dynamic surface control for a hypersonic flight vehicle[J].Journal of Astronautics,2017,38(8):830-838.
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[13]Zhang R M,Sun C Y,Zhang J M,et al.Second-order terminal sliding mode control for hypersonic vehicle in cruising flight with sliding mode disturbance observer[J].Journal of Control Theory and Applications,2013,11(2):299-305.
[14]张合新,范金锁,孟飞,等.一种新型滑模控制双幂次趋近律[J].控制与决策,2013,28(2):289-293.ZHANG Hexin,FAN Jinsuo,MENG Fei,et al.A new double power reaching law for sliding mode control[J].Control and Decision,2013,28(2):289-293.
[15]李慧洁,蔡远利.基于双幂次趋近律的滑模控制方法[J].控制与决策,2016,31(3):498-502.LI Huijie,CAI Yuanli.Sliding mode control with double power reaching law[J].Control and Decision,2016,31(3):498-502.
[16]廖瑛,杨雅君,王勇.滑模控制的新型双幂次组合函数趋近律[J].国防科技大学学报,2017,39(3):105-110.LIAO Ying,YANG Yajun,WANG Yong.Novel double power combination function reaching law for sliding mode control[J].Journal of National University of Defense Technology,2017,39(3):105-110.
[17]张瑶,马广富,郭延宁,等.一种多幂次滑模趋近律设计与分析[J].自动化学报,2016,42(3):466-472.ZHANG Yao,MA Guangfu,GUO Yanning,et al.A multi power reaching law of sliding mode control design and analysis[J].Acta Automatica Sinica,2016,42(3):466-472.
[18]韩京清.自抗扰控制技术--估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008.HAN Jingqing.Active disturbance rejection control technique-the technique for estimating and compensating the uncertainties[M].Beijing:National Defense Industry Press,2008.
[19]杨文骏,张科,张明环,等.基于ESO的高超声速飞行器非线性动态逆控制[J].西北工业大学学报,2016,34(5):805-811.YANG Wenjun,ZHANG Ke,ZHANG Minghuan,et al.ESO based nonlinear dynamic inversion control for hypersonic flight vehicle[J].Journal of Northwestern Polytechnical University,2016,34(5):805-811.
[20]Gao Z Q.Active disturbance rejection control:a paradigm shift in feedback control system design[C]//Proceedings of the 2006 American Control Conference,Minneapolis,USA,June 14-16,2006:2399-2405.
[21]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.
[22]Bhat S P,Bernstein D S.Finite-time stability of continuous autonomous systems[J].SIAM Journal of Control and Optimization,2000,38(3):751-766.
[23]Aghababa M P,Khanmohammadi S,Alizadeh G.Finite-time synchronization of two different chaotic systems with unknown parameters via sliding mode technique[J].Applied Mathematical Modelling,2011,35(6):3080-3091.
[2]翟岱亮,雷虎民,李海宁,等.面向轨迹预测的高超声速飞行器气动性能分析[J].固体火箭技术,2017,40(1):115-120.ZHAI Dailiang,LEI Humin,LI Haining,et al.Trajectory prediction oriented aerodynamic performances analysis of hypersonic vehicles[J].Journal of Solid Rocket Technology,2017,40(1):115-120.
[3]Parker J T,Serrani A,Yurkovich S,et al.Control-Oriented Modeling of an Air-Breathing Hypersonic Vehicle[J].Journal of Guidance,Control,and Dynamics,2007,30(3):856-869.
[4]孙长银,穆朝絮,余瑶.近空间高超声速飞行器控制的几个科学问题研究[J].自动化学报,2013,39(11):1901-1913.SUN Changyin,MU Chaoxu,YU Yao.Some control problems for near space hypersonic vehicles[J].Acta Automatica Sinica,2013,39(11):1901-1913.
[5]王易南,陈康,符文星,等.带有攻角约束的高超声速飞行器航迹倾角跟踪控制方法[J].固体火箭技术,2016,39(1):125-130.WANG Yinan,CHEN Kang,FU Wenxing,et al.Hypersonic flight vehicle's flight path angle tracking control with attack angle constraints[J].Journal of Solid Rocket Technology,2016,39(1):125-130.
[6]Guo Z Y,Zhou J,Guo J G,et al.Coupling-characterizationbased robust attitude control scheme for hypersonic vehicles[J].IEEE Transactions on Industrial Electronics,2017,64(8):6350-6361.
[7]孙辰昕.高超声速飞行器的增益调度控制器设计[D].哈尔滨:哈尔滨工业大学,2016.SUN Chenxin.The design of gain scheduling controller of hypersonic vehicle[D].Harbin:Harbin Institute of Technology,2016.
[8]李昭莹,余令艺,刘昊,等.高超声速飞行器非线性鲁棒控制律设计[J].控制理论与应用,2016,33(1):62-69.LI Zhaoying,YU Lingyi,LIU Hao,et al.Nonlinear robust controller design for hypersonic vehicles[J].Control Theory&Applications,2016,33(1):62-69.
[9]卜祥伟,吴晓燕,白瑞阳,等.基于滑模微分器的吸气式高超声速飞行器鲁棒反演控制[J].固体火箭技术,2015,38(1):12-17.BU Xiangwei,WU Xiaoyan,BAI Ruiyang,et al.Sliding-modedifferentiator-based robust backstepping control of air-breathing hypersonic vehicles[J].Journal of Solid Rocket Technology,2015,38(1):12-17.
[10]杨文骏,张科,王佩.含LESO的高超声速飞行器动态面控制[J].宇航学报,2017,38(8):830-838.YANG Wenjun,ZHANG Ke,WANG Pei.LESO-based dynamic surface control for a hypersonic flight vehicle[J].Journal of Astronautics,2017,38(8):830-838.
[11]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[J].兵工学报,2012,33(3):307-312.GENG Jie,LIU Xiangdong,WANG Liang.Dynamic sliding mode control of a hypersonic flight vehicle[J].Acta Armamentarii,2012,33(3):307-312.
[12]Zong Q,Wang J,Tian B L,et al.Quasi-continuous high-order sliding mode controller and observer design for flexible hypersonic vehicle[J].Aerospace Science and Technology,2013,27(1):127-137.
[13]Zhang R M,Sun C Y,Zhang J M,et al.Second-order terminal sliding mode control for hypersonic vehicle in cruising flight with sliding mode disturbance observer[J].Journal of Control Theory and Applications,2013,11(2):299-305.
[14]张合新,范金锁,孟飞,等.一种新型滑模控制双幂次趋近律[J].控制与决策,2013,28(2):289-293.ZHANG Hexin,FAN Jinsuo,MENG Fei,et al.A new double power reaching law for sliding mode control[J].Control and Decision,2013,28(2):289-293.
[15]李慧洁,蔡远利.基于双幂次趋近律的滑模控制方法[J].控制与决策,2016,31(3):498-502.LI Huijie,CAI Yuanli.Sliding mode control with double power reaching law[J].Control and Decision,2016,31(3):498-502.
[16]廖瑛,杨雅君,王勇.滑模控制的新型双幂次组合函数趋近律[J].国防科技大学学报,2017,39(3):105-110.LIAO Ying,YANG Yajun,WANG Yong.Novel double power combination function reaching law for sliding mode control[J].Journal of National University of Defense Technology,2017,39(3):105-110.
[17]张瑶,马广富,郭延宁,等.一种多幂次滑模趋近律设计与分析[J].自动化学报,2016,42(3):466-472.ZHANG Yao,MA Guangfu,GUO Yanning,et al.A multi power reaching law of sliding mode control design and analysis[J].Acta Automatica Sinica,2016,42(3):466-472.
[18]韩京清.自抗扰控制技术--估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008.HAN Jingqing.Active disturbance rejection control technique-the technique for estimating and compensating the uncertainties[M].Beijing:National Defense Industry Press,2008.
[19]杨文骏,张科,张明环,等.基于ESO的高超声速飞行器非线性动态逆控制[J].西北工业大学学报,2016,34(5):805-811.YANG Wenjun,ZHANG Ke,ZHANG Minghuan,et al.ESO based nonlinear dynamic inversion control for hypersonic flight vehicle[J].Journal of Northwestern Polytechnical University,2016,34(5):805-811.
[20]Gao Z Q.Active disturbance rejection control:a paradigm shift in feedback control system design[C]//Proceedings of the 2006 American Control Conference,Minneapolis,USA,June 14-16,2006:2399-2405.
[21]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.
[22]Bhat S P,Bernstein D S.Finite-time stability of continuous autonomous systems[J].SIAM Journal of Control and Optimization,2000,38(3):751-766.
[23]Aghababa M P,Khanmohammadi S,Alizadeh G.Finite-time synchronization of two different chaotic systems with unknown parameters via sliding mode technique[J].Applied Mathematical Modelling,2011,35(6):3080-3091.