襟翼控制的欠驱动飞行器自抗扰/鲁棒控制系统设计

doi:10.12382/bgxb.2022.0035

摘要/Abstract

摘要：

针对含不稳定内动态的襟翼控制欠驱动高超声速飞行器现有控制策略普遍存在的机动性能不足、工程应用困难等问题,设计欠驱动飞行器的自抗扰/鲁棒控制系统。提出一种基于通道级联的欠驱动控制策略,令偏航通道作为滚转通道的内回路,利用±1.5°的侧滑角合法波动范围,提升滚转角的指令跟踪速度。结合自抗扰与鲁棒控制理论设计自动驾驶仪,该自动驾驶仪不仅适用于过载反馈/欠驱动的非最小相位对象,还在摆脱自抗扰系统对关键模型参数依赖的同时减小了鲁棒控制器的降阶难度,有广阔的工程应用前景。为验证方案有效性,以参数存在±20%随机摄动的欠驱动高超声速飞行器模型为对象进行了1000次蒙特卡洛仿真,结果表明新的欠驱动策略能够在保证侧滑角不越界的同时提高滚转通道的响应速度,自抗扰/鲁棒控制系统在面对模型摄动与复合干扰时均有较好的鲁棒性。

关键词: 高超声速飞行器, 襟翼, 欠驱动控制, 自抗扰控制, 鲁棒控制, 非最小相位

Abstract:

To solve the problems of insufficient maneuverability and difficulties in engineering applications that are commonly seen in existing underactuated hypersonic vehicle control strategies, an active disturbance rejection/robust control system with new underactuated control strategies is proposed. Firstly, an underactuated control strategy based on channel cascade is presented an important feature is that the yaw channel acts as the inner loop of the roll channel in the new strategy, and the introduction of the ±1.5° legal range of sideslip angle also improves the command tracking speed of the roll angle. Then, the control law is constructed by the combination of active disturbance rejection control (ADRC) and robust control theory. It is not only suitable for non-minimum phase systems with overload feedback/underactuation, but also reduces model parameters dependence in ADRC as well as order reduction difficulty in robust control, thus broadening the controller’s application in engineering. Finally, 1000 times Monte Carlo simulations are carried out on the hypersonic vehicle model with ±20% random perturbation in parameters, and the results show that the proposed strategy can improve the response speed of the roll channel while ensuring the sideslip angle does not cross the boundary. In addition, the control system also has good robustness when confronted with model perturbation and compound interference.

Key words: hypersonic vehicle, flap, underdrive control, active disturbance rejection control, robust control, non-minimum phase

马悦萌, 王琳玮, 邵春涛, 周荻, 王永海. 襟翼控制的欠驱动飞行器自抗扰/鲁棒控制系统设计[J]. 兵工学报, 2023, 44(5): 1251-1266.

MA Yuemeng, WANG Linwei, SHAO Chuntao, ZHOU Di, WANG Yonghai. Active-Disturbance-Rejection/Robust Attitude Control System Design of Underactuated Vehicle Based on Flap Control[J]. Acta Armamentarii, 2023, 44(5): 1251-1266.

图/表 28

图1 级联欠驱动策略系统示意图

Fig.1 Diagram of cascade underactuated strategy system

图2 俯仰通道控制系统设计图

Fig.2 Block diagram of pitch channel control system design

图3 俯仰通道内回路降阶示意图

Fig.3 Diagram of order reduction of inner loop controller in pitch channel

图4 俯仰通道内回路闭环系统阶跃响应

Fig.4 Step response of closed-loop system of inner loop controller in pitch channel

图5 俯仰通道内回路闭环系统奇异值

Fig.5 Singular value of closed-loop system of inner loop controller in pitch channel

图6 内回路闭环等效系统bode图

Fig.6 Bode diagram of equivalent closed-loop system of inner loop controller

图7 内回路闭环等效系统零极点图

Fig.7 Zero pole diagram of equivalent closed-loop system of inner loop controller

图8 俯仰通道外回路降阶示意图

Fig.8 Diagram of order reduction of outer loop controller in pitch channel

图9 俯仰通道外回路闭环系统阶跃响应

Fig.9 Step response of closed-loop system of external loop in pitch channel

图10 俯仰通道外回路闭环系统奇异值

Fig.10 Singular value of closed-loop system of external loop in pitch channel

图11 滚转-偏航通道控制系统框图

Fig.11 Block diagram of roll-yaw channel control system design

图12 偏航通道闭环等效系统bode图

Fig.12 Bode diagram of equivalent closed-loop system in yaw channel

图13 偏航通道闭环等效系统零极点图

Fig.13 Zero-pole diagram of equivalent closed-loop system in yaw channel

图14 滚转通道鲁棒控制器降阶示意图

Fig.14 Diagram of order reduction of robust controller in roll channel

图15 滚转通道闭环系统阶跃响应

Fig.15 Step response of closed-loop system in roll channel

图16 滚转通道闭环系统奇异值

Fig.16 Singular value of closed loop system in roll channel

表1 俯仰通道气动参数

Table 1 Aerodynamic parameters of pitch channel

a₁	a₂	a₃	a₄	a₅	a₆
0	149.1	143.6	1.656	0.168	0.933

表2 偏航通道气动参数

Table 2 Aerodynamic parameters of yaw channel

b₁	b₂	b₄	b₆	b₇
18.30	152.8	0.648	-0.933	3

表3 滚转通道气动参数

Table 3 Aerodynamic parameters of roll channel

c₁	c₂	c₃	c₄
1.0982	-10	0. 849	0

表4 俯仰通道控制系统仿真参数

Table 4 Controller parameters of pitch channel

参数位置	名称	数值
	β₁	100
NESO1(俯仰通道)	β₂	10000
	δ₁	0.01
	μ₁	0.5
	β₁	100
NESO2(俯仰通道)	β₂	10000
	δ₂	0.01
	μ₂	0.5

表5 滚转-偏航通道控制系统仿真参数

Table 5 Controller parameters of roll-yaw channel

参数位置	名称	数值
NESO1 (滚转与偏航通道)	β₁	100
	β₂	100
	β₃	10000
	δ₃	0.01
	μ₃	0.5
NESO2 (滚转与偏航通道)	β₁	1000
	β₂	10000
	δ₄	0.01
	μ₄	0.5
NESO3 (滚转与偏航通道)	β₁	100
	β₂	10000
	δ₅	0.01
	μ₅	0.5

图17 滚转角响应曲线

Fig.17 Roll angle response curve

图18 侧滑角响应曲线

Fig.18 Sideslip angle response curve

图19 纵向过载响应曲线

Fig.19 Longitudinal overload response curve

图20 副翼偏角响应曲线

Fig.20 Aileron deflection angle response curve

图21 升降舵偏角响应曲线

Fig.21 Elevator angle response curve

图22 标称系统滚转-偏航通道复合扰动观测结果

Fig.22 Observation results of compound disturbance in roll-yaw channel of nominal system

图23 标称系统俯仰通道复合扰动观测结果

Fig.23 Observation results of compound disturbance in pitch channel of nominal system

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