非最小相位高超声速飞行器非奇异滑模控制

doi:10.12382/bgxb.2023.1158

摘要/Abstract

摘要：

针对受外界干扰和非最小相位影响下的高超声速飞行器的跟踪控制问题,提出基于Byrnes-Isidori(B-I)标准型的滑模控制策略。设计新的积分滑模面和新型复合趋近律,在趋近律中将指数函数和符号函数结合,提高高超声速飞行器的抗抖振能力和快速收敛性能。采用滑模控制方法构造鲁棒滑模控制器,保证内部动态的渐近稳定性。同时构造非奇异终端滑模控制器,保证速度跟踪误差的实际有限时间稳定性和外部动态的有界稳定性。结合非奇异终端滑模控制具有鲁棒性强、收敛速度快等特点,设计终端滑模干扰观测器解决速度子系统和航迹角子系统中的外界干扰问题,并利用Lyapunov理论进行稳定性分析,证明了估计误差的实际有限时间稳定性,对比仿真结果表明了基于B-I标准型的滑模控制策略的可行性和有效性。

关键词: 高超声速飞行器, 非最小相位, 干扰观测器, 非奇异滑模控制

Abstract:

A sliding mode control strategy based on Byrnes-Isidori (B-I) standard is proposed to solve the tracking and controlling problems of non-minimum phase hypersonic vehicles under external disturbance. A new integral sliding mode surface and a novel composite reaching law are designed. The exponential and sign functions are combined in the reaching law to enhance the anti-vibration capability and rapid convergence performance of the hypersonic vehicle. A robust sliding mode controller is constructed to ensure the asymptotic stability of internal dynamics by using the sliding mode control method. And a non-singular terminal sliding mode controller is constructed to ensure the practical finite time stability of velocity tracking error and the bounded stability of external dynamics. Combining the robustness and fast convergence speed of the non-singular terminal sliding mode control, a terminal sliding mode disturbance observer is designed to solve the external disturbance in the velocity subsystem and altitude subsystem.The stability is proved by using the Lyapunov theory, proving the practical finite-time stability of the estimation error. The effectiveness of the control strategy based on the B-I standard is verified by simulation comparison.

Key words: hypersonic vehicle, non-minimum phase, disturbance observer, non-singular sliding mode control

中图分类号:

V212.13

韦巧玲, 杜雨欣, 周超, 王芳. 非最小相位高超声速飞行器非奇异滑模控制[J]. 兵工学报, 2024, 45(11): 3949-3958.

WEI Qiaoling, DU Yuxin, ZHOU Chao, WANG Fang. Non-singular Sliding Mode Control of Non-minimum Phase Hypersonic Vehicles[J]. Acta Armamentarii, 2024, 45(11): 3949-3958.

图/表 5

图1 速度及速度跟踪误差

Fig.1 Velocity and velocity tracking error

图2 高度及高度跟踪误差

Fig.2 Altitude and altitude tracking error

图3 俯仰角及航迹角跟踪误差

Fig.3 Tracking errors of pitch angle and flight path angle

图4 内部状态

Fig.4 Internal state

图5 控制输入

Fig.5 Control input

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