CN106444822B - A kind of stratospheric airship path tracking control method based on space vector field guidance - Google Patents
A kind of stratospheric airship path tracking control method based on space vector field guidance Download PDFInfo
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
A kind of stratospheric airship path tracking control method based on space vector field guidance, steps are as follows: 1. given expectation pursuit gains: given expectation task path；Given expectation forward speed；Calculate the resistance resultant force F being subject under the desired speedf；2. navigation calculates: expectation yaw angle ψ needed for calculating the error eliminated between desired locations and physical locationdWith desired pitching angle thetad；3. path trace yaw angle and pitch angle error calculation: calculating the error between expectation yaw angle and practical yaw angleIt is expected that the error between pitch angle and practical pitch angle4. sliding mode controller calculates: calculating and eliminate control amount U needed for the speed control of error and dirigible between expectation attitude angle and practical attitude angle；5. each execution unit control signal calculates: calculating execution unit control amount δ needed for realizing sliding-mode control law Uel,δer,δr,T,γ.Control flow is shown in attached drawing.
Description
Technical field
The present invention provides a kind of stratospheric airship path tracking control methods based on space vector field guidance, it is flat
The path following control of fluid layer dirigible provides a kind of parametrization tracking in space, belongs to automatic control technology field.
Background technique
Extension of the stratospheric airship as traditional dirigible in stratosphere field, some technologies for both having remained traditional dirigible are special
Point, while also proposed new design requirement.Relative to stratosphere flights such as other aerostats, High Altitude UAVs
Device has many advantages, such as low energy consumption, long endurance.This method control object is that the stratosphere with cross empennage and vector propeller flies
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 required for stratospheric airship self model feature, locating physical environment and cruise.Stratospheric airship
Cruising altitude is in 20km or more, and thin in this level air, rudder face and propeller efficiency are all relatively low, itself cruising speed one
As be 5m/s-15m/s, can be synchronized over the ground in somewhere overhead according to mission requirements.
The method that mainstream path tracking algorithm mostly uses some desired point on directly tracking expected path at present is navigated
It resolves.Space vector field method of guidance is used in this method, it is different from legacy paths homing guidance method.According to task path and
The dynamic characteristic of aircraft is established vector field around task path to resolve desired posture, rather than is tracked on expected path
Desired point.The control object of space vector field method of guidance is the posture of dirigible, and speed control can carry out spirit according to mission requirements
Adjustment living.
The present invention " a kind of stratospheric airship path tracking control method based on space vector field guidance ", proposes and is based on
The space path tracking and controlling method of dynamics nonlinear model.This method combines the calculation of the path trace based on space vector field
Method and sliding mode control theory.It is bounded stability by the closed-loop system that this method controls, and there is good convergence effect, is flat
The flight control of fluid layer dirigible provides engineering design method.
Summary of the invention
(1) purpose: the purpose of the present invention is to provide it is a kind of based on space vector field guidance stratospheric airship path with
Track control method, control engineer can in the method and combination actual parameter realizes that the autonomous cruise of stratospheric airship flies
Row.
(2) technical solution: the present invention " a kind of stratospheric airship controlling of path thereof based on space vector field guidance ",
Main contents and program are:
The cruise track of stratospheric airship is generally-straight or regular curve, can divide in conjunction with control and the variation of height
Solution is the space line and helix of parametrization.First with space vector field theory in given expected path (including space line
And spiral path) navigation vector field is nearby established, generate expectation attitude angle；Then using sliding mode control theory design path with
Track controller makes its tracking error level off to zero in finite time.In practical application, the position of stratospheric airship, posture, speed
The quantity of states such as degree are obtained by the airborne sensors measurement such as combined inertial nevigation, and the control amount being calculated by this method is transmitted to control
The path trace facility of stratospheric airship can be realized in the executive devices such as rudder face and vector propeller.
The present invention " a kind of stratospheric airship path tracking control method based on space vector field guidance ", specific steps
It is as follows:
The given expectation pursuit gain of step 1: given expectation task path；Given expectation forward speed.
Step 2 navigation calculates: expectation yaw angle needed for calculating the error eliminated between desired locations and physical location
ψdWith desired pitching angle thetad。
Step 3 path trace yaw angle and pitch angle error calculation: it calculates between expectation yaw angle and practical yaw angle
ErrorIt is expected that the error between pitch angle and practical pitch angle
Step 4 sliding mode controller calculates: calculating and eliminates error and dirigible between expectation attitude angle and practical attitude angle
Speed control needed for control amount U.
Each execution unit control signal of step 5 calculates: calculating execution unit control amount needed for realizing 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 given expectation task path described in step 1
Diameter is by straight line and north orientation angle ξψWith the angle ξ of straight line and horizontal planeθIt determines, is denoted as pl(ξψ,ξθ)；Spiral path is by path
The beginning center of circle [cx,cy,cz], radius crAnd climb rate cλIt determines, is denoted as po(cx,cy,cz,cr,cλ).The given desired speed
For υc=[uc, vc, wc]T=[C, 0,0]T, C > 0 is constant, uc,vc,wcIt is desired speed along the decomposition amount of hull coordinate system.
Wherein, expectation needed for the error between desired locations and physical location is eliminated in the calculating described in step 2 is inclined
Navigate angle ψd, it is expected that yaw angle θd, calculation method is as follows:
Wherein ψ∞For the initial yaw angle of setting, θ∞
For the initial pitch angle of setting, dψ,dθThe throwing of location error respectively between body and task path in horizontal plane and vertical direction
Shadow component；K > 0 is the parameter for determining direction vector conversion speed in vector field；Here on agreed assignment path away from body away from
It is desired point P from nearest pointm, task path is L, χ in the tangent line of desired pointψFor tangent line L and north orientation angle, χθFor tangent line L with
The angle of horizontal plane；
Space line: dψ,dθIt can be by planning path starting point coordinate PA=[xA yA zA]T, body position coordinates Po=[x0
y0 z0]TAnd straight line path and north orientation angle ξψWith the angle ξ with horizontal planeθIt determines；χ in such casesψ=ξψ,χθ=ξθ；
Helix: dψ,dθIt can be by spiral path po(cx,cy,cz,cr,cλ), body position coordinates Po=[x0 y0 z0]T
It determines；χ at this timeψ,χθIt is calculated by detailed geometry.
Wherein, the path trace described in step 3 yaws angle errorWith tracking pitching angle errorIts calculating side
Method is as follows:
Wherein ψ is the current yaw angle of stratospheric airship, and θ is the current pitch angle of stratospheric airship.
Wherein, control amount needed for the error between yaw angle and practical yaw angle it is expected in the elimination described in step 4
U, calculation method are as follows:
Drive lacking dirigible kinetic model in this example are as follows:
Wherein: X1=[x z φ θ ψ]T,X2=[u w p q r]TIt is the position and attitude quantity of state and speed of dirigible respectively
Angular speed quantity of state is spent, due to being under-actuated systems, so displacement y is without directly controlling.R, A, N, B are relevant coefficients
Matrix, U are and execution unit δel,δer,δr, the relevant control amount of T, γ.
The sliding-mode surface of sliding formwork control are as follows: S=E1+HE2, wherein H=diag { h1,h2,…,h5, E1,E2It is X respectively1,X2It is right
Answer the error of desired value.
Establishing liapunov function isAnd sliding formwork boundary conditionWherein
M, K are diagonal coefficient matrix,
Finally obtain the accounting equation about control amount U
Wherein, execution unit control amount δ needed for the realization sliding-mode control law U described in step 5el,δer,δr,T,
γ, calculation method 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 space vector field guidance ", with the prior art
Than, its advantage is that:
1) this method using path surrounding vectors field rather than on track path virtual point carry out path trace, by the time with
It is spatially decoupled, it can be achieved that other and time correlation control purpose, such as under time-constrain collaboration flight.
2) this method can guarantee the Asymptotic Stability performance of closed-loop system, and convergence rate and sliding manifolds boundary layer thickness
It can be adjusted according to actual requirement；
3) this method uses sliding-mode control, can overcome the uncertainty of system, has to interference and Unmarried pregnancy
There is very strong robustness, especially there is good control effect to the control of nonlinear system.
4) this method structure is simple, and guidance process is stablized, and is particularly suitable for low dynamic body, it is easy to accomplish extensive engineering
Using.
Any desired cruise path can be given according to practical stratospheric airship in application process by controlling engineer, and will
Executing agency's realizing route following function is directly transferred to by the control amount that this method is calculated.
Detailed description of the invention
Fig. 1 is control method flow diagram 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 relational graph；
Fig. 4 is vector field spiral path of the present invention navigation computational geometry relational graph；
Symbol description is as follows:
PA PA=[xA yA zA]TInitial point position is planned for straight line expected path；
Po Po=[x0 y0 z0]TFor current location of the dirigible under inertial coodinate system；
ξψIt is expected that straight line path and north orientation angle；
ξθIt is expected that straight line path angle with horizontal plane；
ψ, θ stratospheric airship yaw angle and pitch angle；
ψd,θdStratospheric airship it is expected yaw angle and desired pitch angle；
Stratospheric airship yaws angle error and pitching angle error；
Stratospheric airship yaw rate and rate of pitch；
δel,δerTwo lifting angle of rudder reflection；
δrRudder；
The single propeller of T generates thrust；
The vector drift angle of γ vector device；
VgStratospheric airship speed in inertial system；
Linear velocity under [u v w] stratospheric airship body coordinate system；
Angular speed under [p q r] stratospheric airship body coordinate system；
ψ∞,θ∞Infinite point yaw angle and pitch angle, vector field parameters, for positive number is adjusted；
(cx,cy,cz) spiral path starting center location coordinate；
crSpiral path radius；
cλThe spiral path climb rate；
PmReference point on task path；
dψDirigible and PmHorizontal distance；
dθDirigible and PmVertical range；
Tangent line at L reference point；
χψTangent line L and north orientation angle；
χθTangent line L angle with horizontal plane；
Specific embodiment
With reference to the accompanying drawing, each section design method in the present invention is further described:
The present invention " a kind of stratospheric airship path tracking control method based on space vector field guidance ", as shown in Figure 1,
The specific steps of which are as follows: step 1: given expectation pursuit gain
1) as shown in Fig. 2, establishing hull coordinate system O by origin of stratospheric airship centre of buoyancyxyz；It is with any point on ground
Origin establishes inertial coodinate system Ogxgygzg, wherein origin OgFor ground any point, OgxgIt is directed toward north, OgygIt is directed toward east, OgzgRefer to
To the earth's core.
2) it gives expectation and invites task path, including straight line and helix.Wherein, as shown in figure 3, straight line path by straight line with
Plane OgxgygAngle ξθ, and with plane OgygzgAngle ξψIt determines；As shown in figure 4, spiral path is by starting center location Pc
=[cx,cy,cz]TWith radius crWith climb rate cλIt determines, is 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 is desired speed along body
The decomposition amount of coordinate system.In stratospheric airship working environment, no vertical direction wind speed, it is believed that dirigible forward speed and ground velocity phase
Deng i.e. Vg=u=C.
Step 2: expectation yaw angle and pitch angle are calculated
1) straight line path expectation yaw angle pitch angle calculates:
Firstly, determining the parameter P of straight line pathA=[xA yA zA]T, pl(ξψ,ξθ) after, straight line is calculated by method of geometry
On path, the nearest point P of bodym=[xm,ym,zm]；
Secondly, calculating straight line path in point PmThe tangent line L at place, and calculate the angle χ of tangent line Lψ=ξψ,χθ=ξθ；
Then, computer body closest approach P on straight linemDistanceAnd dθ=z0-zm,
The position of dirigible is Po=[x0 y0 z0]T, as shown in Figure 3；
Later, infinite point yaw angle ψ is given∞And pitching angle theta∞；
Finally, calculating straight line path it is expected yaw angle ψdWith desired pitching angle thetad:
2) spiral path expectation yaw angle pitch angle calculates:
Firstly, determining spiral path parameter po(cx,cy,cz,cr,cλ), by spiral path and body position coordinates project to
OgxgygPlane, as shown in Figure 4；
Secondly, obtain on the projection surface body to curved path closest approach Pm0, while obtaining dirigible to spiral path
Horizontal distanceAnd the angle with north orientation of tangent line L
Then, corresponding subpoint Pm0, closest approach P is found on spiral pathm, available dirigible to PmVertical range
dθ=z0-zm。
For spiral path, the angle χ with horizontal plane of tangent line LθIt is a constant value,
Later, infinite point yaw angle ψ is given∞And pitching angle theta∞；
Finally, calculating spiral path it is expected yaw angle ψdWith desired pitching angle thetad:
Step 3: path trace attitude error is calculated
1)Wherein ψ is the current yaw angle of stratospheric airship, and θ is the current pitching of stratospheric airship
Angle.
Step 4: design sliding formwork control path following control device
For non-linear dirigible model, kinetic model can be indicated are as follows:
Due to being under-actuated systems, so lateral displacement y and side velocity v can not be directly controlled, need through dirigible certainly
The shipping-direction stability of body and direction are controlled.Establish sliding formwork control face S are as follows:
Wherein [x0 z0 φ0 θ0 ψ0],[u0 w0 p0 q0 r0] it is corresponding desired value.
Establishing liapunov function isAnd sliding formwork boundary condition:
Under this condition, liapunov function is enabled to meet:
Airframe systems are stable at this time.It is available by sliding formwork boundary condition and kinetics equation:
The accounting equation of available control amount U after arranging:
Step 5: each execution unit control signal is calculated
After obtaining control amount U, pass through U=B [δ in dirigible kinetics equationel,δer,δr,T,γ]T, available each portion
The control semaphore 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 (5)
1. a kind of stratospheric airship path tracking control method based on space vector field guidance, it is characterised in that: specific steps
It is as follows:
The given expectation pursuit gain of step 1: given expectation task path；Given expectation forward speed；
Step 2 navigation calculates: expectation yaw angle ψ needed for calculating the error eliminated between desired locations and physical locationdAnd the phase
Hope pitching angle thetad；Expectation yaw angle ψ needed for the error between desired locations and physical location is eliminated in the calculatingd, it is expected that partially
Navigate angle θd, calculation method is as follows:
Wherein ψ∞For the initial yaw angle of setting, θ∞To set
Fixed initial pitch angle, dψ,dθLocation error respectively between body and task path is divided in the projection of horizontal plane and vertical direction
Amount；K > 0 is the parameter for determining direction vector conversion speed in vector field；Here on agreed assignment path away from body distance most
Close point is desired point Pm, task path is L, χ in the tangent line of desired pointψFor tangent line L and north orientation angle, χθFor tangent line L and level
The angle in face；
Space line: dψ,dθIt can be by planning path starting point coordinate PA=[xA yA zA]T, body position coordinates Po=[x0 y0
z0]TAnd straight line path and north orientation angle ξψWith the angle ξ with horizontal planeθIt determines；χ in such casesψ=ξψ,χθ=ξθ；
Helix: dψ,dθIt can be by spiral path po(cx,cy,cz,cr,cλ), body position coordinates Po=[x0 y0 z0]TIt determines；
χ at this timeψ,χθIt is calculated by detailed geometry；
Step 3 path trace yaw angle and pitch angle error calculation: the mistake between expectation yaw angle and practical yaw angle is calculated
DifferenceIt is expected that the error between pitch angle and practical pitch angle
Step 4 sliding mode controller calculates: calculating and eliminates error and the speed of dirigible between expectation attitude angle and practical attitude angle
Control amount U needed for degree control；
Each execution unit control signal of step 5 calculates: calculating execution unit control amount δ needed for realizing sliding-mode control law Uel,
δer,δr,T,γ；δel,δerRespectively indicate left and right lifting angle of rudder reflection, δrIndicate rudder, T indicates that single propeller generation pushes away
Power, γ indicate the vector drift angle of vector device.
2. a kind of stratospheric airship path tracking control method based on space vector field guidance according to claim 1,
It is characterized by:
Be divided into space line and two kinds of helix in given expectation task path described in step 1, straight line path by straight line with
North orientation angle ξψWith the angle ξ of straight line and horizontal planeθIt determines, is denoted as pl(ξψ,ξθ)；Spiral path originates the center of circle [c by pathx,
cy,cz], radius crAnd climb rate cλIt determines, is denoted as po(cx,cy,cz,cr,cλ)；The given expectation forward speed is υc=
[uc,vc,wc]T=[C, 0,0]T, C > 0 is constant, uc,vc,wcIt is desired speed along the decomposition amount of hull coordinate system.
3. a kind of stratospheric airship path tracking control method based on space vector field guidance according to claim 1,
It is characterized by:
Path trace described in step 3 yaws angle error ψ, and tracks pitch angle error theta, and calculation method is as follows:
ψ=ψ-ψd, θ=θ-θd, wherein ψ is the current yaw angle of stratospheric airship, and θ is the current pitch angle of stratospheric airship.
4. a kind of stratospheric airship path tracking control method based on space vector field guidance according to claim 1,
It is characterized by:
Elimination described in step 4 it is expected between attitude angle and practical attitude angle needed for the speed control of error and dirigible
Control amount U, calculation method is as follows:
Drive lacking dirigible kinetic model in this example are as follows:
Wherein: X1=[x z φ θ ψ]T,X2=[u w p q r]TIt is the position and attitude quantity of state and speed angle speed of dirigible respectively
Quantity of state is spent, x is the displacement of the position x-axis of dirigible, and z is the displacement of the position z-axis of dirigible, and φ is that stratospheric airship is current
Roll angle, ψ are the current yaw angle of stratospheric airship, and θ is the current pitch angle of stratospheric airship, and u, w are stratospheric airship body seat
Mark is two components of lower linear velocity, and p, q, r is three components of angular speed under stratospheric airship body coordinate system；Due to being deficient
Drive system, so displacement y is without directly controlling；R, A, N, B are relevant coefficient matrixes, and U is and execution unit δel,
δer,δr, the relevant control amount of T, γ；
The sliding-mode surface of sliding formwork control are as follows: S=E1+HE2, wherein H=diag { h1,h2,…,h5, E1,E2It is X respectively1,X2The corresponding phase
The error of prestige value；
Establishing liapunov function isAnd sliding formwork boundary conditionWherein M, K are equal
For diagonal coefficient matrix,
Finally obtain the accounting equation about control amount U
Wherein,For X2Desired value first derivative, X10For X1Desired value.
5. a kind of stratospheric airship path tracking control method based on space vector field guidance according to claim 1,
It is characterized by:
Execution unit control amount δ needed for realization sliding-mode control law U described in step 5el,δer,δr, T, γ, calculating side
Method is as follows:
[δel,δer,δr,T,γ]T=U/B
Wherein, U=B [δel,δer,δr,T,γ]T。
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| CN108549401B (en) * | 2018-05-28 | 2021-02-26 | 浙江工业大学 | Finite time control method of four-rotor aircraft based on hyperbolic sine enhanced index approach law and fast terminal sliding mode surface |
| CN108845588B (en) * | 2018-06-22 | 2021-05-07 | 哈尔滨工业大学 | Trajectory tracking control method of four-rotor aircraft based on nonlinear guidance |
| CN109613928B (en) * | 2018-11-20 | 2023-06-02 | 上海工程技术大学 | Composite control system and method for multi-vector propeller combined aerostat |
| CN109708639B (en) * | 2018-12-07 | 2022-11-22 | 湖北航天飞行器研究所 | Method for generating lateral guidance instruction of aircraft for tracking straight line and circular arc path in flat flight |
| CN110032214B (en) * | 2019-04-17 | 2022-04-01 | 中国人民解放军海军航空大学 | Vector field-based fast Standoff target tracking method |
| 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 |
| CN113110458B (en) * | 2021-04-19 | 2023-09-01 | 大连海事大学 | Unmanned ship virtual target tracking control system |
| CN113219970B (en) * | 2021-04-23 | 2023-11-03 | 大连海事大学 | Unmanned ship vector field path tracking controller and design method |
| CN116360505B (en) * | 2023-06-02 | 2023-08-22 | 北京航空航天大学 | Integrated automatic control method and system for stratospheric airship and electronic equipment |
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