CN105173051A - Guidance and control integration and control distribution method of stratospheric airship - Google Patents
Guidance and control integration and control distribution method of stratospheric airship Download PDFInfo
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Abstract
The invention discloses a guidance and control integration and control distribution method of a stratospheric airship. The method comprises the steps of: (1) building a mathematical model of the stratospheric airship; (2) navigation calculation of a plane path: giving an anticipant plane path fc(x, y)=0; calculating a position tracking error ep; and designing a control law; (3) giving an anticipant speed tracking value vc; calculating a speed error ev; and designing a speed control law; (4) giving an anticipant pitch angle theta c; calculating a pitch angle tracking error e theta; and designing a pitch attitude control law; (5) giving an anticipant roll angle phi c; calculating a roll angle tracking error e phi; and designing a roll angle attitude control law; (6) giving an anticipant height hc; calculating a height tracking error ec; and designing a height control law; (7) comprehensively solving the steps (2) to (6) to obtain an upper system control law; (8) building an optimization criterion of lower control distribution; (9) determining a weight matrix W; and (10) solving an equation set of control distribution; and outputting an actual control quantity. The method can guarantee effective distribution of faults to a faultless execution mechanism to finish a flight mission.
Description
Technical Field
The invention provides a guidance control integration and control distribution method for an stratospheric airship, designs a guidance control integration and control distribution method aiming at the flight characteristics of the stratospheric airship, provides a new control method for tracking a plane path for the overdriven stratospheric airship and still ensuring completion of a flight instruction when an allowable fault occurs, and belongs to the technical field of automatic control.
Background
The traditional flight control system design is generally decomposed into a guidance link and an attitude control link, and the two links are respectively designed. But in fact, the guidance link and the attitude control link are not independent, so that the control design of the whole system of guidance and attitude control can improve the final guidance quality. A method of improving the final guidance quality by using the integrated information such as the attitude, the overload, and the line-of-sight angular velocity in the feedback control design is generally called a guidance control integrated design method (integration for short).
The integrated design method was proposed in the 80's of the 20 th century. At present, a great deal of research work has been carried out by many scholars at home and abroad. Models adopted by the integrated design in the existing literature can be mainly divided into a relative position model and a line-of-sight angle model. The invention discloses a stratospheric airship guidance control integration and control distribution method, and provides a plane path tracking control method based on a stratospheric airship dynamics nonlinear model. The method integrates a path tracking algorithm based on navigation and a track linearization theory. The closed loop system controlled by the method is asymptotically stable, and has no control singular point, so that an effective design means is provided for the cruise flight engineering realization of the autonomous airship.
As a novel information platform, the stratospheric airship has the remarkable advantages of long dead time, low use cost, wide reconnaissance visual field, timely preparation of wireless communication and the like, can be used for long-time and high-precision ground observation, communication relay, area detection and the like, and has wide military and civil prospects. The stratospheric airship generally uses a plurality of control mechanisms for flight control, and the plurality of control mechanisms need to be coordinated at the same time, which brings great challenges to the design of the flight control coordination, so the control distribution problem of the stratospheric airship is gradually emphasized. The present document is therefore directed to the problem of control distribution of an overdrive model that can improve airship flight safety, maneuverability and reliability. In order to ensure the engineering practicability, a control distribution method considering an optimization problem and a generalized inverse algorithm is adopted, so that when the actuator has unexpected faults such as floating and blocking of a control surface and the like, each distribution instruction can still be effectively ensured to reach each execution mechanism.
Disclosure of Invention
(1) The purpose is as follows: the invention aims to provide a stratospheric airship guidance control integration and control distribution method, and a control engineer can realize cruise flight of an autonomous airship according to the method and by combining actual parameters.
(2) The technical scheme is as follows: the invention discloses a stratospheric airship guidance control integration and control distribution method which can be decomposed into an upper control law design and a lower control distribution algorithm design based on an integration design method, and a layered structure design can simplify a control system and avoid unnecessary coupling problems. The main content and procedures are as follows: the tracking error of each part is defined according to the control target, and then the error is continuously derived to the control quantity which is explicitly generated in the equation. And (3) converging the tracking error to zero by designing a control law, solving an equation which is required to be met by each part of control according to the tracking error, and finally integrating all the equations to calculate the actual controlled variable. And selecting five control targets of plane position, speed, pitch angle, roll angle and height. Carrying out design solution on a control law according to the criterion to obtain upper-layer virtual control quantity; and the lower-layer control distribution firstly determines a system weight matrix, and solves the actual control quantity according to an optimization criterion to finally obtain the final control quantity of each actuating mechanism. In practical application, the state quantities of the airship such as position, attitude, speed and the like are measured by sensors such as a combined inertial navigation system, and the control quantity calculated by the method is transmitted to actuating devices such as a steering engine and a propulsion propeller, so that the function of tracking a plane path by the airship on a stratosphere can be realized.
The invention discloses a guidance control integration and control distribution method for an airship on a stratosphere, which comprises the following specific steps of:
step one, establishing a stratospheric airship mathematical model: a kinetic model and a kinematic model;
step two gives the expected plane path(ii) a Calculating position tracking error(ii) a Designing a control law;
step three, the expected speed tracking value is given(ii) a Calculating speed error(ii) a Designing a speed control law;
step four gives the desired pitch angle(ii) a Calculating pitch angle tracking error(ii) a Designing a pitching attitude control law;
step five gives the desired roll angle(ii) a Calculating roll angle tracking error(ii) a Designing a rolling attitude control law;
step six gives the desired height(ii) a Calculating height tracking error(ii) a Designing a height control law;
step seven, comprehensively solving the step two to the step six to obtain a system upper control law;
step eight, establishing an optimization criterion of lower-layer control distribution;
step nine determining weight matrix；
And step ten, solving an equation set for control distribution, and outputting the actual control quantity of each actuator.
The method for establishing the stratospheric airship mathematical model in the step one comprises the following steps:
1) the stratospheric airship kinematic equation is expressed as follows:
wherein,，state vectors that are all state equations; whereinIs the position coordinate of the airship mass center under the ground coordinate system,respectively a roll angle, a pitch angle and a yaw angle;the projection of the velocity vector of the origin under the boat body coordinate system,the method comprises the following steps of (1) projecting angular velocity vectors of an airship in a ship coordinate system under the ship coordinate system;a non-linear dynamic function;
2) the stratospheric airship kinetic equation is expressed as follows:
wherein,is about a variableIs determined by the non-linear dynamic function of (c),is a non-linear control distribution function;an input matrix is controlled for the stratospheric airship.
Wherein the given desired planar path described in step two(ii) a The design control law causes the points to be on the desired geometric pathGetting the next point of the stratospheric airship systemDeriving the position tracking error:the equation does not contain the control quantity;
continuously solving a second derivative of the error to obtain a control quantity with a coefficient not equal to 0; therefore, the relative order of the system is 2, and the design control law meets the requirementThe plane position tracking error can be known by the Hurwitz criterion。
Wherein the given desired speed is described in step threeThen the speed error is(ii) a The design control rule, pairSolving a first derivative of the speed error to obtain a control quantity with a coefficient not being 0; design control law such that。
Wherein the given desired pitch angle is described in step fourSaid pitch angle tracking error is(ii) a Solving a first derivative of the tracking error of the pitch angle, wherein the equation does not contain a control quantity; if the relative order of the system is 2, the second derivative of the error is continuously solved to obtain the control quantity with the coefficient not being 0, and the control law is designed to meet the requirement。
Wherein the given desired roll angle is as described in step fiveThe tracking error of the roll angle is(ii) a Solving a first derivative of the tracking error of the roll angle, wherein the equation does not contain a control quantity;
if the relative order of the system is 2, the second derivative of the error is continuously solved to obtain the control quantity with the coefficient not being 0, and the control law is designed to meet the requirement。
Wherein given the desired height as set forth in step sixSaid height tracking error is(ii) a The control law satisfies。
Wherein, in the step seven, the solving steps from two to six are carried out to obtain the upper control law of the system, and the following equation sets are obtained:
wherein,
from the kinetic equation:
solving a plane geometric path tracking control law of the stratospheric airship based on dynamic inversion:
；
whereinAre abbreviated.
The method for establishing the optimization criteria of the control allocation in step eight is as follows:
considering the practical application of engineering, a more direct pseudo-inverse control distribution method is utilized; the optimization problem can therefore be expressed as:
the constraint condition is。
Wherein the weight matrix is determined in the step nine: whereinA positive definite weighted diagonal matrix; specifically, it can be expressed as follows:
wherein the weight matrix is adjustedReducing the weight of the corresponding actuator, and distributing the fault in the remaining intact actuator mechanism;representing the failure rate of the least reliable of the actuators.
In the step ten, the equation set for controlling distribution is solved, the actual control quantity of each actuator is output, the following equations can be obtained by solving according to the distribution criterion and the airship dynamics equation, and the obtained actual control input quantity is:
。
(3) the advantages and effects are as follows:
compared with the prior art, the invention discloses a guidance control integration and control distribution method of a stratospheric airship, which has the advantages that:
1) the method can well track the plane path, and can adjust the control law on line when a fault occurs, thereby ensuring the path tracking direction.
2) The method can ensure the asymptotic stability of the closed-loop system, and has no control singular point.
3) The upper layer of the method adopts an integrated control method, so that the coupling of an inner ring design system and an outer ring design system is avoided;
4) the method can ensure the optimal energy, and when the stratospheric airship has a fault, the control redistribution can be realized under the distributable condition, so that the reliability of the system is greatly improved;
5) the method adopts a layered design structure, and designs the complex systems respectively after layering, thereby avoiding the complexity of control distribution of the whole system and simplifying control calculation.
In the application process, a control engineer can give any expected cruise path according to an actual airship, effectively redistribute the paths aiming at faults and directly transmit the actual control quantity calculated by the method to an actuating mechanism to realize a path tracking function.
Drawings
FIG. 1 is a flow chart of a control method according to the present invention;
FIG. 2 is a schematic view of an stratospheric airship of the present invention;
FIG. 3 is a navigation computation geometry map of the present invention;
solving the control law of each control target according to the airship kinetic equation to obtain an expression, whereinRepresents five control targets of plane position, speed, pitch angle, roll angle and height;
is a weight matrix of the system
The initial plane position of the airship is obtained; the initial speed, the pitch angle, the roll angle and the height of the airship are respectively adopted in the same way;
is the desired planar position of the airship; similarly, the expected speed, the pitch angle, the roll angle and the height of the airship are obtained;
is the propeller thrust of the airship;
is a rudder of an airship, divided into upper and lower rudders and expressed as；
Being elevators of airships, left and right elevators being respectively denoted as；
The decomposition amount of the speed of the airship along a coordinate system of the airship body is obtained;
the decomposition quantity of the angular speed of the airship along the coordinate system of the airship body is obtained;
an inertial coordinate system;
a boat body coordinate system;
is a certain reference point on the airship;
the speed direction is the airship reference point;
a reference point for the desired path;
a tangential direction to a desired path reference point;
is a desired path;
is in an inertial coordinate systemAnd (4) a plane.
Detailed Description
The design method of each part in the invention is further explained with the attached drawings as follows:
the invention relates to a guidance control integration and control distribution method of a stratospheric airship, which comprises the following specific steps as shown in figure 1:
the method comprises the following steps: stratospheric kinematic and kinetic equations
1) As shown in FIG. 2, a boat body coordinate system is established by taking the floating center of the autonomous airship as an origin(ii) a Establishing an inertial coordinate system by taking any point on the ground as an originWherein the originIs any point on the ground, and the ground is a ground,the direction is towards the north direction,pointing to the east direction of the hand-held device,pointing to the geocentric;
2) the stratospheric airship kinematic equation is expressed as follows:
wherein,，state vectors that are all state equations; whereinIs the position coordinate of the airship mass center under the ground coordinate system,respectively a roll angle, a pitch angle and a yaw angle;the projection of the velocity vector of the origin under the boat body coordinate system,the method comprises the following steps of (1) projecting angular velocity vectors of an airship in a ship coordinate system under the ship coordinate system;a non-linear dynamic function;
3) the stratospheric airship kinetic equation is expressed as follows:
wherein,is about a variableIs determined by the non-linear dynamic function of (c),is a non-linear control distribution function;an input matrix is controlled for the stratospheric airship.
Step two: designing a planar path control law given a desired planar path
1) Given a desired planar path；
2) Designing a control law so that points are on a desired geometric pathGetting the next point of the stratospheric airship systemDeriving the position tracking error:the equation does not contain the control quantity;
continuously solving a second derivative of the error to obtain a control quantity with a coefficient not equal to 0;
3) therefore, the relative order of the system is 2, and the design control law meets the requirementThe plane position tracking error can be known by the Hurwitz criterion；
4) Solving the above equation can solve:
。
step three: given a desired speed, a speed control law is designed
1) The desired speed isThen the speed error is；
2) Solving a first derivative of the speed error to obtain a control quantity with a coefficient not being 0;
3) the relative order of the system is 1, the control law is designed to makeThe plane position tracking error can be known by the Hurwitz criterion；
4) Solving the above equation yields:
。
step four: given a desired pitch angle, a pitch control law is designed
1) Desired pitch angleThe tracking error of pitch angle is；
2) Solving a first derivative of the tracking error of the pitch angle, wherein the equation does not contain a control quantity; if the relative order of the system is 2, the second derivative of the error is continuously solved to obtain the control quantity with the coefficient not being 0, and the control law is designed to meet the requirement；
3) Solving the above equation yields:
。
step five: design roll angle control law given desired roll angle
1) Desired roll angleThe tracking error of the roll angle is；
2) Solving a first derivative of the tracking error of the roll angle, wherein the equation does not contain a control quantity;
if the relative order of the system is 2, the second derivative of the error is continuously solved to obtain the control quantity with the coefficient not being 0, and the control law is designed to meet the requirement；
3) Solving the equation yields:
。
step six: given a desired height, design height control law
1) The desired height isThe height tracking error is；
2) Solving a first derivative of the height tracking error, wherein the equation does not contain a control quantity; if the relative order of the system is 2, continuously solving a second derivative of the error; if the control quantity with coefficient not 0 can be obtained, the control law is designed to satisfy；
3) Solving to obtain:
。
step seven: solving the upper control law of the system
1) According to the second step to the sixth step, the upper control law of the system is obtained, and the following equation set is obtained:
wherein,
2) from the kinetic equation:
3) solving a plane geometric path tracking control law of the stratospheric airship based on dynamic inversion:
。
step eight: establishing optimization criteria for control distribution
Considering the practical application of engineering, a more direct pseudo-inverse control distribution method is utilized; the optimization problem can therefore be expressed as:
the constraint condition is。
Step nine: determining a weight matrix W
A positive definite weighted diagonal matrix; specifically, it can be expressed as follows:
wherein the weight matrix is adjustedReducing the weight of the corresponding actuator, and distributing the fault in the remaining intact actuator mechanism;representing the failure rate of the least reliable of the actuators.
Step ten: solving for actual control input
Solving the control distribution equation set in the step ten, outputting the actual control quantity of each actuator, and solving according to the distribution rule and the airship kinetic equation to obtain the following equations, wherein the obtained actual control input quantity is:
。
Claims (11)
1. A stratospheric airship guidance control integration and control distribution method is characterized by comprising the following steps: the method can be decomposed into an upper control law design and a lower control distribution algorithm design based on an integrated design method;
the method comprises the following specific steps:
step one, establishing a stratospheric airship mathematical model: a kinetic model and a kinematic model;
step two gives the expected plane path(ii) a Calculating position tracking error(ii) a Designing a control law;
step three, the expected speed tracking value is given(ii) a Calculating speed error(ii) a Designing a speed control law;
step four gives the desired pitch angle(ii) a Calculating pitch angle tracking error(ii) a Designing a pitching attitude control law;
step five gives the desired roll angle(ii) a Calculating roll angle tracking error(ii) a Designing a rolling attitude control law;
step six gives the desired height(ii) a Calculating height tracking error(ii) a Designing a height control law;
step seven, comprehensively solving the step two to the step six to obtain a system upper control law;
step eight, establishing an optimization criterion of lower-layer control distribution;
step (ii) ofNine determination weight matrix；
And step ten, solving an equation set for control distribution, and outputting the actual control quantity of each actuator.
2. The stratospheric airship guidance control integration and control distribution method according to claim 1, which is characterized by comprising the following steps:
the stratosphere kinematic equation and the kinetic equation in the step one are solved by the following method:
1) as shown in FIG. 2, a boat body coordinate system is established by taking the floating center of the autonomous airship as an origin(ii) a Establishing an inertial coordinate system by taking any point on the ground as an originWherein the originIs any point on the ground, and the ground is a ground,the direction is towards the north direction,pointing to the east direction of the hand-held device,pointing to the geocentric;
2) the stratospheric airship kinematic equation is expressed as follows:
wherein,，state vectors that are all state equations; whereinIs the position coordinate of the airship mass center under the ground coordinate system,respectively a roll angle, a pitch angle and a yaw angle;the projection of the velocity vector of the origin under the boat body coordinate system,the method comprises the following steps of (1) projecting angular velocity vectors of an airship in a ship coordinate system under the ship coordinate system;a non-linear dynamic function;
3) the stratospheric airship kinetic equation is expressed as follows:
wherein,is about a variableIs determined by the non-linear dynamic function of (c),is a non-linear control distribution function;an input matrix is controlled for the stratospheric airship.
3. The stratospheric airship guidance control integration and control distribution method according to claim 1, which is characterized by comprising the following steps:
wherein, given the expected planar path in the step two, the design planar path control law method is as follows:
1) given a desired planar path；
2) Designing a control law so that points are on a desired geometric pathGetting the next point of the stratospheric airship systemDeriving the position tracking error:the equation does not contain the control quantity;
continuously solving a second derivative of the error to obtain a control quantity with a coefficient not equal to 0;
3) therefore, the relative order of the system is 2, and the design control law meets the requirementThe plane position tracking error can be known by the Hurwitz criterion；
4) Solving the above equation can solve:
。
4. the stratospheric airship guidance control integration and control distribution method according to claim 1, which is characterized by comprising the following steps:
wherein, given the desired speed described in step three, the design speed control law calculation method is as follows:
1) the desired speed isThen the speed error is；
2) Solving a first derivative of the speed error to obtain a control quantity with a coefficient not being 0;
3) the relative order of the system is 1, the control law is designed to makeThe plane position tracking error can be known by the Hurwitz criterion；
4) Solving the above equation yields:
。
5. the stratospheric airship guidance control integration and control distribution method according to claim 1, which is characterized by comprising the following steps:
wherein, given the desired pitch angle as set forth in step four, the pitch control law method is designed as follows:
1) desired pitch angleThe tracking error of pitch angle is；
2) Solving a first derivative of the tracking error of the pitch angle, wherein the equation does not contain a control quantity; if the relative order of the system is 2, the second derivative of the error is continuously solved to obtain the control quantity with the coefficient not being 0, and the control law is designed to meet the requirement
；
3) Solving the above equation yields:
。
6. the stratospheric airship guidance control integration and control distribution method according to claim 1, which is characterized by comprising the following steps:
wherein given the desired roll angle, the roll angle control law is designed as described in step five
1) Desired roll angleThe tracking error of the roll angle is；
2) Solving a first derivative of the tracking error of the roll angle, wherein the equation does not contain a control quantity;
if the relative order of the system is 2, the second derivative of the error is continuously solved to obtain the control quantity with the coefficient not being 0, and the control law is designed to meet the requirement；
3) Solving the equation yields:
。
7. the stratospheric airship guidance control integration and control distribution method according to claim 1, which is characterized by comprising the following steps:
wherein, given the desired height as set forth in step six, the design height control law method is as follows:
1) the desired height isThe height tracking error is；
2) Solving a first derivative of the height tracking error, wherein the equation does not contain a control quantity; if the relative order of the system is 2, continuously solving a second derivative of the error; if the control quantity with coefficient not 0 can be obtained, the control law is designed to satisfy
；
3) Solving to obtain:
。
8. the stratospheric airship guidance control integration and control distribution method according to claim 1, which is characterized by comprising the following steps:
wherein, the method for obtaining the upper control law of the system in the seventh step is as follows:
according to the second step to the sixth step, the upper control law of the system is obtained, and the following equation set is obtained:
wherein,
from the kinetic equation:
solving a plane geometric path tracking control law of the stratospheric airship based on dynamic inversion:
。
9. the stratospheric airship guidance control integration and control distribution method according to claim 1, which is characterized by comprising the following steps:
the method for establishing the optimization criteria of the control allocation in step eight is as follows:
considering the practical application of engineering, a more direct pseudo-inverse control distribution method is utilized; the optimization problem can therefore be expressed as:
the constraint condition is。
10. The stratospheric airship guidance control integration and control distribution method according to claim 1, which is characterized by comprising the following steps:
wherein the weight matrix is determined in the step nineThe representation method is as follows:a positive definite weighted diagonal matrix; specifically, it can be expressed as follows:
wherein the weight matrix is adjustedReducing the weight of the corresponding actuator, and distributing the fault in the remaining intact actuator mechanism;representing the failure rate of the least reliable of the actuators.
11. The stratospheric airship guidance control integration and control distribution method according to claim 1, which is characterized by comprising the following steps: wherein, the calculation method for solving the actual control input amount in the step ten is as follows:
solving the control distribution equation set in the step ten, outputting the actual control quantity of each actuator, and solving according to the distribution rule and the airship kinetic equation to obtain the following equations, wherein the obtained actual control input quantity is:
。
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| CN106828860A (en) * | 2017-03-01 | 2017-06-13 | 北京天恒长鹰科技股份有限公司 | The remote control system and its control method of a kind of stratospheric airship |
| CN106933237A (en) * | 2017-02-28 | 2017-07-07 | 北京天恒长鹰科技股份有限公司 | A kind of passive fault tolerant control method of stratospheric airship |
| CN110673623A (en) * | 2019-11-04 | 2020-01-10 | 苏州经贸职业技术学院 | Quad-rotor unmanned aerial vehicle landing method based on dual-ring PD control algorithm control |
| CN111596692A (en) * | 2020-06-09 | 2020-08-28 | 北京航空航天大学 | Method and system for controlling surrounding tracking moving target of stratospheric airship |
| CN112180961A (en) * | 2020-09-30 | 2021-01-05 | 北京航空航天大学 | Track tracking control method and system for all-state limited stratospheric airship |
| CN112904871A (en) * | 2021-01-22 | 2021-06-04 | 北京电子工程总体研究所 | Capsule height control system based on propeller and pitching cable composite control |
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| CN111596692B (en) * | 2020-06-09 | 2021-06-01 | 北京航空航天大学 | Method and system for controlling surrounding tracking moving target of stratospheric airship |
| CN112180961A (en) * | 2020-09-30 | 2021-01-05 | 北京航空航天大学 | Track tracking control method and system for all-state limited stratospheric airship |
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| CN112904871B (en) * | 2021-01-22 | 2023-02-28 | 北京电子工程总体研究所 | Capsule height control system based on propeller and pitching cable composite control |
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