基于LESO的新型自适应鲁棒滚转通道控制算法

doi:10.12382/bgxb.2022.0106

摘要/Abstract

摘要：

针对导弹大攻角飞行时,滚转通道数学模型具有严重非线性、不稳定、多变量耦合以及模型不确定等特点,设计一种滚转通道自适应鲁棒控制方法。利用线性扩张状态观测器,基于弹上有限信息完成气动非线性项等扰动的在线估计。将新型自适应滑模控制律与线性扩张状态观测器相结合,实现干扰的在线估计与补偿。通过自适应参数的快速调节,保证系统稳定性的同时缩短响应时间,使滚转角和滚转角速率能够在有限时间内快速收敛,并有效削弱抖振现象,增强系统的抗扰能力。数学仿真验证结果表明,所提控制方法与传统线性方法相比,快速性与鲁棒性等性能均有显著提升,且在典型故障处理方面具备容错控制能力。

关键词: 滚转通道控制, 滑模控制, 扩张状态观测器, 自适应鲁棒控制

Abstract:

The roll channel mathematical model of missiles flying at large angles of attack is characterized by severe nonlinearity, instability, multivariable coupling, and uncertainty. An adaptive robust control method is designed to solve the issues. A linear extended state observer (LESO) is used to estimate aerodynamic nonlinear perturbations based on finite information of the missile. A novel adaptive sliding mode control law is employed together with a LESO to estimate and compensate disturbance online. The rapid adjustment of adaptive parameters can ensure the stability of the system and shorten the response time, thereby allowing for rapid convergence of the roll angle and roll angle rate, weakening chattering, and enhancing disturbance rejection ability. The simulation results show that the proposed control method has significant improvements in rapidity and robustness compared to traditional linear methods and also exhibits fault-tolerant control ability in typical fault handling scenarios.

Key words: roll channel control, sliding mode control, extended state observer, adaptive robust control

王治霖, 王江, 祁琪, 范世鹏. 基于LESO的新型自适应鲁棒滚转通道控制算法[J]. 兵工学报, 2023, 44(7): 1920-1929.

WANG Zhilin, WANG Jiang, QI Qi, FAN Shipeng. Novel Adaptive Robust Roll Control Method Based on LESO[J]. Acta Armamentarii, 2023, 44(7): 1920-1929.

图/表 10

表1 动力学模型参数

Table 1 Parameter of the roll channel dynamic model

参数	取值
Cl_r	[0,200]
ω_RR/(rad·s^-1)	2
K_δ	[1000,3000]
ϕ
$ϕ ·$
传感器阻尼ξ_g	0.5
传感器带宽ω_g/(rad·s^-1)	200
δ_α	[-10°,10°]

表1 动力学模型参数

Table 1 Parameter of the roll channel dynamic model

参数	取值
Cl_r	[0,200]
ω_RR/(rad·s^-1)	2
K_δ	[1000,3000]
ϕ
$ϕ ·$
传感器阻尼ξ_g	0.5
传感器带宽ω_g/(rad·s^-1)	200
δ_α	[-10°,10°]

图1 控制器结构图

Fig.1 Schematic diagram of the controller

表2 控制参数设置

Table 2 Control parameter setting

参数	k_a	k_b	η	μ	Φ	ω₀
数值	8	130	2	0.8	0.3	15

图2 滚转通道参数变化情况

Fig.2 Parameter changes of the roll channel

图3 不同飞行条件下滚转通道控制系统仿真

Fig.3 Simulation of roll channel control system under different flight conditions

图4 自适应参数变化情况

Fig.4 Adaptive parameter variation

图5 控制效果对比

Fig.5 Control effect comparison at f=0.3

图6 f=0.3仿真结果

Fig.6 Simulation results at f=0.3

图7 f=0.5仿真结果

Fig.7 Simulation results at f=0.5

图8 f=0.9仿真结果

Fig.8 Simulation results at f=0.9

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