基于预设性能的欠驱动飞行器横侧向通道控制方法

doi:10.12382/bgxb.2023.0544

摘要/Abstract

摘要：

针对高超声速飞行器横侧向通道仅通过副翼控制导致的欠驱动问题,提出一种将预设性能函数和动态面控制结合的控制方法。将横侧向欠驱动系统转化为滚转-偏航的级联控制系统;针对滚转子回路,将侧滑角指令的限幅看作控制输入饱和问题,设计预设性能函数并结合动态面控制理论设计控制策略,实现对速度倾斜角跟踪速度、瞬态跟踪误差、稳定跟踪精度的主动控制;针对侧滑角需镇定在给定范围的要求,基于限幅侧滑角指令,设计偏航子回路的预设性能函数,理论上保证侧滑角满足镇定范围要求,且能以要求的跟踪速度达到指定的跟踪精度。基于李雅普诺夫稳定原理给出了横侧向姿态控制器的稳定性证明。仿真结果表明:所提控制方法能够使得速度倾斜角以要求的跟踪速度达到指定的跟踪精度且瞬态跟踪误差满足给定的边界,侧滑角全程满足给定的限定范围,控制器具有良好的鲁棒性。

关键词: 高超声速飞行器, 欠驱动, 横侧向, 预设性能, 动态面控制

Abstract:

A control method combining the prescribed performance function and dynamic surface control is designed for the underactuated problem caused by the lateral channel of hypersonic vehicle only through aileron control. The lateral underactuated system is transformed into a roll-yaw cascade control system. For the rolling rotor circuit, the limiting of sideslip angle command is regarded as the saturation problem of control input. A prescribed performance function is designed, and a control strategy is proposed based on the dynamic surface control theory, which realizes the active control of the tracking speed, transient tracking error and stable tracking accuracy of a bank angle. Then, aiming at the requirement that the sideslip angle needs to be stabilized in a given range, based on the limiting sideslip angle instruction, a prescribed performance function of yaw sub-loop is designed, which theoretically ensures that the sideslip angle meets the stabilization range requirements and can achieve the specified tracking accuracy at the required tracking speed. Finally, the stability of the lateral attitude controller is proved based on the Lyapunov stability principle. The simulated results show that the proposed control method can be used to make the bank angle reach the specified tracking accuracy at the required tracking speed and the transient tracking error satisfies the given boundary; the sideslip angle satisfies the given limited range; and the controller has good robustness.

Key words: hypersonic vehicle, underactuation, lateral, prescribed performance, dynamic surface control

中图分类号:

TJ765.2

王晓芳, 许家萁. 基于预设性能的欠驱动飞行器横侧向通道控制方法[J]. 兵工学报, 2024, 45(8): 2749-2760.

WANG Xiaofang, XU Jiaqi. Prescribed Performance-based Lateral Channel Control Method of Underactuated Hypersonic Vehicle[J]. Acta Armamentarii, 2024, 45(8): 2749-2760.

图/表 20

图1 速度倾斜角跟踪误差和性能函数关系示意图

Fig.1 Relationship diagram of bank angle tracking error and performance function

表1 高超声速飞行器结构参数和气动参数

Table 1 Structure and aerodynamic parameters of hypersonic vehicle

参数	数值	参数	数值
m/kg	310	S/m	0.4
L/m	1.8	I_x/(kg·m²)	23
I_y/(kg·m²)	120	I_z/(kg·m²)	120
$m x ω x$	-35	$m x δ x$	-0.002
$m y δ x$	-0.002	$m y β$	0.027
$m x β$	-0.3	$C z β$	-2.1
$m y ω y$	-110

表1 高超声速飞行器结构参数和气动参数

Table 1 Structure and aerodynamic parameters of hypersonic vehicle

参数	数值	参数	数值
m/kg	310	S/m	0.4
L/m	1.8	I_x/(kg·m²)	23
I_y/(kg·m²)	120	I_z/(kg·m²)	120
$m x ω x$	-35	$m x δ x$	-0.002
$m y δ x$	-0.002	$m y β$	0.027
$m x β$	-0.3	$C z β$	-2.1
$m y ω y$	-110

表2 控制器参数

Table 2 The parameters of controller

参数	数值	参数	数值
$k γ v$	0.1	$k ω x$	7
$τ ω x$	0.1	$β γ v 1$	3
$β γ v 2$	0.8	$β ω x 1$	5
$β ω x 2$	5	$h γ v$	3
$h ω x$	3	h	0.01
k_β	0.0025	$k ω y$	12
$τ ω y$	0.1	$β β 1$	4.7
$β β 2$	2.2	$β ω y 1$	13
$β ω y 2$	18	h_β	4
$h ω y$	4	$α γ v 1$ = $α γ v 2$	0.5
$α ω x 1$ = $α ω x 2$	0.5	α_β₁=α_β₂	0.5
$α ω y 1$ = $α ω y 2$	0.5

表2 控制器参数

Table 2 The parameters of controller

参数	数值	参数	数值
$k γ v$	0.1	$k ω x$	7
$τ ω x$	0.1	$β γ v 1$	3
$β γ v 2$	0.8	$β ω x 1$	5
$β ω x 2$	5	$h γ v$	3
$h ω x$	3	h	0.01
k_β	0.0025	$k ω y$	12
$τ ω y$	0.1	$β β 1$	4.7
$β β 2$	2.2	$β ω y 1$	13
$β ω y 2$	18	h_β	4
$h ω y$	4	$α γ v 1$ = $α γ v 2$	0.5
$α ω x 1$ = $α ω x 2$	0.5	α_β₁=α_β₂	0.5
$α ω y 1$ = $α ω y 2$	0.5

表3 自抗扰控制器参数

Table 3 The parameters of ADRC controller

参数	数值	参数	数值
$ω 0 γ v$	0.9	$k γ v$	100
$ω 0 ω x$	15	$k ω x$	5
ω₀_β	50	k_β	5
$ω 0 ω y$	8	$k ω y$	0.8

表3 自抗扰控制器参数

Table 3 The parameters of ADRC controller

参数	数值	参数	数值
$ω 0 γ v$	0.9	$k γ v$	100
$ω 0 ω x$	15	$k ω x$	5
ω₀_β	50	k_β	5
$ω 0 ω y$	8	$k ω y$	0.8

图2 两种控制器下速度倾斜角跟踪

Fig.2 Tracking curves of bank angle under the control of two controllers

图3 两种控制器下速度倾斜角跟踪误差

Fig.3 Tracking error curves of bank angle under the control of two controllers

图4 两种控制器下侧滑角变化

Fig.4 Change curves of sideslip angle under the control of two controllers

图5 两种控制器下侧滑角误差变化

Fig.5 Change curves of sideslip angle error under the control of two controllers

图6 滚转角速度跟踪

Fig.6 Tracking curve of rolling angular velocity

图7 偏航角速度跟踪

Fig.7 Tracking curve of yawing angular velocity

图8 副翼变化

Fig.8 Aileron variation curve

图9 复合扰动 f γ v观测结果

Fig.9 Observed results of composite disturbance f γ v

图10 复合扰动 f ω x观测结果

Fig.10 Observed results of composite disturbance f ω x

图11 复合扰动fβ观测结果

Fig.11 Observed results of composite disturbance fβ

图12 复合扰动 f ω y观测结果

Fig.12 Observed results of composite disturbance f ω y

图13 拉偏情况下速度倾斜角响应

Fig.13 Response curve of bank angle under tension deviation

图14 拉偏情况下速度倾斜角误差响应

Fig.14 Response curve of bank angle error under tension deviation

图15 拉偏情况下侧滑角响应

Fig.15 Response curve of sideslip angle under tension deviation

图16 拉偏情况下侧滑角误差响应

Fig.16 Response curve of sideslip angle error under tension deviation

图17 拉偏情况下副翼响应

Fig.17 Aileron response curve under the condition of deflection

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