执行器故障下变体飞行器线性变参数容错控制

doi:10.12382/bgxb.2025.0045

摘要/Abstract

摘要：

针对变体飞行器在飞行过程中匹配干扰和执行器乘性故障问题,提出一种基于多胞线性变参数(Linear Parameter-Varying,LPV)模型的滑模容错控制方法。基于一类翼展变形变体飞行器的纵向非线性动力学模型,建立变体飞行器的LPV模型。将LPV模型转化为多胞体形式,使无限维数的线性矩阵不等式求解问题转化为有限维数LMI问题。为保证执行器在发生故障时变体飞行器的稳定性和鲁棒性,选取合适的滑模面并设计滑模容错控制律,给出一种增益调度容错控制算法,并应用于变体飞行器进行数值仿真验证。仿真结果表明:所设计的控制器能够保证闭环系统在执行器发生故障时的稳定性和抗干扰能力。

关键词: 变体飞行器, 线性变参数模型, 线性矩阵不等式, 滑模控制, 容错控制

Abstract:

A sliding mode fault-tolerant control method based on polytopic linear parameter-varying (LPV) model is proposed to address the matched disturbances and actuator multiplicative failures of morphing aircraft during the flight process.An LPV model of morphing aircraft is established based on the longitudinal nonlinear dynamics model of morphing aircraft undergoing wingspan deformation.The LPV model is transformed into a polytopic form,which can convert the infinite-dimensional linear matrix inequality (LMI) problem into a finite-dimensional LMI problem.In order to ensure the stability and robustness of the morphing aircraft when the system actuator malfunctions,a gain-scheduled fault-tolerant control algorithm is proposed by selecting a suitable sliding mode surface and designing a sliding mode fault-tolerant control law.The fault-tolerant control algorithm is applied to the morphing aircraft for simulation verification.The simulated results show that the fault-tolerant control algorithm can be used to ensure the stability and anti-interference ability of the closed-loop system when the actuator fails.

Key words: morphing aircraft, linear parameter-varying model, linear matrix inequality, sliding mode control, fault-tolerant control

中图分类号:

V249.121

范绪恩, 蔡光斌, 吴彤, 肖永强, 尚逸鸣. 执行器故障下变体飞行器线性变参数容错控制[J]. 兵工学报, 2025, 46(8): 250045-.

FAN Xu’en, CAI Guangbin, WU Tong, XIAO Yongqiang, SHANG Yiming. Linear Parameter-varying Fault-tolerant Control of Morphing Aircraft with Actuator Failures[J]. Acta Armamentarii, 2025, 46(8): 250045-.

图/表 9

图1 变翼展飞行器

Fig.1 Morphing aircraft in the process of wingspan deformation

图2 翼展变形指令

Fig.2 Wingspan deformation command

图3 变体飞行器非线性/LPV模型开环响应(ξ:0→1)

Fig.3 Open-loop response of nonlinear/LPV model for morphing aircraft(ξ:0→1)

图4 变体飞行器开环零极点响应

Fig.4 Open-loop zero-pole response of morphing aircraft

图5 基于LPV的变体飞行器滑模容错控制方案

Fig.5 LPV-based sliding mode fault-tolerant control scheme for morphing aircraft

图6 变体飞行器在外部干扰w(t)=[0.01sin(0.1πt) 0.01sin(0.1πt)]T下的闭环响应

Fig.6 Closed-loop responses of morphing aircraft for w(t)=[0.01sin(0.1πt) 0.01sin(0.1πt)]T

图7 变体飞行器在外部干扰w(t)=[0.01sin(0.1πt) 0.01sin(0.1πt)]T下的控制输入

Fig.7 Control inputs of morphing aircraft for w(t)=[0.01sin(0.1πt) 0.01sin(0.1πt)]T

图8 变体飞行器在外部干扰w(t)=[0.03sin(0.1πt) 0.03sin(0.1πt)]T下的闭环响应

Fig.8 Closed-loop responses of morphing aircraft for w(t)=[0.03sin(0.1πt) 0.03sin(0.1πt)]T

图9 变体飞行器在外部干扰w(t)=[0.03sin(0.1πt) 0.03sin(0.1πt)]T下的控制输入

Fig.9 Control inputs of morphing aircraft for w(t)=[0.03sin(0.1πt) 0.03sin(0.1πt)]T

参考文献 8

[9]	丁天雲, 夏逸, 梅泽伟, 等. 基于DDPG的变外形航天飞行器碰撞规避的轨迹规划方法[J]. 兵工学报, 2024, 45(11):3903-3914. doi: 10.12382/bgxb.2023.1182
	DING T Y, XIA Y, MEI Z W, et al. DDPG-based trajectory planning method for collision avoidance of morphing spacecraft[J]. Acta Armamentarii, 2024, 45(11):3903-3914. (in Chinese)
[10]	GUO T H, HOU Z X, ZHU B J. Dynamic modeling and active morphing trajectory-attitude separation control approach for gull-wing aircraft[J]. IEEE Access, 2017, 5:17006-17019.
[11]	GONG L G, WANG Q, DONG C Y. Disturbance rejection control of morphing aircraft based on switched nonlinear systems[J]. Nonlinear Dynamics, 2019, 96(2):975-995.
[12]	张远, 黄万伟, 路坤锋, 等. 高超声速变外形飞行器建模与有限时间控制[J]. 北京航空航天大学学报, 2022, 48(10):1979-1993.
	ZHANG Y, HUANG W W, LU K F, et al. Modeling and finite-time control for hypersonic morphing flight vehicle[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(10):1979-1993. (in Chinese)
[13]	LIU X D, XU Y, LUO J Q. An asymmetrically variable wingtip anhedral angles morphing aircraft based on incremental sliding mode control:Improving lateral maneuver capability[J]. Chinese Journal of Aeronautics, 2025, 38(1):103166.
[14]	CAI G B, YANG Q, MU C X, et al. Design of LPV controller for morphing aircraft using inexact scheduling parameters[J]. IET Control Theory and Applications, 2023, 17 (4):493-503.
[15]	WEN N, LIU Z H, SUN Y, et al. Design of LPV-based sliding mode controller with finite time convergence for a morphing aircraft[J]. International Journal of Aerospace Engineering, 2017:1-20.
[16]	MAZEN F. LPV control and analysis under uncertain initial conditions[J]. Automatica, 2021, 132:109810.
[17]	WEN N, LIU Z H, ZHU L P. Linear-parameter-varying-based adaptive sliding mode control with bounded L2 gain performance for a morphing aircraft[J]. Proceedings of the Institution of Mechanical Engineers,Part G:Journal of Aerospace Engineering, 2019, 233(5):1847-1864.
[18]	VINCO G M, SENAME O, STRUB G, et al. Linear parameter-varying polytopic modeling and control design for guided projectiles[J]. Journal of Guidance,Control,and Dynamics, 2024, 47(3):433-447.
[19]	ESLAMDOUST M, TOLOEI A R, VALI A R. Fault tolerant control (FTC) scheme for unmanned aerial vehicles (UAV)[J]. International Journal of Computer Applications, 2015, 126(3):10-14.
[20]	程昊宇, 董朝阳, 江未来, 等. 变体飞行器故障检测与容错控制一体化设计[J]. 兵工学报, 2017, 38(4):711-721. doi: 10.3969/j.issn.1000-1093.2017.04.012
	CHENG H Y, DONG C Y, JIANG W L, et al. Integrated fault detection and fault tolerant control for morphing aircraft[J]. Acta Armamentarii, 2017, 38(4):711-721. (in Chinese)
[21]	ALWI H, EDWARDS C. LPV sliding mode fault tolerant control of an octorotor using fixed control allocation[C]// Proceedings of 2013 Conference on Control and Fault-Tolerant Systems. Nice,France: IEEE, 2013:772-777.
[22]	WANG X, ZHAO J, QIAN J, et al. Adaptive fault tolerant control for a quadrotor under actuator faults[C]// Proceedings of 2019 Chinese Control Conference. Guangzhou,China: IEEE, 2019:5079-5084.
[23]	殷明. 变体飞行器变形与飞行的协调控制问题研究[D]. 南京: 南京航空航天大学, 2016.
	YIN M. Coordinated control of deformation and flight for morphing aircraft[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2016. (in Chinese)
[24]	PARK B Y, YUN S W, PARK P. H₂ state-feedback control for LPV systems with input saturation and matched disturbance[J]. Nonlinear Dynamics, 2012, 67(2):1083-1096.
[25]	CAI G B, ZHAO Y, QUAN W Z, et al. Design of LPV fault-tolerant controller for hypersonic vehicle based on state observer[J]. Journal of Industrial and Management Optimization, 2021, 17(1):447-465.
[1]	冉茂鹏, 王成才, 刘华华, 等. 变体飞行器控制技术发展现状与展望[J]. 航空学报, 2022, 43(10):527449. doi: 10.7527/S1000-6893.2022.27449
	RAN M P, WANG C C, LIU H H, et al. Research status and future development of morphing aircraft control technology[J]. Acta Aeronautica et Astronautica Sinica, 2022, 43(10):527449. (in Chinese) doi: 10.7527/S1000-6893.2022.27449
[2]	王青, 刘华华, 屈东扬. 一种基于DDPG的变体飞行器智能变形决策方法[J]. 宇航学报, 2024, 45(10):1560-1567.
	WANG Q, LIU H H, QU D Y. An intelligent deformation decision-making method for morphing aircraft based on deep deterministic policy gradient[J]. Journal of Astronautics, 2024, 45(10):1560-1567. (in Chinese)
[3]	BAO C Y, WANG P, TANG G J. Integrated method of guidance,control and morphing for hypersonic morphing vehicle in glide phase[J]. Chinese Journal of Aeronautics, 2021, 34(5):535-553.
[4]	孟志鹏, 杨柳庆, 王波, 等. 基于改进平衡优化算法的折叠翼飞行器自抗扰控制器设计[J]. 北京航空航天大学学报, 2024, 50(8):2449-2460.
	MENG Z P, YANG L Q, WANG B, et al. ADRC design for folding wing vehicles based on improved equilibrium optimization algorithm[J]. Journal of Beijing University of Aeronautics and Astronautics, 2024, 50(8):2449-2460. (in Chinese)
[5]	薛涵冰. 面向变体飞行器纵向飞行的模型预测控制研究[D]. 郑州: 河南工业大学, 2024.
	XUE H B. Research on model predictive control for longitudinal flight of morphing aircraft[D]. Zhengzhou: Henan University of Technology, 2024. (in Chinese)
[6]	郭鸿飞, 宁国栋, 张科南, 等. 基于深度强化学习的变体飞行器智能参数整定[J]. 空天技术, 2024(5):60-70.
	GUO H F, NING G D, ZHANG K N, et al. Intelligent parameter adjusting of morphing aircraft based on deep reinforcement learning[J]. Aerospace Technology, 2024(5):60-70. (in Chinese)
[7]	王帅, 晁涛, 韩宇辰, 等. 变体飞行器变形策略与控制方法研究进展[J]. 战术导弹技术, 2024(4):1-15.
	WANG S, CHAO T, HAN Y C, et al. Research progress on morphing strategies and control methods for morphing aircraft[J]. Tactical Missile Technology, 2024(4):1-15. (in Chinese).
[8]	YAN B B, LI Y, DAI P, et al. Aerodynamic analysis,dynamic modeling,and control of a morphing aircraft[J]. Journal of Aerospace Engineering, 2019, 32(5):04019058.