CN106444822A - Space vector field guidance based stratospheric airship's trajectory tracking control method - Google Patents
Space vector field guidance based stratospheric airship's trajectory tracking control method Download PDFInfo
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Abstract
The invention provides a space vector field guidance based stratospheric airship's path tracking control method, comprising the following steps: 1) desired tracking values giving: giving a desired task path; giving a desired forward speed; calculating the resistance force Ff at the desired speed; 2) navigation calculating: calculating the desired yaw angle phi<d> and the desired pitch angle theta <d> required to remove the error between the desired position and the actual position; 3) path tracking yaw angle and pitch angle error calculating: calculating the error between the desired yaw angle and the actual yaw angle and the error between the desired pitch angle and the actual pitch angle; 4) slip mode controller calculating: calculating the error between the desired attitude angle and the actual attitude angle and the control amount required for the speed control of the airship; and 5) execution component control signal calculating: calculating the control amounts of theta el, theta er, theta r, T, and gamma required by the execution components. The control flow is referred in the figure.
Description
Technical field
The invention provides a kind of stratospheric airship path tracking control method based on the guidance of space vector field, it is flat
The path following control of fluid layer dirigible provides the parametrization tracking in a kind of space, belongs to automatic control technology field.
Background technology
Stratospheric airship is as the tradition extension in stratosphere field for the dirigible, and some technology both having remained tradition dirigible are special
Point, it is also proposed new design simultaneously and requires.Aerostat, the stratosphere flight such as High Altitude UAV relative to other
Device, has a low energy consumption, the advantage such as during long boat.This method control object flies for the stratosphere with cross empennage and vector screw
Ship, as shown in Figure 1.The flight control method majority of stratospheric airship is derived from robot field and fixed wing aircraft field,
The rare maturation method requiring with cruise for stratospheric airship self model feature, residing physical environment.Stratospheric airship
Cruising altitude is at more than 20km, and thin at this level air, rudder face and propeller efficiency all ratios are relatively low, self cruising speed one
As be 5m/s-15m/s, can synchronize over the ground in somewhere overhead according to mission requirements.
Current main flow path tracking algorithm uses the method directly following the tracks of certain desired point on expected path to navigate
Resolve.This method uses space vector field method of guidance, different from legacy paths homing guidance method.According to task path and
The dynamic characteristic of aircraft, sets up vector field around task path and resolves expectation attitude, rather than follow the tracks of on expected path
Desired point.The control object of space vector field method of guidance is the attitude of dirigible, and speeds control can carry out spirit according to mission requirements
The adjustment lived.
The present invention " a kind of stratospheric airship path tracking control method based on the guidance of space vector field ", it is proposed that based on
The space path tracking and controlling method of dynamics nonlinear model.The path trace that the method combines based on space vector field is calculated
Method and sliding mode control theory.It is bounded stability by the closed-loop system that the method controls, and there is good convergence effect, be flat
The flight control of fluid layer dirigible provides engineering design method.
Content of the invention
(1) purpose:It is an object of the invention to provide a kind of based on space vector field guidance stratospheric airship path with
Track control method, control engineer can in the method and combine actual parameter and realize that the autonomous cruise of stratospheric airship flies
OK.
(2) technical scheme:The present invention " a kind of stratospheric airship controlling of path thereof based on the guidance of space vector field ", its
Main contents and program are:
The cruise track of stratospheric airship is generally-straight or regular curve, and control and change in conjunction with height can divide
Solve is parameterized space line and helix.(include space line first with space vector field theory at given expected path
And spiral path) near set up navigation vector field, generate expectation attitude angle;Then utilize sliding mode control theory design path with
Track controller so that it is tracking error levels off to zero in finite time.In actual application, the position of stratospheric airship, attitude, speed
The quantity of states such as degree are obtained by airborne sensor measurements such as combined inertial nevigations, will be by the transmission of the method calculated controlled quentity controlled variable to control
Rudder face and vector screw etc. perform the path trace facility that device can realize stratospheric airship.
The present invention " a kind of stratospheric airship path tracking control method based on the guidance of space vector field ", its concrete steps
As follows:
Step one given expectation pursuit gain:Given expectation task path;Given expectation forward speed.
Step 2 navigation calculates:Calculate the expectation yaw angle needed for error eliminating between desired locations and physical location
ψdWith expectation pitching angle thetad.
Step 3 path trace yaw angle and angle of pitch error calculation:Calculate between expectation yaw angle and actual yaw angle
ErrorExpect the error between the angle of pitch and the actual angle of pitch
Step 4 sliding mode controller calculates:Calculate and eliminate error between expectation attitude angle and actual attitude angle, and dirigible
Controlled quentity controlled variable U needed for speeds control.
Step 5 each execution unit control signal calculates:Calculate the execution unit controlled quentity controlled variable realizing needed for sliding-mode control law U
δel,δer,δr,T,γ.
Wherein, it is divided into space line and two kinds of helix, straight line path in the given expectation task path described in step one
Footpath is by straight line and north orientation angle ξψAngle ξ with straight line and horizontal planeθDetermine, be denoted as pl(ξψ,ξθ);Spiral path is by path
The beginning center of circle [cx,cy,cz], radius crAnd climb rate cλDetermine, be denoted as po(cx,cy,cz,cr,cλ).Described given desired speed
For υc=[uc, vc, wc]T=[C, 0,0]T, C > 0 is constant, uc,vc,wcFor desired speed along the decomposition amount of hull coordinate system.
Wherein, the expectation needed for error calculating between elimination desired locations and physical location described in step 2 is inclined
Boat angle ψd, it is desirable to yaw angle θd, its computational methods are as follows:
Wherein ψ∞For the initial yaw angle setting, θ∞
For the initial pitch angle setting, dψ,dθIt is respectively the throwing at horizontal plane and vertical direction for the site error between body and task path
Shadow component;K > 0 is for determining the parameter of direction vector conversion speed in vector field;On agreed assignment path herein away from body away from
It is desired point P from nearest pointm, task path is L at the tangent line of desired point, χψFor tangent line L and north orientation angle, χθFor tangent line L with
The angle of horizontal plane;
Space line:dψ,dθCan be by path planning starting point coordinate PA=[xAyAzA]T, body position coordinates Po=[x0
y0z0]T, and straight line path and north orientation angle ξψAnd the angle ξ with horizontal planeθDetermine;χ in such casesψ=ξψ,χθ=ξθ;
Helix:dψ,dθCan be by spiral path po(cx,cy,cz,cr,cλ), body position coordinates Po=[x0y0z0]T
Determine;Now χψ,χθCalculated by detailed geometry.
Wherein, the path trace yaw angle error described in step 3With tracking angle of pitch errorIts calculating side
Method is as follows:
Wherein ψ is the current yaw angle of stratospheric airship, and θ is the current angle of pitch of stratospheric airship.
Wherein, the controlled quentity controlled variable needed for error eliminating between expectation yaw angle and actual yaw angle described in step 4
U, its computational methods are as follows:
Drive lacking dirigible kinetic model in this example is:
Wherein:X1=[x z φ θ ψ]T,X2=[u w p q r]TIt is position and attitude quantity of state and the speed of dirigible respectively
Degree angular speed quantity of state, owing to being under-actuated systems, so displacement y does not directly control.R, A, N, B are related coefficients
Matrix, U is and execution unit δel,δer,δr, the related controlled quentity controlled variable of T, γ.
The sliding-mode surface of sliding formwork control is:S=E1+HE2, wherein H=diag{h1,h2,…,h5, E1,E2It is X respectively1,X2Right
Answer the error of desired value.
Setting up liapunov function isAnd sliding formwork boundary conditionWherein M,
K is diagonal coefficient matrix,
Finally give the accounting equation with regard to controlled quentity controlled variable U
Wherein, execution unit controlled quentity controlled variable δ realizing needed for sliding-mode control law U described in step 5el,δer,δr,T,
γ, its computational methods are as follows:
[δel,δer,δr,T,γ]T=B U
(3) advantage and effect:
The present invention " a kind of stratospheric airship path tracking control method based on the guidance of space vector field ", with prior art
Ratio, its advantage is:
1) the method utilizes virtual point on surrounding vectors field, path rather than track path to carry out path trace, by the time with
Spatially decoupled, the control purpose of other and time correlation can be realized, such as the collaborative flight under time-constrain.
2) the method ensure that the Asymptotic Stability performance of closed-loop system, and convergence rate and sliding manifolds boundary layer thickness
Can be adjusted according to actual requirement;
3) the method uses sliding-mode control, can overcome the uncertainty of system, to interference and Unmarried pregnancy tool
There is very strong robustness, especially there is to the control of nonlinear system good control effect.
4) the method simple in construction, guides process stabilization, is particularly suited for low dynamic body, it is easy to accomplish extensive engineering
Application.
Control engineer can give any desired cruise path according to actual stratospheric airship in application process, and will
The calculated controlled quentity controlled variable of the method is directly transferred to executing agency's realizing route following function.
Brief description
Fig. 1 is control method FB(flow block) of the present invention;
Fig. 2 is stratospheric airship schematic diagram of the present invention;
Fig. 3 is vector field straight line path of the present invention navigation computational geometry graph of a relation;
Fig. 4 is vector field spiral path of the present invention navigation computational geometry graph of a relation;
Symbol description is as follows:
PAPA=[xAyAzA]TPlan initial point position for straight line expected path;
PoPo=[x0y0z0]TFor current location under inertial coodinate system for the dirigible;
ξψExpect straight line path and north orientation angle;
ξθExpect straight line path and horizontal plane angle;
ψ, θ stratospheric airship yaw angle and the angle of pitch;
ψd,θdStratospheric airship expectation yaw angle and the expectation angle of pitch;
Stratospheric airship yaw angle error and angle of pitch error;
Stratospheric airship yaw rate and rate of pitch;
δel,δerTwo elevator drift angles;
δrRudder;
The single screw of T produces thrust;
The vector drift angle of γ vector device;
VgStratospheric airship speed in inertial system;
Linear velocity under [u v w] stratospheric airship body axis system;
Angular speed under [p q r] stratospheric airship body axis system;
ψ∞,θ∞Infinite point yaw angle and the angle of pitch, vector field parameter, for adjustable positive number;
(cx,cy,cz) spiral path initiates home position coordinate;
crSpiral path radius;
cλThe spiral path climb rate;
PmReference point on task path;
dψDirigible and PmHorizontal range;
dθDirigible and PmVertical range;
Tangent line at L reference point;
χψTangent line L and north orientation angle;
χθTangent line L and horizontal plane angle;
Detailed description of the invention
Below in conjunction with the accompanying drawings, each several part method for designing in the present invention is further described:
The present invention " a kind of stratospheric airship path tracking control method based on the guidance of space vector field ", as shown in Figure 1,
It comprises the following steps that:Step one:Given expectation pursuit gain
1) as in figure 2 it is shown, set up hull coordinate system O with stratospheric airship centre of buoyancy for initial pointxyz;It with any point on ground is
Initial point sets up inertial coodinate system Ogxgygzg, wherein initial point OgFor ground any point, OgxgPoint to north, OgygPoint to east, OgzgRefer to
To the earth's core.
2) give expectation and invite task path, including straight line and helix.Wherein, as it is shown on figure 3, straight line path by straight line with
Plane OgxgygAngle ξθ, and with plane OgygzgAngle ξψDetermine;As shown in Figure 4, spiral path is by initiateing home position Pc
=[cx,cy,cz]TWith radius crWith climb rate cλDetermine, be denoted as po(cx,cy,cz,cr,cλ).
3) desired speed υ is givenc=[u, v, w]T=[C, 0,0]T, C > 0 is constant, and u, v, w are that desired speed is along body
The decomposition amount of coordinate system.In stratospheric airship working environment, without vertical direction wind speed, it is believed that dirigible forward speed and ground velocity phase
Deng i.e. Vg=u=C.
Step 2:Calculate expectation yaw angle and the angle of pitch
1) the straight line path expectation yaw angle angle of pitch calculates:
First, parameter P of straight line path is determinedA=[xAyAzA]T, pl(ξψ,ξθAfter), calculate straight line by method of geometry
On path, the nearest some P of bodym=[xm,ym,zm];
Secondly, straight line path is calculated at a PmThe tangent line L at place, and calculate the angle χ of tangent line Lψ=ξψ,χθ=ξθ;
Then, closest approach P on computer body distance straight linemDistanceAnd dθ=z0-zm,
The position of dirigible is Po=[x0y0z0]T, as shown in Figure 3;
Afterwards, infinite point yaw angle ψ is given∞And pitching angle theta∞;
Finally, straight line path expectation yaw angle ψ is calculateddWith expectation pitching angle thetad:
2) the spiral path expectation yaw angle angle of pitch calculates:
First, spiral path parameter p is determinedo(cx,cy,cz,cr,cλ), spiral path is projected extremely with body position coordinates
OgxgygPlane, as shown in Figure 4;
Secondly, body is obtained on the projection surface to the closest approach P of curved pathm0, draw dirigible to spiral path simultaneously
Horizontal rangeAnd the angle with north orientation of tangent line L
Then, corresponding subpoint Pm0, spiral path finds closest approach Pm, dirigible can be obtained to PmVertical range
dθ=z0-zm.
For spiral path, the angle χ with horizontal plane of tangent line LθIt is a constant value,
Afterwards, infinite point yaw angle ψ is given∞And pitching angle theta∞;
Finally, spiral path expectation yaw angle ψ is calculateddWith expectation pitching angle thetad:
Step 3:Calculate path trace attitude error
1)Wherein ψ is the current yaw angle of stratospheric airship, and θ is the current angle of pitch of stratospheric airship.
Step 4:Design sliding formwork control path following control device
For non-linear dirigible model, its kinetic model can be expressed as:
Owing to being under-actuated systems, so lateral displacement y and side velocity v cannot directly control, need by dirigible certainly
The shipping-direction stability of body and direction are controlled.Setting up sliding formwork chain of command S is:
Wherein [x0z0φ0θ0ψ0],[u0w0p0q0r0] it is corresponding desired value.
Setting up liapunov function isAnd sliding formwork boundary condition:
Under this condition, enable to liapunov function to meet:
Now airframe systems is stable.Can be obtained by sliding formwork boundary condition and kinetics equation:
The accounting equation of controlled quentity controlled variable U can be obtained after arranging:
Step 5:Calculate each execution unit control signal
After obtaining controlled quentity controlled variable U, by U=B [δ in dirigible kinetics equationel,δer,δr,T,γ]T, each portion can be obtained
The control signal amount of part, respectively left elevator δel, right elevator δer, rudder δr, single screw thrust T, vectored thrust side
To γ.
[δel,δer,δr,T,γ]T=B U.
Claims (6)
1. the stratospheric airship path tracking control method based on the guidance of space vector field, it is characterised in that:Concrete steps
As follows:
Step one given expectation pursuit gain:Given expectation task path;Given expectation forward speed.
Step 2 navigation calculates:Calculate the expectation yaw angle ψ needed for error eliminating between desired locations and physical locationdAnd the phase
Hope pitching angle thetad.
Step 3 path trace yaw angle and angle of pitch error calculation:Calculate expectation yaw angle and actual yaw angleBetween mistake
Difference, it is desirable to the error between the angle of pitch and the actual angle of pitch
Step 4 sliding mode controller calculates:Calculate and eliminate error between expectation attitude angle and actual attitude angle, and the speed of dirigible
Required controlled quentity controlled variable U of degree control.
Step 5 each execution unit control signal calculates:Calculate execution unit controlled quentity controlled variable δ realizing needed for sliding-mode control law Uel,
δer,δr,T,γ.
2. a kind of stratospheric airship path tracking control method based on the guidance of space vector field according to claim 1,
It is characterized in that:
Described in step one given expectation task path be divided into space line and two kinds of helix, straight line path by straight line with
North orientation angle ξψAngle ξ with straight line and horizontal planeθDetermine, be denoted as pl(ξψ,ξθ);Spiral path is initiateed the center of circle [c by pathx,
cy,cz], radius crAnd climb rate cλDetermine, be denoted as po(cx,cy,cz,cr,cλ).Described given desired speed is υc=[uc,
vc,wc]T=[C, 0,0]T, C > 0 is constant, uc,vc,wcFor desired speed along the decomposition amount of hull coordinate system.
3. a kind of stratospheric airship path tracking control method based on the guidance of space vector field according to claim 1,
It is characterized in that:
The expectation yaw angle ψ needed for error calculating between elimination desired locations and physical location described in step 2d, the phase
Hope yaw angle θd, its computational methods are as follows:
Wherein ψ∞For the initial yaw angle setting, θ∞For setting
Fixed initial pitch angle, dψ,dθThe site error being respectively between body and task path is divided in the projection of horizontal plane and vertical direction
Amount;K > 0 is for determining the parameter of direction vector conversion speed in vector field;On agreed assignment path herein away from body distance
Near point is desired point Pm, task path is L at the tangent line of desired point, χψFor tangent line L and north orientation angle, χθFor tangent line L and level
The angle in face;
Space line:dψ,dθCan be by path planning starting point coordinate PA=[xAyAzA]T, body position coordinates Po=[x0y0
z0]T, and straight line path and north orientation angle ξψAnd the angle ξ with horizontal planeθDetermine;χ in such casesψ=ξψ,χθ=ξθ;
Helix:dψ,dθCan be by spiral path po(cx,cy,cz,cr,cλ), body position coordinates Po=[x0y0z0]TDetermine;
Now χψ,χθCalculated by detailed geometry.
4. a kind of stratospheric airship path tracking control method based on the guidance of space vector field according to claim 1,
It is characterized in that:
Path trace yaw angle error described in step 3With tracking angle of pitch errorIts computational methods are as follows:Wherein ψ is the current yaw angle of stratospheric airship, and θ is the current angle of pitch of stratospheric airship.
5. a kind of stratospheric airship path tracking control method based on the guidance of space vector field according to claim 1,
It is characterized in that:
Controlled quentity controlled variable U needed for error eliminating between expectation yaw angle and actual yaw angle described in step 4, it calculates
Method is as follows:
Drive lacking dirigible kinetic model in this example is:
Wherein:X1=[x z φ θ ψ]T,X2=[u w p q r]TIt is position and attitude quantity of state and the speed angle speed of dirigible respectively
Degree quantity of state, owing to being under-actuated systems, so displacement y does not directly control.R, A, N, B are related coefficient matrixes, U
It is and execution unit δel,δer,δr, the related controlled quentity controlled variable of T, γ.
The sliding-mode surface of sliding formwork control is:S=E1+HE2, wherein H=diag{h1,h2,…,h5, E1,E2It is X respectively1,X2The corresponding phase
The error of prestige value.
Setting up liapunov function isAnd sliding formwork boundary conditionWherein M, K are equal
For diagonal coefficient matrix,
Finally give the accounting equation with regard to controlled quentity controlled variable U
6. a kind of stratospheric airship path tracking control method based on the guidance of space vector field according to claim 1,
It is characterized in that:
Execution unit controlled quentity controlled variable δ realizing needed for sliding-mode control law U described in step 5el,δer,δr, T, γ, its calculating side
Method is as follows:
[δel,δer,δr,T,γ]T=B U.
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