CN109062042A - A kind of finite time Track In Track control method of rotor craft - Google Patents
A kind of finite time Track In Track control method of rotor craft Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/047—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators the criterion being a time optimal performance criterion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
The present invention provides a kind of finite time Track In Track control methods of rotor craft comprising the steps of: establishes the mathematical model of rotor craft；Using hierarchical control scheme, rotor craft is divided into altitude channel, translational system and attitude system, and be directed to the individually designed controller in each channel；It for altitude channel, designs finite-time control device and generates the required lift that flies, and introduce auxiliary system compensation input saturation；For translational system, finite-time control device is designed, generates expectation roll angle and desired pitch angle；For attitude system, linear automatic disturbance rejection controller is designed, generates torque needed for flying.Control strategy provided by the invention is not only able to improve convergence rate, tracking accuracy and the Ability of Resisting Disturbance of rotor craft, moreover it is possible to influence of the effective compensation input saturation to control performance；Control strategy design provided by the invention is simple, and calculation amount is few, is easy to implement, and is of very high actual application value.
Description
Technical field
The present invention relates to rotor craft automatic control technology fields, and in particular to a kind of finite time of rotor craft
Track In Track control method.
Background technique
VTOL, autonomous hovering and the high maneuverability of rotor craft substantially have it in all trades and professions
It is widely applied；It is changeable outer in the drive lacking of rotor craft itself, non-linear, close coupling characteristic and flight environment of vehicle simultaneously
Portion's disturbance brings great difficulty to its autonomous flight control again, is controlled the highest attention of boundary experts and scholars.
The rotor craft considered in the present invention is a kind of coaxial 12 rotor unmanned aircraft, and structure is as shown in Figure 1.Ten
Two rotors in pairs, are mounted on connecting rod end at γ angle with body plane and provide flying power, two adjacent rotors
Direction of rotation is opposite.Revolving speed by changing each rotor realizes the various movements of aircraft:
High degree of motion: while increasing or reducing simultaneously the revolving speed of each rotor.
Rolling movement: Ω1+Ω2+Ω11+Ω12≠Ω5+Ω6+Ω7+Ω8
Pitching movement: Ω1+Ω2+Ω3+Ω4+Ω5+Ω6≠Ω7+Ω8+Ω9+Ω10+Ω11+Ω12
Yawing rotation: Ω1+Ω3+Ω5+Ω7+Ω9+Ω11≠Ω2+Ω4+Ω6+Ω8+Ω10+Ω12
Wherein Ω1,Ω2,Ω3,Ω4,Ω5,Ω6,Ω7,Ω8,Ω9,Ω10,Ω11,Ω12It is rotor 1,2,3,4,5 respectively,
6,7,8,9,10,11,12 revolving speed.
The attitude stabilization and Track In Track control problem of rotor craft are constantly subjected to extensive concern in recent years.Existing line
Property and the nonlinear control method such as control of PID control, LQR, robust control, sliding formwork control, Model Predictive Control etc., can
Rotor craft is set to obtain preferable control effect, and disturbance suppression acts on to a certain extent.However, existing algorithm is most
What is obtained is only the asymptotic stability of aircraft closed-loop system, and does not account for input saturation problem.Rotor craft exists
It is very high to requirement of real-time during practical flight, need to make expectation instruction quick response, the finite time of closed-loop system
Stability is particularly significant for aircraft.Simultaneously because the physical limit of aircraft itself, the i.e. revolving speed of motor driven rotor
Limited, the lift for causing aircraft can be provided is limited.Aircraft practical control amount due to caused by input saturation problem and reason
Think that the deviation of control amount can reduce system control performance.How to guarantee the finite time convergence control characteristic of aircraft, while compensating defeated
Entering to be saturated bring negative effect is a difficult point.Finite-time control strategy can be improved the convergence rate, anti-interference of system
Ability and tracking accuracy, so the present invention devises finite-time control device for the displacement system of rotor craft, from theory
The upper finite time Track In Track performance for guaranteeing aircraft, and the auxiliary system of finite time convergence control is introduced, compensation input saturation
The stability in finite time of aircraft displacement system is not influenced while effect.
Summary of the invention
There is the finite time Track In Track control under input saturated conditions the purpose of the present invention is to solve aircraft
Problem proposes a kind of finite-time control strategy based on finite time auxiliary system, improves the receipts of aircraft displacement system
Speed, tracking accuracy and anti-interference ability are held back, and guarantees the stability in finite time of displacement system.
In order to achieve the above objectives, the following technical solutions are proposed by the present invention:
Step 1, the whole mathematical model that rotor craft includes displacement system, attitude system and control planning is established.
Fig. 1 describes the structure chart and selected geographic coordinate system E of coaxial 12 rotor craft considered
={ OgxgygzgAnd body coordinate system B={ Obxbybzb}。
The displacement system model for obtaining aircraft according to newton euler equations is as follows:
Wherein, φ, θ, ψ respectively indicate the roll angle, pitch angle and yaw angle of rotor craft, x, y, and z indicates aircraft
Position coordinates, u1Indicate the control force of aircraft, m indicates the quality of aircraft, dx,dy,dzIt respectively indicates and acts on flight
The perturbation action in each channel of device displacement system, g indicate acceleration of gravity, control force u needed for flying1About in the presence of input saturation
Beam is as follows:
In formula, u is ideal control force to be integrated, umaxIt is the upper bound of input saturation constraints, uminIt is input saturation constraints
Lower bound.
The attitude system model for obtaining aircraft according to newton euler equations is as follows:
Wherein, p, q, r respectively indicate the angular velocity in roll, rate of pitch and yaw rate of aircraft, u2,u3,u4Table
Show the control moment of aircraft, Ix,Iy,IzIndicate rotary inertia of the aircraft to each axis of body, dφ,dθ,dψRespectively indicate effect
Perturbation action in each channel of attitude of flight vehicle system.
The control planning model of rotor craft are as follows:
Wherein, M=[u2,u3,u4]TExpression acts on the resultant couple of aircraft,
Ω1,Ω2,Ω3,Ω4,Ω5,Ω6,Ω7,Ω8,Ω9,Ω10,Ω11,Ω12It is rotor 1,2,3,4,5,6,7 respectively,
8,9,10,11,12 revolving speed, l indicate the distance between aircraft mass center and rotor centers, k1Indicate the lift factor, k2It indicates
The anti-twisted torque factor, IrIndicate that the rotary inertia of rotor and rotor, γ indicate the folder of each rotorshaft Yu body plane
Angle.
Step 2, the hierarchical control scheme of rotor craft is designed.Fig. 2 gives specific design process: by rotor flying
Device is divided into altitude channel, translational system and attitude system, and is directed to the individually designed controller in each channel.The control program
Rotor craft is decomposed into several second order subsystems, design processes simplified.
For altitude channel, flight control force is designed in conjunction with auxiliary system and finite-time control strategy, guarantees that height is logical
Compensation input saturation while road finite time stability.It is empty based on the design of finite-time control strategy for translation channel
Quasi- control amount, and expectation roll angle and desired pitch angle are calculated based on this.For posture channel, linear Active Disturbance Rejection Control is designed
Device generates flight control moment.The hierarchical control scheme solves rotor craft drive lacking characteristic bring control difficulty.
The status information η, ζ of rotor craft obtain (wherein η=[φ, θ, ψ] by airborne sensorT, ζ=[x, y, z
]T), desired trajectory xd,yd,zdWith desired yaw angle ψdIt is generated by navigation system.For altitude channel, finite-time control is designed
Device generates ideal flight control force u, and introduces auxiliary system ξ1,ξ2Compensation input saturation；For translation channel, design has
It limits time controller and generates virtual controlling amountAnd go out it is expected roll angle φ by Nonlinear Decoupling equation calculationdAnd pitch angle
θd；For posture channel, designs linear automatic disturbance rejection controller and generate flight control moment M.
Step 3, design the height controller of rotor craft, based on finite-time control strategy design height controller with
Control force needed for flying is generated, and introduces auxiliary system compensation input saturation, guarantees the finite time convergence control of altitude channel
Characteristic and anti-interference ability.According to elevation information z, desired trajectory zdWith auxiliary system state ξ1,ξ2Provide ideal control force u.
Design finite time auxiliary system first is as follows:
Wherein, ξ1,ξ2It is the state variable of auxiliary system, c1> 0, c20,0 < υ < 1 of > is auxiliary system parameter.
Definition compensation error are as follows:
Wherein, zdIt is Desired Height, α is virtual controlling amount to be designed.
Design virtual controlling amount α:
Wherein, k1> 0, l10,0 < σ < 1 of > is controller parameter to be designed.
Design ideal control amount u:
Wherein,k2> 0, l20,0 < σ < 1 of > is controller parameter to be designed.
Designed height controller can compensate for guaranteeing the limited of aircraft altitude channel while input saturation
Time stability.
Select Lyapunov function are as follows:
It brings into obtain to V derivation and by designed α and u:
Wherein,
γ1=2k1, γ2=2k2,γ=min { γ1,γ2, β=min { β1,
β2, ι=(σ+1)/2, Dz> | dz| it is perturbation action dzThe upper bound.
Designed height controller can compensate for input saturation, and guarantee the finite time stability of altitude channel
Property.
Step 4, the translation controller for designing rotor craft, use finite-time control strategy design translation controller with
The expectation roll angle and desired pitch angle for generating attitude of flight vehicle system, improve the convergence rate and tracking accuracy of translational system,
Guarantee the stability in finite time of translational system.According to displacement information ζ=[x, y, z]T, desired trajectory xd,yd,zd, provide void
Quasi- control amount
Define tracking error are as follows:
[χ11,χ12,χ13]T=[x- Υ1,y-Υ2,z-Υ3]T
Wherein, [xd,yd,zd]T=[Υ1,Υ2,Υ3]TIndicate desired trajectory, [α1,α2,α3]TIndicate centre to be designed
Control amount.
Design intermediate control amount αi:
Wherein, δ1i> 0, λ1i0,0 < μ of >i< 1 is controller parameter to be designed.
Design virtual controlling amount
Wherein, δ2i> 0, λ2i0,0 < μ of >i< 1 is controller parameter to be designed.
Select Lyapunov function are as follows:
To ViDerivation and by designed αiWithIt brings into obtain:
Wherein, δi=min { 2 δ1i,2δ2i}, [dx,
dy,dz]T=[d1,d2,d3]TExpression acts on the perturbation action in each channel, Di> | di| it is perturbation action diThe upper bound.
Designed Virtual Controller can guarantee the stability in finite time in rotor craft translation channel.
By Nonlinear Decoupling module, according to designed virtual controlling amountCalculate aircraft expectation roll angle and
It is expected that pitch angle are as follows:
Step 5, the attitude controller of rotor craft is designed, introduces linear active disturbance rejection algorithm design attitude controller to produce
The raw required control moment that flies, improves the robustness of attitude system.According to posture information η=[φ, θ, ψ]T, it is expected that attitude angle
Spend φd,θd,ψd, provide flight control moment M.
The attitude system of rotor craft is written as follow to unified second-order system form:
Wherein,τi=[u2, u3, u4]T, bi=[1/Ix,1/Iy,1/Iz]T, [Δ
Ix,ΔIy,ΔIz]TExpression parameter is uncertain, τidIt is to be expressed as comprising coupling, Parameter uncertainties and the total disturbance disturbed outside
τ1d=-((Iz+ΔIz)-(Iy+ΔIy))qr/(Ix+ΔIx)-ΔIxτφ/Ix(Ix+ΔIx)+dφ,
τ2d=-((Ix+ΔIx)-(Iz+ΔIz))pr/(Iy+ΔIy)-ΔIyτθ/Iy(Iy+ΔIy)+dθ,
τ3d=-((Iy+ΔIy)-(Ix+ΔIx))pq/(Iz+ΔIz)-ΔIzτψ/Iz(Iz+ΔIz)+dψ。
τ will always be disturbedidExpansion is the third state variable of attitude systemAnd expand for augmentation system design
Open state observer are as follows:
WhereinIt respectively indicatesτidEstimated value,Indicate evaluated error, κi1> 0, κi2
> 0, κi3> 0 is observer gain.
Based on the estimated value of above-mentioned observer, attitude controller is designed are as follows:
Wherein, Di1> 0, Di2> 0 is controller gain,It is expectation attitude angle.
In general, observer gain is taken as:
Wherein,It is observer bandwidth.
In general, controller gain is taken as:
The invention proposes a kind of finite time Track In Track control methods of rotor craft, it is therefore an objective to guarantee that rotor flies
There is finite time Track In Track performance when input saturation in row device.The advantages of mentioned method, is:
(1) present invention by introduce finite-time control strategy, improve rotor craft displacement system convergence rate,
Tracking accuracy and Ability of Resisting Disturbance ensure that the stability in finite time of displacement system.
(2) present invention compensates for ideal caused by input saturation by the auxiliary system of introducing finite time convergence control
Negative effect of the deviation of control amount and practical control amount to rotor craft control performance, while not influencing displacement system
Finite time convergence control characteristic.
(3) even if algorithm proposed by the present invention still obtains in the case where any disturbance compensation mechanism of no introducing
Stronger robustness, while relaxing the range of choice of controller parameter.
Detailed description of the invention
Fig. 1 is the structure chart of rotor craft；
Fig. 2 is the control strategy figure of rotor craft；
Fig. 3 is the displacement x aircraft pursuit course of rotor craft；
Fig. 4 is the displacement y aircraft pursuit course of rotor craft；
Fig. 5 is the height z aircraft pursuit course of rotor craft；
Fig. 6 is 3 dimension tracking curves of rotor craft；
Fig. 7 is the control force curve of rotor craft；
Fig. 8 is the state variable curve of finite time auxiliary system；
Specific embodiment
With reference to the accompanying drawing and simulation example, implementation process of the invention is described in detail.
The present invention proposes a kind of finite time Track In Track control method of rotor craft, the rotor flying being directed to
Device as shown in Figure 1, the control strategy schematic diagram being related to as shown in Fig. 2, mainly including: 12 rotor craft modules, height control
Device module processed, be translatable controller module, Nonlinear Decoupling module, attitude controller module.The function of each module is described below
Can:
12 rotor craft modules: establishing the mathematical model of 12 rotor crafts by newton euler equations, description
The movement mechanism of aircraft.
Height controller module: the desired trajectory z generated according to the aircraft altitude information z and navigation module of acquisitiondIf
It counts height controller and generates ideal flight control force u, and by the auxiliary system status information ξ of design1,ξ2It compensates to controller,
Offset the ideal control force u and saturation control force u that input saturation generates1Influence of the deviation to flying vehicles control performance.
Be translatable controller module: according to aircraft displacement information ζ=[x, y, the z] of acquisitionTThe phase generated with navigation module
Hope track xd,yd,zd, design translation controller generation virtual controlling amount
Nonlinear Decoupling module: the virtual controlling amount generated according to translation controller moduleCalculate attitude system needs
Expectation roll angle φdWith desired pitching angle thetad。
Attitude controller module: the φ generated according to Nonlinear Decoupling moduledAnd θd, the ψ of navigation module generationd, and acquisition
Attitude of flight vehicle information η=[φ, θ, ψ]T, design attitude controller generation flight control moment M.
The present invention provides a kind of finite time Track In Track control method of rotor craft, very good solution aircraft
Drive lacking characteristic issues compensate for input saturation, and ensure that finite time Track In Track performance.Specific implementation step
It is as follows:
1. establishing the mathematical model of rotor craft, its movement mechanism is described.
Fig. 1 gives the structure chart of related coaxial 12 rotor craft, obtains rotor according to newton euler equations
The displacement system model of aircraft are as follows:
In formula, φ, θ, ψ respectively indicate the roll angle, pitch angle and yaw angle of rotor craft, x, y, and z indicates aircraft
Position coordinates, above- mentioned information need to measure by airborne sensor, and m=2.5kg indicates the quality of aircraft, dx=2sin
(2 π t) is the disturbance for acting on the channel x, acts on the disturbance d in the channel yyIt is the step signal that amplitude is 2, dz=1 is to act on
The disturbance in the channel z, g=9.8ms-2Indicate acceleration of gravity, u1Indicate the control force of aircraft, there are input saturation constraints such as
Under:
In formula, u is ideal control force to be integrated, umax=40N is the upper bound of input saturation constraints, umin=0N is input
The lower bound of constraint of saturation.
The attitude system model of rotor craft is obtained according to newton euler equations are as follows:
In formula, p, q, r respectively indicate the angular velocity in roll, rate of pitch and yaw rate of aircraft, u2,u3,u4Table
Show flying vehicles control torque to be designed, Ix=0.0081Nms-2,Iy=0.0081Nms-2,Iz=0.0142Nms-2It indicates to fly
Row device acts on the disturbance d of roll channel to the rotary inertia of each axis of bodyφIt is the ramp signal that slope is 0.05, acts on
The disturbance d of pitch channelθIt is the square-wave signal that amplitude is 0.7, acts on the disturbance d of jaw channelψIt is the step that amplitude is 0.7
Signal.
The control planning of rotor craft are as follows:
In formula, M=[u2,u3,u4]TIndicate the resultant couple of aircraft, Ω1,Ω2,Ω3,Ω4,Ω5,Ω6,Ω7,Ω8,
Ω9,Ω10,Ω11,Ω12The revolving speed of rotor 1,2,3,4,5,6,7,8,9,10,11,12 is respectively indicated, l=0.5m indicates flight
The distance between device mass center and rotor centers, k1=54.2 × 10-6Ns2Indicate the lift factor, k2=1.1 × 10-6Nms-2It indicates
The anti-twisted torque factor, IrIndicate the rotary inertia of rotor and rotor, γ=60 ° indicate that each rotorshaft and body are flat
The angle in face.
2. designing the hierarchical control scheme of rotor craft, as shown in Figure 2.
3. design height controller generates fluid lift u needed for flying.
Design aiding system is as follows:
Wherein, ξ1,ξ2It is the state variable of auxiliary system, c1=0.5, c2=0.78, υ=0.8.
Definition compensation error are as follows:
Design virtual controlling amount α:
Wherein, k1=3, l1=5, σ=0.8.
Design ideal control amount u:
Wherein,k2=2, l2=5.
4. design translation controller, generates virtual controlling amount
Define tracking error are as follows:
[χ11,χ12,χ13]T=[x- Υ1,y-Υ2,z-Υ3]T
Wherein, [xd,yd,zd]T=[Υ1,Υ2,Υ3]TIndicate desired trajectory.
Design intermediate control amount αiAre as follows:
In formula, δ1i=[3,3,3]T,λ1i=[2,2,2]T,μi=[0.5,0.5,0.5]T。
Design virtual controlling amountIt is as follows:
In formula, δ2i=[2,2,2]T,λ2i=[1,1,1]T。
By Nonlinear Decoupling module, based on designed virtual controlling amountCalculate desired roll angle φdIt bows with expectation
Elevation angle thetadAre as follows:
5. designing attitude controller, flight torque M is generated.
Attitude system model is deformed into following unified second-order system form:
Wherein,τi=[u2,u3,u4]T,bi=[1/Ix,1/Iy,1Iz]T, [Δ
Ix,ΔIy,ΔIz]TExpression parameter is uncertain, and meets Δ Ix=0.1Ix,ΔIy=-0.1Iy,ΔIz=0.1Iz, τidIt is to contain
There is coupling, total perturbation action of Parameter uncertainties and external disturbance is expressed as
τ1d=-((Iz+ΔIz)-(Iy+ΔIy))qr/(Ix+ΔIx)-ΔIxτφ/Ix(Ix+ΔIx)+dφ,
τ2d=-((Ix+ΔIx)-(Iz+ΔIz))pr/(Iy+ΔIy)-ΔIyτθ/Iy(Iy+ΔIy)+dθ,
τ3d=-((Iy+ΔIy)-(Ix+ΔIx))pq/(Iz+ΔIz)-ΔIzτψ/Iz(Iz+ΔIz)+dψ。
τ will always be disturbedidExpansion is third state variableAnd design extended state observer are as follows:
In formulaIt respectively indicatesτidEstimated value,Indicate evaluated error, κi1> 0, κi2
> 0, κi3> 0 indicates observer gain.In general, observer gain is taken as:
Wherein, ω1=75, ω2=75, ω3=20 be the bandwidth of observer.
Based on the estimated value of above-mentioned observer, attitude controller is designed are as follows:
In formula,Indicate expectation attitude angle, Di1> 0, Di2> 0 indicates controller gain.In general, controller is increased
Benefit is taken as:
Wherein, ω1c=25, ω2c=25, ω3c=7 be controller bandwidth.
In order to verify the feasibility and validity of algorithm proposed by the invention, carried out on Matlab/Simulink platform
The Seam-Tracking Simulation of coaxial 12 rotor craft is tested.
The desired trajectory of rotor craft is that planar horizontal rectangular path is as follows:
In formula,
The primary condition of rotor craft is chosen are as follows: ζ0=[x0,y0,z0]T=[0.5, -0.5,0]TM,
η0=[φ0,θ0,ψ0]T=[0,0,0.2]Trad
Fig. 3-Fig. 5 is the track following result of rotor craft.It can be seen from the figure that the displacement channel of rotor craft
The fast response time of x, y, z, dynamic property is good, and overshoot is small, can track desired trajectory in a short time, and not by outer
The influence of portion's perturbation action, tracking accuracy are high.Meanwhile the selection of initial position has no effect on the control effect of aircraft.
Fig. 6 is 3 dimension track following results of rotor craft.Result in Fig. 6 further illustrates the present invention and proposes to calculate
The validity of method makes rotor craft obtain high-precision tracking performance and extremely strong robustness.
Fig. 7 is the control force curve of rotor craft, and Fig. 8 is the state variable curve of finite time auxiliary system.Fig. 7 is said
It is bright to occur input saturated phenomenon during the experiment, and Fig. 8 illustrates that input saturation bring negative effect is had by auxiliary system
Effect compensates for.
In conclusion control method proposed by the present invention improves the convergence rate of rotor craft, tracking accuracy and anti-
Disturbance ability enables rotor craft to track desired trajectory in finite time, and effective compensation inputs saturation
Negative effect, improves the safety of aircraft.
The above-mentioned finite time Track In Track control method for describing a kind of rotor craft provided by the present invention in detail,
But the present invention is not limited only to above-described embodiment.For those of ordinary skill in the art, before not making original sex work
Put, with same principle of the present invention and essence under polishing, modify and change other embodiments obtained, should all belong to
In protection scope of the present invention.
Claims (10)
1. a kind of finite time Track In Track control method of rotor craft, which is characterized in that the method includes following steps
It is rapid:
Step 1, the mathematical model of rotor craft is established, the model includes displacement system model, the attitude system of aircraft
Model and control planning model；
Step 2, aircraft is divided into altitude channel, translational system and posture system by the hierarchical control scheme for designing rotor craft
System, and it is directed to the individually designed controller in each channel, rotor craft is decomposed into several second order subsystems by the control program
System, design processes simplified；
Step 3, the height controller for designing rotor craft, based on finite-time control strategy design height controller to generate
Control force needed for flying, and auxiliary system compensation input saturation is introduced, guarantee the finite time convergence control characteristic of altitude channel
And anti-interference ability；
Step 4, the translation controller for designing rotor craft uses finite-time control strategy design translation controller to generate
The expectation roll angle and desired pitch angle of attitude of flight vehicle system, improve the convergence rate and tracking accuracy of translational system, guarantee
The stability in finite time of translational system；
Step 5, the attitude controller of rotor craft is designed, it is winged to generate to introduce linear active disturbance rejection algorithm design attitude controller
Control moment needed for row, improves the robustness of attitude system.
2. a kind of finite time Track In Track method of rotor craft according to claim 1, which is characterized in that step
Rotor craft described in 1 is coaxial 12 rotor craft, the displacement system model of aircraft are as follows:
Wherein, φ, θ, ψ respectively indicate the roll angle, pitch angle and yaw angle of rotor craft, x, y, and z indicates the position of aircraft
Set coordinate, u1Indicate the control force of aircraft, m indicates the quality of aircraft, dx,dy,dzIt respectively indicates and acts on aircraft displacement
The perturbation action in each channel of system, g indicate acceleration of gravity, control force u needed for flying1It is as follows that there are input saturation constraints:
In formula, u is ideal control force to be integrated, umaxIt is the upper bound of input saturation constraints, uminIt is under input saturation constraints
Boundary.
3. a kind of finite time Track In Track method of rotor craft according to claim 1, which is characterized in that step
The attitude system model of aircraft described in 1 are as follows:
Wherein, p, q, r respectively indicate the angular velocity in roll, rate of pitch and yaw rate of aircraft, u2,u3,u4It indicates to fly
The control moment of row device, Ix,Iy,IzIndicate rotary inertia of the aircraft to each axis of body, dφ,dθ,dψRespectively indicate act on it is winged
The perturbation action in each channel of row device attitude system.
4. a kind of finite time Track In Track method of rotor craft according to claim 1, which is characterized in that step
The control planning model of aircraft described in 1 is as follows:
Wherein M=[u2,u3,u4]TExpression acts on the resultant couple of aircraft,
Ω1,Ω2,Ω3,Ω4,Ω5,Ω6,Ω7,Ω8,Ω9,Ω10,Ω11,Ω12Indicate rotor 1,2,3,4,5,6,7,8,9,
10,11,12 revolving speed, l indicate the distance between aircraft mass center and rotor centers, k1Indicate the lift factor, k2Indicate anti-twisted power
The square factor, IrIndicate that the rotary inertia of rotor and rotor, γ indicate the angle of each rotorshaft Yu body plane.
5. a kind of finite time Track In Track method of rotor craft according to claim 1, which is characterized in that step
It is directed to altitude channel in 2, designs flight control force in conjunction with auxiliary system and finite-time control strategy, guarantees that altitude channel is limited
Compensation input saturation while time stablizes designs virtual controlling based on finite-time control strategy for translation channel
It measures, and expectation roll angle and desired pitch angle is calculated based on this, for posture channel, design linear automatic disturbance rejection controller generation and fly
Row control moment, the hierarchical control scheme solve rotor craft drive lacking characteristic bring control difficulty.
6. a kind of finite time Track In Track method of rotor craft according to claim 1, which is characterized in that step
The input of the height controller module of rotor craft is altitude channel quantity of state z, desired trajectory z in 3dWith auxiliary system state
Measure ξ1,ξ2, output is ideal control force u, and the design process of height controller is as follows:
The auxiliary system of finite time convergence control is designed first are as follows:
Wherein, ξ1,ξ2It is the state variable of auxiliary system, c1> 0, c20,0 < υ < 1 of > is auxiliary system parameter；
Definition compensation error are as follows:
Wherein, zdIt is Desired Height, α is virtual controlling amount to be designed；
Design virtual controlling amount are as follows:
Wherein, k1> 0, l10,0 < σ < 1 of > is controller parameter to be designed；
Design ideal control force are as follows:
Wherein,k2> 0, l20,0 < σ < 1 of > is controller parameter to be designed.
7. a kind of finite time Track In Track method of rotor craft according to claim 6, which is characterized in that set
The height controller of meter can compensate for the stability in finite time for guaranteeing aircraft altitude channel while input saturation:
Choose Lyapunov function are as follows:
It is brought into V derivation, and by designed α and uIn obtain:
Wherein,
Dz> | dz| indicate perturbation action dzThe upper bound.
8. a kind of finite time Track In Track method of rotor craft according to claim 1, which is characterized in that step
The input of the translation controller module of rotor craft is displacement information ζ=[x, y, z] in 4T, desired trajectory xd,yd,zd, output
It is virtual controlling amountThe design process of translation controller is as follows:
Define tracking error are as follows:
Wherein, [xd,yd,zd]T=[Υ1,Υ2,Υ3]TIndicate desired trajectory, [α1,α2,α3]TIndicate intermediate control to be designed
Amount；
Design intermediate control amount are as follows:
Wherein, δ1i> 0, λ1i0,0 < μ of >i< 1 is controller parameter to be designed；
Design virtual controlling amount are as follows:
Wherein, δ2i> 0, λ2i0,0 < μ i < 1 of > is controller parameter to be designed；
So, the expectation roll angle of aircraft and desired pitch angle can be by designed virtual controlling amountsIt indicates are as follows:
9. a kind of finite time Track In Track method of rotor craft according to claim 8, which is characterized in that set
The translation controller of meter can guarantee the stability in finite time in aircraft translation channel:
Choosing Lyapunov function is
To ViDerivation, and by designed αiWithIt brings intoIn obtain:
Wherein,
[dx,dy,dz]T=[d1,d2,d3]TExpression acts on the perturbation action in each channel, Di> | di| it is perturbation action diIt is upper
Boundary.
10. a kind of finite time Track In Track method of rotor craft according to claim 1, which is characterized in that step
The input of the attitude controller module of rotor craft is posture information η=[φ, θ, ψ] in rapid 5T, it is expected that attitude angle φd,
θd,ψd, attitude controller designs as follows:
The rotor craft attitude system module is written as follow unified second-order system form:
Wherein,
Expression parameter is uncertain, τidIt is to be expressed as comprising coupling, Parameter uncertainties and the total disturbance disturbed outside
τ1d=-((Iz+ΔIz)-(Iy+ΔIy))qr/(Ix+ΔIx)-ΔIxτφ/Ix(Ix+ΔIx)+dφ,
τ2d=-((Ix+ΔIx)-(Iz+ΔIz))pr/(Iy+ΔIy)-ΔIyτθ/Iy(Iy+ΔIy)+dθ,
τ3d=-((Iy+ΔIy)-(Ix+ΔIx))pq/(Iz+ΔIz)-ΔIzτψ/Iz(Iz+ΔIz)+dψ；
τ will always be disturbedidExpansion is third state variableAnd extended state observer is designed for augmentation system are as follows:
Wherein,It respectively indicatesEstimated value,Indicate evaluated error, κi1> 0, κi2> 0,
κi3> 0 is observer gain；
Based on the estimated value of above-mentioned observer, attitude controller is designed are as follows:
Wherein,It is controller gain,It is expectation attitude angle.
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