高超声速滑翔飞行器自适应有限时间制导方法
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摘要
高超声速滑翔飞行器的飞行速度快、飞行空域广，具有极大的商业和军事价值。飞行器的运动具有非线性、强耦合、状态大范围快变等复杂特性，并且存在多种约束和不确定性，这给飞行器制导带来很多困难。针对上述问题，论文对高超声速滑翔飞行器的滑翔段制导和精确导引问题进行深入研究，提出一种考虑不确定性的自适应有限时间制导方法，使它适用于具有复杂运动特性的对象，能满足多种约束，并能抑制不确定性对制导的不利影响，获得较高的制导精度。论文主要开展以下研究：
针对由飞行器制导问题抽象而来的一类存在扰动的线性系统的控制问题，提出一种新的有限时间线性控制方法和有限时间线性扩张状态观测器（FT-LESO），为制导方法研究提供理论基础。分别在状态反馈和动态输出反馈条件下，研究有限时间线性控制方法，给出控制器参数与系统收敛速率、调节时间的解析关系，为控制器在线快速设计提供依据；提出FT-LESO来观测系统中的扰动，给出观测器参数与观测误差的收敛速度、调节时间及稳态值的解析关系，以此设计观测器参数实现快速准确的扰动观测，为扰动补偿创造良好的条件。
针对滑翔段参考轨迹制导中的不确定性及多约束下的参考轨迹生成问题，提出一种适应参数及任务变化的三维参考轨迹自适应生成方法，它能自主、快速的生成满足多种约束的三维参考轨迹，适用于进行大侧向机动的飞行任务，并具有良好的在线计算潜力。考虑到由不确定性造成的模型参数变化，基于在线模型参数估计，通过在线生成三维参考轨迹使其适应模型参数的变化；考虑飞行过程中变更目标的情况，基于更新的目标信息，在线生成三维参考轨迹使其适应飞行中改变目标的飞行任务。
针对滑翔段参考轨迹制导中的不确定性及控制约束下的轨迹跟踪控制问题，提出考虑不确定性的自适应有限时间轨迹跟踪控制方法。将不确定性的综合影响视为系统中的扰动，利用扰动观测器对其进行观测，通过扰动补偿提高轨迹跟踪控制效果。基于有限时间控制方法设计纵向轨迹跟踪控制律，通过在线调整控制律参数，保证控制约束的满足，并使系统具有期望的收敛性能，从而获得良好的轨迹跟踪效果；通过倾侧反转调整航向，利用临近目标区域时的终端航向修正来减小不确定性造成的较大终端航向偏差，提高制导精度。
针对精确导引阶段的不确定性及多约束下的导引问题，提出考虑不确定性的自适应有限时间精确导引方法。基于有限时间控制方法分别设计纵向导引律和侧向导引律。通过扰动观测器观测由不确定性造成的扰动，并在导引律中对扰动进行补偿，提高存在不确定性时的导引精度。根据飞行状态及剩余飞行时间在线自适应调整导引律参数，保证攻角、侧滑角、导引头视场等满足过程约束，同时使视线角及其转率在终端时刻收敛到期望值，保证终端约束的满足、获得较高的导引精度。
通过数值仿真验证提出的制导方法，多种情况下的仿真结果表明，制导方法能适应目标固定以及飞行过程中变更目标的飞行任务，满足多种过程约束与终端约束，并且在存在大气密度变化、气动力系数变化、未知目标加速度、未建模动态等多种不确定性的条件下获得较高的制导精度。论文提出的制导方法是有效的，并且制导精度高于文献给出的制导方法。论文的研究工作能为相关飞行器制导方法研究提供理论基础。
Hypersonic gliding vehicles can fly in large space at extremely high speed. These characters endow the vehicle with great commercial and martial values. However, motion of the vehicle is with nonlinearity, close coupling. And it’s states change fast in large domain and affected by various constraints and uncertainties. These bring lots of difficulties to guidance. This dissertation focuses on gliding guidance and precise guidance of hypersonic glide vehicles. An adaptive finite-time guidance method considering uncertainties is proposed. The method is capable at handling the above complex motion characters and is easy for guidance law design. Meanwhile, multi-constraints are considered and high guidance precision can be achieved under uncertainties. Main contents of this dissertation are as follows:
Considering guidance problem of the vehicle can be transformed to a control problem of linear systems with disturbance, a new finite-time linear control method and a finite-time linear extend state observer (FT-LESO) are proposed. They are theoretical foundations of the researches on guidance method. Under both state feedback and dynamic output feedback conditions, finite-time linear control method is researched. An analytic relationship of controller parameter, convergence speed, and settling time is obtained. It can guide online design of a controller. To observe the disturbance, a FT-LESO is established. An analytic relationship of FT-LESO’s parameter and convergence speed, settling time, steady value of observation error is obtained. Using the relationship to FT-LESO design, it can achieve rapid and exact disturbance observation, which is desired for disturbance compensation.
For nominal trajectory generation with uncertainties and multi-constraints in gliding guidance based on nominal trajectory, a three-dimensional nominal trajectory generation method is proposed with adaptions to variation in model parameters and inflight alteration of mission. Using the method, a multi-constrained three-dimensional nominal trajectory can be generated autonomously and rapidly. It adapts to the missions with large-crossrange and has good potential to be performed onboard. Considering variation in model parameters resulting from uncertainties, nominal trajectory is generated onboard based on online estimation of the parameters. It ensures the method adapts to the condition with variation in the parameters. Considering altering target in flight, nominal trajectory is generated onboard based on updated information of the target. It ensures the method adapts to the condition with inflight target alteration.
For trajectory tracking control with uncertainties and control constraint in gliding guidance based on nominal trajectory, an adaptive finite-time trajectory tracking control method is proposed. The disturbance resulting from uncertainties is observed by disturbance observer. And by disturbance compensation, control performance is improved. A tracking control law for longitudinal trajectory tracking is designed based on finite-time control. The parameter in the control law is adjusted online to enforce observation of control constraint and acquire good tracking performance. A bank-reversal logic is used to regulate heading error. A terminal heading error regulation method is proposed to reduce the large terminal heading error resulting from uncertainties, and improve guidance precision.
For precise guidance under uncertainties and multi-constraints, an adaptive finite-time precise guidance method is proposed with the consideration of uncertainties. Utilizing finite-time control method, longitudinal guidance law and lateral guidance law are designed. The disturbance resulting from uncertainties is observed by disturbance observer, and is compensated in the guidance laws to improve guidance precision. The patameters in the guidance laws are adjusted online according to flight states and remaining time. By the adaptive online adjustment, attack angle, slide angle, and field-of-view of seeker can observe constraints. Moreover, line-of-sight angles and their rates can converge to desired values at termination, terminal constraints can be observed and high guidance precision can be achieved.
The proposed guidance method is demonstrated by numerical simulation under various conditions. Simulation results indicate the proposed method adapts to the missions with stationary target and the missions with inflight target alteration. Mul-tiple constraints on flight process and termination are observed. And high guidance precision is achieved under various conditions with uncertainties, including varia-tions in atmospheric density and aerodynamic parameter, unknown acceleration of target, and unmodeled dynamics. The proposed guidance method is effective and achieves higher guidance precision than the methods in literatures. Investigations in this dissertation can provide theoretical foundations for the guidance method re-searches of relevant vehicles.
针对由飞行器制导问题抽象而来的一类存在扰动的线性系统的控制问题，提出一种新的有限时间线性控制方法和有限时间线性扩张状态观测器（FT-LESO），为制导方法研究提供理论基础。分别在状态反馈和动态输出反馈条件下，研究有限时间线性控制方法，给出控制器参数与系统收敛速率、调节时间的解析关系，为控制器在线快速设计提供依据；提出FT-LESO来观测系统中的扰动，给出观测器参数与观测误差的收敛速度、调节时间及稳态值的解析关系，以此设计观测器参数实现快速准确的扰动观测，为扰动补偿创造良好的条件。
针对滑翔段参考轨迹制导中的不确定性及多约束下的参考轨迹生成问题，提出一种适应参数及任务变化的三维参考轨迹自适应生成方法，它能自主、快速的生成满足多种约束的三维参考轨迹，适用于进行大侧向机动的飞行任务，并具有良好的在线计算潜力。考虑到由不确定性造成的模型参数变化，基于在线模型参数估计，通过在线生成三维参考轨迹使其适应模型参数的变化；考虑飞行过程中变更目标的情况，基于更新的目标信息，在线生成三维参考轨迹使其适应飞行中改变目标的飞行任务。
针对滑翔段参考轨迹制导中的不确定性及控制约束下的轨迹跟踪控制问题，提出考虑不确定性的自适应有限时间轨迹跟踪控制方法。将不确定性的综合影响视为系统中的扰动，利用扰动观测器对其进行观测，通过扰动补偿提高轨迹跟踪控制效果。基于有限时间控制方法设计纵向轨迹跟踪控制律，通过在线调整控制律参数，保证控制约束的满足，并使系统具有期望的收敛性能，从而获得良好的轨迹跟踪效果；通过倾侧反转调整航向，利用临近目标区域时的终端航向修正来减小不确定性造成的较大终端航向偏差，提高制导精度。
针对精确导引阶段的不确定性及多约束下的导引问题，提出考虑不确定性的自适应有限时间精确导引方法。基于有限时间控制方法分别设计纵向导引律和侧向导引律。通过扰动观测器观测由不确定性造成的扰动，并在导引律中对扰动进行补偿，提高存在不确定性时的导引精度。根据飞行状态及剩余飞行时间在线自适应调整导引律参数，保证攻角、侧滑角、导引头视场等满足过程约束，同时使视线角及其转率在终端时刻收敛到期望值，保证终端约束的满足、获得较高的导引精度。
通过数值仿真验证提出的制导方法，多种情况下的仿真结果表明，制导方法能适应目标固定以及飞行过程中变更目标的飞行任务，满足多种过程约束与终端约束，并且在存在大气密度变化、气动力系数变化、未知目标加速度、未建模动态等多种不确定性的条件下获得较高的制导精度。论文提出的制导方法是有效的，并且制导精度高于文献给出的制导方法。论文的研究工作能为相关飞行器制导方法研究提供理论基础。
Hypersonic gliding vehicles can fly in large space at extremely high speed. These characters endow the vehicle with great commercial and martial values. However, motion of the vehicle is with nonlinearity, close coupling. And it’s states change fast in large domain and affected by various constraints and uncertainties. These bring lots of difficulties to guidance. This dissertation focuses on gliding guidance and precise guidance of hypersonic glide vehicles. An adaptive finite-time guidance method considering uncertainties is proposed. The method is capable at handling the above complex motion characters and is easy for guidance law design. Meanwhile, multi-constraints are considered and high guidance precision can be achieved under uncertainties. Main contents of this dissertation are as follows:
Considering guidance problem of the vehicle can be transformed to a control problem of linear systems with disturbance, a new finite-time linear control method and a finite-time linear extend state observer (FT-LESO) are proposed. They are theoretical foundations of the researches on guidance method. Under both state feedback and dynamic output feedback conditions, finite-time linear control method is researched. An analytic relationship of controller parameter, convergence speed, and settling time is obtained. It can guide online design of a controller. To observe the disturbance, a FT-LESO is established. An analytic relationship of FT-LESO’s parameter and convergence speed, settling time, steady value of observation error is obtained. Using the relationship to FT-LESO design, it can achieve rapid and exact disturbance observation, which is desired for disturbance compensation.
For nominal trajectory generation with uncertainties and multi-constraints in gliding guidance based on nominal trajectory, a three-dimensional nominal trajectory generation method is proposed with adaptions to variation in model parameters and inflight alteration of mission. Using the method, a multi-constrained three-dimensional nominal trajectory can be generated autonomously and rapidly. It adapts to the missions with large-crossrange and has good potential to be performed onboard. Considering variation in model parameters resulting from uncertainties, nominal trajectory is generated onboard based on online estimation of the parameters. It ensures the method adapts to the condition with variation in the parameters. Considering altering target in flight, nominal trajectory is generated onboard based on updated information of the target. It ensures the method adapts to the condition with inflight target alteration.
For trajectory tracking control with uncertainties and control constraint in gliding guidance based on nominal trajectory, an adaptive finite-time trajectory tracking control method is proposed. The disturbance resulting from uncertainties is observed by disturbance observer. And by disturbance compensation, control performance is improved. A tracking control law for longitudinal trajectory tracking is designed based on finite-time control. The parameter in the control law is adjusted online to enforce observation of control constraint and acquire good tracking performance. A bank-reversal logic is used to regulate heading error. A terminal heading error regulation method is proposed to reduce the large terminal heading error resulting from uncertainties, and improve guidance precision.
For precise guidance under uncertainties and multi-constraints, an adaptive finite-time precise guidance method is proposed with the consideration of uncertainties. Utilizing finite-time control method, longitudinal guidance law and lateral guidance law are designed. The disturbance resulting from uncertainties is observed by disturbance observer, and is compensated in the guidance laws to improve guidance precision. The patameters in the guidance laws are adjusted online according to flight states and remaining time. By the adaptive online adjustment, attack angle, slide angle, and field-of-view of seeker can observe constraints. Moreover, line-of-sight angles and their rates can converge to desired values at termination, terminal constraints can be observed and high guidance precision can be achieved.
The proposed guidance method is demonstrated by numerical simulation under various conditions. Simulation results indicate the proposed method adapts to the missions with stationary target and the missions with inflight target alteration. Mul-tiple constraints on flight process and termination are observed. And high guidance precision is achieved under various conditions with uncertainties, including varia-tions in atmospheric density and aerodynamic parameter, unknown acceleration of target, and unmodeled dynamics. The proposed guidance method is effective and achieves higher guidance precision than the methods in literatures. Investigations in this dissertation can provide theoretical foundations for the guidance method re-searches of relevant vehicles.
引文
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