基于sigmoid函数的高超声速飞行器自适应姿态控制
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摘要
针对高超声速飞行器无动力再入过程中具有强耦合、气动参数摄动及不确定性的非线性姿态模型,提出了飞行器姿态控制的一种非线性设计方法;首先基于时标分离原理分内外环设计非线性动态逆控制器,并利用Sigmoid函数分通道制定控制律;针对单纯使用动态逆控制鲁棒性弱的特点,引入基于扩张状态观测器(extended state observer,ESO)的自适应控制器对参数摄动和不确定性进行补偿,在参数拉偏和风干扰条件下仿真结果验证了设计控制器具有较强的鲁棒性。
For the hypersonic vehicle nonlinear attitude mode in reentry process unpowered with a strong coupling,aerodynamic parameter perturbations and non-deterministic,a nonlinear attitude control method is put forward.Firstly,the nonlinear dynamic inversion controller is purposed by inner and outer ring according to time-scale separation principle,and using the Sigmoid function to formulate expected input.In the light of weak robustness characteristic by simply using dynamic inverse control,the adaptive controller is proposed based on ESO to compensate parameter perturbation and uncertainty.The simulation under parameter pull off and wind disturbance conditions effective verify the control system's strong robustness.
For the hypersonic vehicle nonlinear attitude mode in reentry process unpowered with a strong coupling,aerodynamic parameter perturbations and non-deterministic,a nonlinear attitude control method is put forward.Firstly,the nonlinear dynamic inversion controller is purposed by inner and outer ring according to time-scale separation principle,and using the Sigmoid function to formulate expected input.In the light of weak robustness characteristic by simply using dynamic inverse control,the adaptive controller is proposed based on ESO to compensate parameter perturbation and uncertainty.The simulation under parameter pull off and wind disturbance conditions effective verify the control system's strong robustness.
引文
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[6]胡超芳,刘运兵.基于ESO的高超声速飞行器模糊自适应姿态控制[J].航天控制,2015,33(3):45-51.
[7]韩晶清.自抗扰控制技术[M].北京:国防工业出版社,2013.
[8]陈增强,孙明玮,杨瑞光.线性自抗扰控制器的稳定性研究[J].自动化学报,2013,39(5):574-580.
[9]李惠峰.高超声速飞行器制导与控制技术[M].北京:中国宇航出版社,2012.
[10]邵星灵,王宏伦.基于改进sigmoid函数的非线性跟踪微分器[J].控制理论与应用,2014,31(8):1116-1122.
[11]刘燕斌,陆宇平.非线性动态逆控制在高超飞行器上的应用[J].应用科学学报,2006,24(6).
[12]秦昌茂,齐乃明,朱凯.高超声速飞行器自抗扰姿态控制器设计[J].系统工程与电子技术,2011,33(7):1607-1610.
[2]Bertin J,Cumming R.Fifty years of hypersonics:where we’ve been,where we’re going[J].Prog Aerosp Sci,2003,39:511-536.
[3]Zhang Z,Hu J.Stability analysis of a hypersonic vehicle controlled by the characteristic model based adaptive controller(in Chinese)[J].Scientia Sinica Information is,2012,42:379-394.
[4]Wang X C,Zhao H,Ma K M,et al.Kinematics analysis of a novel all-attitude flight simulator[J].Sci China Inf Sci,2010,53:236-247.
[5]Smith R.,Ahmed A.Robust parametrically varying attitude controller designs for the X-33vehicle[A].AIAA Guidance,Navigation,and Control Conference and Exhibit[C].2000.
[6]胡超芳,刘运兵.基于ESO的高超声速飞行器模糊自适应姿态控制[J].航天控制,2015,33(3):45-51.
[7]韩晶清.自抗扰控制技术[M].北京:国防工业出版社,2013.
[8]陈增强,孙明玮,杨瑞光.线性自抗扰控制器的稳定性研究[J].自动化学报,2013,39(5):574-580.
[9]李惠峰.高超声速飞行器制导与控制技术[M].北京:中国宇航出版社,2012.
[10]邵星灵,王宏伦.基于改进sigmoid函数的非线性跟踪微分器[J].控制理论与应用,2014,31(8):1116-1122.
[11]刘燕斌,陆宇平.非线性动态逆控制在高超飞行器上的应用[J].应用科学学报,2006,24(6).
[12]秦昌茂,齐乃明,朱凯.高超声速飞行器自抗扰姿态控制器设计[J].系统工程与电子技术,2011,33(7):1607-1610.