基于姿态反馈实现过载跟踪的飞行器控制方法

doi:10.12382/bgxb.2021.0111

摘要/Abstract

摘要： 针对依靠气动力提供控制力和控制力矩的飞行器，在构建俯仰-偏航通道非线性数学模型的基础上，提出一种兼顾机动能力和姿态稳定性能的飞行器控制系统设计方法。基于飞行器过载与姿态的等效转换，将制导律计算的过载指令转化为姿态角指令，进而通过以姿态角反馈为主、过载补偿为辅的控制系统设计实现对过载指令的精确跟踪。通过频域相对稳定性分析，验证该方法的稳定性；通过飞行器6自由度仿真，验证该方法在各项随机误差下既能够实现制导对过载的跟踪要求，又达到对飞行器姿态进行鲁棒稳定控制的目的。研究结果表明，该方法简单可靠，具有良好的动态特性和很强的鲁棒性，已得到工程应用验证。

关键词: 飞行器, 气动力, 过载, 姿态, 机动能力

Abstract: For aircraft whose control forces and moments are provided by aerodynamic rudder, a method of the control system considering the maneuverability and attitude stability is proposed depending on the nonlinear mathematical model of the pitch and yaw channel. First, based on the equivalent conversion between the overload and attitude of aircraft, the accurate attitude angle command is obtained according to the overload command calculated by the guidance law. And then, using attitude feedback as the main control loop and overload compensation as the auxiliary, this control strategy enables the overload command to be tracked accurately. The six-degree-of-freedom simulation results demonstrate that the proposed method not only meets the requirements of overload tracking accuracy for guidance, but also achieves the purpose of robust stability control for aircraft attitude. This method is simple and reliable, and has been verified by engineering application.

Key words: vehicle, aerodynamicforce, overload, attitude, maneuverability

中图分类号:

V448.222

姜丽敏，刘海亮，陈曙暄. 基于姿态反馈实现过载跟踪的飞行器控制方法[J]. 兵工学报, 2022, 43(8): 1835-1844.

JIANG Limin， LIU Hailiang， CHEN Shuxuan. Aircraft Control Method Based on Attitude Feedback for Overload Tracking[J]. Acta Armamentarii, 2022, 43(8): 1835-1844.

参考文献

［1］ ATESOGLU , ZGREN M K. High-α flight maneuverability enhancement of a fighter aircraft using thrust-vectoring control［J］. Journal of Guidance, Control and Dynamics, 2007, 30(5): 1480-1493.
［2］吴宏鑫, 孟斌. 高超声速飞行器控制研究综述［J］. 力学进展, 2009, 39(6): 756-765.
WU H X, MENG B. Review of control for hypersonic flight vehicle［J］. Advances in Mechanics, 2009, 39(6): 756-765.(in Chinese)
［3］包为民. 航天飞行器控制技术研究现状与发展趋势［J］. 自动化学报, 2013, 39(6): 697-702.
BAO Weimin. Present situation and development tendency of aerospace control techniques［J］. Acta Automatica Sinica, 2013, 39(6): 697-702. (in Chinese)
［4］王鹏飞, 王光明, 吴豫杰, 等. 吸气式高超声飞行器控制技术研究综述［J］. 战术导弹技术, 2019(3): 12-18.
WANG P F, WANG G M, WU Y J, et al. Review of control technology research on air-breathing hypersonic flight vehicle［J］. Tactical Missile Technology, 2019(3): 12-18. (in Chinese)
［5］ REHMAN O, FIDAN B, PETERSEN I. Robust control system design for an uncertain nonlinear system using minmax LQG design method ［J］. Asian Journal of Control, 2014, 16(4): 1029-1041.
［6］罗建军, 常江, 王章磊, 等. 滑翔式高超声速飞行器大包络状态反馈控制［J］. 宇航学报, 2014, 35(2): 192-199.
LUO J J, CHANG J, WANG Z L, et al. State feedback control for gliding hypersonic vehicle in wide flight envelope ［J］. Journal of Astronautics, 2014, 35(2): 192-199. (in Chinese)
［7］顾文锦, 雷军委, 冯国虎. 基于积分滑模的导弹过载控制稳定性研究［J］. 飞行力学, 2006, 24(1): 33-36.
GU W J, LEI J W, FENG G H. Research of the stability in the overload control of missile based on a kind of integral-type sliding surface［J］. Flight Dynamics, 2006, 24(1): 33-36. (in Chinese)
［8］梁雪超，杨军，邱峰. 大攻角导弹法向过载控制的变结构设计［J］. 计算机与现代化, 2014, 221(1): 46-50.
LUANG X C, YANG J, QIU F. Design of VSC for overload control in high angle-of-attack missile［J］. Computer and Modernization, 2014, 221(1): 46-50. (in Chinese)
［9］曲方伟, 王天秀. 飞行器过载反馈姿自动控制研究［J］. 2018, 36(6): 20-23.
QU F W, WANG T X. Research of the automatic control of overload feedback aircraft［J］. Aerospace Control, 2018, 36(6): 20-23. (in Chinese)
［10］赵坤, 曹登庆,黄文虎.基于自抗扰控制的弹头制导与控制一体化设计［J］. 宇航学报, 2017, 38(10):1068-1078.
ZHAO K, CAO D Q, HUANG W H. Integrated guidance and control design for reentry warhead based on ADRC ［J］. Journal of Astronautics, 2017, 38(10):1068-1078. (in Chinese)
［11］李强, 卢宝刚. 一种导弹终端侵彻多约束最优制导方法［J］. 兵工学报，2016, 37(6):1131-1137.
LI Q, LU B G. A terminal multi-constraint optimal guidance law for missile ［J］. Acta Armamentarii, 2016, 37(6):1131-1137. (in Chinese)
［12］ RYOO C K, CHO H, TAHK M J. Time-to-go weighted optimal guidance with impact angle constraints［J］. IEEE Transactions on Control Systems Technology, 2006, 14(3): 483-492.
［13］张晚晴, 余文斌, 李静琳, 等. 基于纵程解析解的飞行器智能横程机动再入协调制导［J］. 兵工学报, 2021, 42(7):1400-1411.
ZHANG W Q, YU W B, LI J L, et al. Cooperative reentry guidance for intelligent lateral maneuver of hypersonic vehicle based on downrange analytical solution［J］. Acta Armamentarii, 2021,42(7):1400-1411. (in Chinese)
［14］王肖, 郭杰, 唐胜景, 等. 基于解析剖面的时间协调再入制导［J］. 航空学报, 2019, 40(3):322565.
WANG X, GUO J, TANG S J, et al. Time-cooperative entry guiddance based on analytical profile［J］. Acta Aeronautica et Astronautica Sinica, 2019, 40(3):322565. (in Chinese)
［15］徐秋坪, 常思江, 王中原. 滑翔制导炮弹非线性自抗扰过载控制器设计［J］. 兵工学报, 2017, 38(7): 1273-1281.
XU Q P, CHANG S J, WANG Z Y. Design of nonlinear active disturbance rejection acceleration tracking controller for gliding guided projectiles［J］. Acta Armamentraii, 2017, 38(7): 1273-1281. (in Chinese)
［16］王娟利, 祁载康. 三回路自动驾驶仪特点分析［J］. 北京理工大学学报, 2006, 26(3):239-243.
WANG J L, QI Z K. Analysis of a three loop autopilot［J］. Transactions of Beijing Institute of Technology, 2006, 26(3):239-243. (in Chinese)
［17］王嘉鑫, 林德福, 祁载康. 战术导弹三回路过载驾驶仪时频特性分析［J］. 兵工学报, 2013, 34(7):829-834.
WANG J X, LIN D F, QI Z K. Analysis of tactical missile three-loop lateral acceleration autopilot in the time and frequency domain［J］. Acta Armamentarii, 2013, 34(7):829-834. (in Chinese)
［18］张民, 陈欣, 陆宇平. 基于改进PSO算法的弹道控制参数优化［J］. 南京航空航天大学学报, 2009, 41(4):445-450.
ZHANG M, CHEN X, LU Y P. Missile control parameter optimization based on improved PSO algorithm［J］. Journal of Nanjing University of Aeronautics & Astronautics, 2009, 41(4):445-450. (in Chinese)
［19］黄毅,张小平,吴亮红, 等. 基于微粒群算法的BBMC控制参数优化研究［J］. 控制理论及其应用, 2015, 37(1):27-30.
HUANG Y, ZHANG X P, WU L H, et al. Research of the optimization of control parameters for BBMC based on particle swarm optimization［J］. Control Theory & Its Applications, 2015, 37(1): 27-30. (in Chinese)
［20］陈琦, 王中原, 常思江, 等. 基于改进遗传算法的滑翔增程弹控制参数优化设计［J］. 电光与控制, 2014,21(10):20-23.
CHEN Q, WANG Z Y, CHANG S J, et al. Control parameter optimization of extended range munitions based on improved GA［J］. Electronic Optics & Control, 2014,21(10):20-23. (in Chinese)

[1]	官典，郭亚雯，李世鹏，唐嘉宁，王宁飞. 横向过载下气-粒两相流对固体火箭发动机点火过程影响[J]. 兵工学报, 2022, 43(8): 1792-1807.
[2]	田泽，王浩，武海军，邓希旻，皮爱国，李金柱，黄风雷. 椭圆变截面弹体斜贯穿薄靶姿态偏转机理[J]. 兵工学报, 2022, 43(7): 1537-1552.
[3]	赵春明，焦胜海，王晓飞，姚跃民，黄朝东. 柔性充气空间飞行器姿态控制系统设计[J]. 兵工学报, 2022, 43(6): 1346-1354.
[4]	邵志宇，伍思宇，曹苗苗，冯顺山. 斜截头弹体入水的弹道特性[J]. 兵工学报, 2022, 43(6): 1255-1265.
[5]	吴则良，叶建川，王江，金忍. 基于深度自动编码器神经网络的飞行器翼型参数降维与优化设计[J]. 兵工学报, 2022, 43(6): 1326-1336.
[6]	赵文辉，孙晓恒，张伟东，郑鹏，杨帆. 四旋翼飞行器齿轮箱-支臂组件动态特性分析[J]. 兵工学报, 2022, 43(5): 1175-1184.
[7]	石安华，李海燕，石卫波，梁世昌. 临近空间高超声速巡航飞行器红外特征[J]. 兵工学报, 2022, 43(4): 796-803.
[8]	吉霞斌，张通，张瑞芯，徐航，王佩，金利英. 弹射座椅动力作用段姿态与轨迹解算[J]. 兵工学报, 2022, 43(3): 565-573.
[9]	田北晨，刘涛涛，吴钦，黄彪. 跨介质飞行器触水滑跳运动特性数值模拟[J]. 兵工学报, 2022, 43(3): 586-598.
[10]	骆亮，裴扬，侯鹏，张梦涛，李明锁. 飞机燃油箱油气空间引燃概率函数预测模型[J]. 兵工学报, 2022, 43(2): 383-390.
[11]	官典, 李世鹏, 刘筑, 王宁飞. 横向过载对固体火箭发动机推进剂点火建压过程的影响[J]. 兵工学报, 2021, 42(9): 1877-1887.
[12]	杨昌志，姜毅，牛钰森，王璟慧. 飞行器往复式滑翔延时弹道特性[J]. 兵工学报, 2021, 42(7): 1372-1380.
[13]	张晚晴，余文斌，李静琳，陈万春. 基于纵程解析解的飞行器智能横程机动再入协同制导[J]. 兵工学报, 2021, 42(7): 1400-1411.
[14]	张云飞，林德福，郑多，程子恒，唐攀. 多目标时空同步协同攻击无人机任务分配与轨迹优化[J]. 兵工学报, 2021, 42(7): 1482-1495.
[15]	于哲峰，胥建宇，罗跃，杨鹰，刘进博，兰京川. 高超声速飞行器烧蚀后退量时序提取及基于神经网络的预测[J]. 兵工学报, 2021, 42(6): 1230-1237.