CN111026143B - Terminal guidance section transverse and lateral coupling control method and device of lifting body aircraft - Google Patents
Terminal guidance section transverse and lateral coupling control method and device of lifting body aircraft Download PDFInfo
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- G—PHYSICS
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- 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
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- 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
- 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
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Abstract
The embodiment of the application provides a terminal guidance section transverse and lateral coupling control method and device of a lifting body aircraft, wherein the method comprises the following steps: decomposing a transverse and lateral coupling model of a preset lifting body aircraft to obtain an inner loop cascade model and an outer loop cascade model of the lifting body aircraft; acquiring a lateral coupling item of a terminal guidance section of the lifting body aircraft based on the inner loop cascade model and the outer loop cascade model; and compensating and controlling the lateral coupling item by using a cascade sliding mode controller corresponding to the internal and external loop cascade model and a preset interference observer. The application can effectively realize the observation and compensation of the transverse and lateral coupling items of the terminal guidance section of the lifting body aircraft, and can effectively improve the robustness of the control process of the lifting body aircraft, thereby improving the control reliability and stability of the lifting body aircraft.
Description
Technical Field
The application relates to the technical field of aircraft control, in particular to a terminal guidance section transverse and lateral coupling control method and device of a lifting body aircraft.
Background
The lifting body aircraft is an aircraft which uses a three-dimensional wing body fusion body to generate lifting force, and the design can eliminate additional resistance generated by components such as a fuselage and the like and interference between wings and the fuselage, so that higher lift-drag ratio can be obtained at lower speed, and the aim of improving the performance of the whole aircraft is fulfilled.
At present, with the development of a lifting body aircraft and a lifting body type plane-symmetric aircraft, a flight envelope is continuously expanded, and when approaching to a ground target point, a sideslip turn (Slide-to-turn) is inevitably adopted for course alignment, at this time, due to the pneumatic characteristic of the appearance of the lifting body, strong pneumatic coupling exists between the course and a rolling channel, the dynamic characteristic of the rolling channel is seriously influenced, and even the stability of a control system designed without considering a coupling item is lost in some states. Therefore, the terminal guidance control of the lifting body aircraft is a complex control problem of multivariable nonlinear time-varying uncertainty characteristics, and the maneuvering and attitude control requirements of the aircraft are difficult to meet by adopting a traditional three-channel independent design method based on small disturbance linearization and coefficient freezing assumption.
Disclosure of Invention
Aiming at the problems in the prior art, the application provides the terminal guidance section transverse and lateral coupling control method and device for the lifting body aircraft, which can effectively realize the observation and compensation of terminal guidance section transverse and lateral coupling items of the lifting body aircraft, and can effectively improve the robustness of the control process of the lifting body aircraft, thereby improving the control reliability and stability of the lifting body aircraft.
In order to solve the technical problems, the application provides the following technical scheme:
in a first aspect, the application provides a terminal guidance section transverse-lateral coupling control method of a lifting body aircraft, comprising the following steps:
decomposing a transverse and lateral coupling model of a preset lifting body aircraft to obtain an inner loop cascade model and an outer loop cascade model of the lifting body aircraft;
acquiring a lateral coupling item of a terminal guidance section of the lifting body aircraft based on the inner loop cascade model and the outer loop cascade model;
and compensating and controlling the lateral coupling item by using a cascade sliding mode controller corresponding to the internal and external loop cascade model and a preset interference observer.
Further, before the decomposing the transverse and lateral coupling model of the preset lifting body aircraft, the method further comprises:
and establishing a lateral channel coupling model for representing the lateral state of the lifting body aircraft according to the angle data of the lifting body aircraft.
Further, the angle data includes: angle of attack, pitch angle, roll angle, sideslip angle, roll rudder deflection angle, rudder deflection, roll angular velocity and angular velocity;
correspondingly, the building of the lateral-side channel coupling model for representing the lateral-side state of the lifting body aircraft according to the flight data of the lifting body aircraft comprises the following steps:
Establishing a power coefficient fourth-order matrix according to the attack angle, the pitch angle and a plurality of dynamic coefficients of the lifting body aircraft;
and establishing the lateral channel coupling model by applying the power coefficient fourth-order matrix, the rolling angle, sideslip angle, rolling rudder deflection angle, heading rudder deflection, rolling angular velocity, heading angular velocity and a plurality of dynamic coefficients of the lifting body unmanned aerial vehicle.
Further, after the building of the lateral channel coupling model, the method further includes:
acquiring a partial derivative of a side overload relative sideslip angle of the lifting body aircraft;
and converting the lateral side channel coupling model by applying the partial derivative of the lateral overload relative sideslip angle, and determining a new power coefficient fourth-order equation corresponding to the converted lateral side channel coupling model based on the partial derivative of the lateral overload relative sideslip angle.
Further, the decomposing the transverse and lateral coupling model of the preset lifting body aircraft to obtain an inner loop cascade model and an outer loop cascade model of the lifting body aircraft comprises the following steps:
setting the lateral overload and the rolling angle of the lifting body aircraft as an outer loop, and setting the rolling angular speed and the course angular speed of the lifting body aircraft as an inner loop;
According to the singular perturbation principle, performing time scale separation on the transverse side channel coupling model, and decomposing the transverse side channel coupling model into an outer loop and an inner loop, wherein equations corresponding to the outer loop and the inner loop respectively form an inner loop cascade model and an outer loop cascade model of the lifting body aircraft, and the change of the outer loop is slower than that of the inner loop.
Further, the obtaining the lateral coupling item of the terminal guidance section of the lifting body aircraft based on the inner loop cascade model includes:
acquiring an external loop interference term in the lateral coupling term based on an equation of an external loop in the internal and external loop cascade model, and
and acquiring an interference item of the sideslip angle in the lateral coupling item on the rolling channel according to an equation of an inner loop in the inner loop and outer loop cascade model.
Further, before the compensation control of the lateral coupling term by using the cascade sliding mode controller corresponding to the inner loop and outer loop cascade model and the preset interference observer, the method further comprises:
establishing an outer loop sliding mode surface function corresponding to an equation of an outer loop in the inner and outer loop cascade model, and
establishing an inner loop sliding mode surface function corresponding to an equation of an inner loop in the inner and outer loop cascade model;
The cascade sliding mode controller is composed of an outer loop sliding mode surface function and an inner loop sliding mode surface function.
Further, before the compensation control of the lateral coupling term by using the cascade sliding mode controller corresponding to the inner loop and outer loop cascade model and the preset interference observer, the method further comprises:
and acquiring a disturbance observer corresponding to the lifting body aircraft based on a preset hyper-torsion algorithm, wherein the hyper-torsion algorithm is a continuous second-order sliding mode control algorithm.
In a second aspect, the present application provides a terminal guidance section lateral coupling control device of a lifting body aircraft, comprising:
the model decomposition module is used for decomposing a transverse and lateral coupling model of the preset lifting body aircraft to obtain an inner loop cascade model and an outer loop cascade model of the lifting body aircraft;
the coupling item independent module is used for acquiring a lateral coupling item of the terminal guidance section of the lifting body aircraft based on the inner loop cascade model and the outer loop cascade model;
and the compensation control module is used for performing compensation control on the lateral coupling item by applying a cascade sliding mode controller corresponding to the internal and external loop cascade model and a preset interference observer.
In a third aspect, the application provides an electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, the processor implementing the steps of the terminal guidance section lateral coupling control method of a lifting body aircraft when executing the program.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of a terminal guidance zone lateral coupling control method for a lifting body aircraft.
According to the technical scheme, the transverse and lateral coupling control method and device for the terminal guidance section of the lifting body aircraft provided by the application are used for decomposing the transverse and lateral coupling model based on the singular perturbation theory, establishing an internal and external loop cascade model, independently extracting the coupling items for convenient observation, and providing a decoupling control method of a cascade sliding mode controller and an interference observer based on the model, wherein the observation and compensation of the coupling items are realized through the interference observer, and meanwhile, the robustness of the system is improved by utilizing sliding mode control. Simulation verification shows that the scheme has good control performance on the aircraft with obvious coupling characteristics, can effectively inhibit the influence of the coupling items, can further effectively realize the observation and compensation of the transverse and lateral coupling items of the terminal guidance section of the lifting body aircraft, can effectively improve the robustness of the control process of the lifting body aircraft, has good control performance on the aircraft with obvious coupling characteristics, can effectively inhibit the influence of the coupling items, and further improves the control reliability and stability of the lifting body aircraft.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow diagram of a method for controlling terminal guidance section lateral-lateral coupling of a lifting body aircraft in an embodiment of the application.
Fig. 2 is a schematic flow chart of a method for controlling lateral-lateral coupling of a terminal guidance segment of a lifting body aircraft including step 010 in an embodiment of the application.
Fig. 3 is a schematic diagram of a first flow chart of step 010 in a terminal guidance section lateral-to-lateral coupling control method of a lifting body aircraft in an embodiment of the application.
Fig. 4 is a schematic diagram of a second flow chart of step 010 in a terminal guidance section lateral-to-lateral coupling control method of a lifting body aircraft according to an embodiment of the present application.
Fig. 5 is a schematic flow chart of step 100 in a method for controlling transverse-lateral coupling of a terminal guidance section of a lifting body aircraft according to an embodiment of the present application.
Fig. 6 is a schematic flow chart of step 200 in a method for controlling transverse-lateral coupling of a terminal guidance section of a lifting body aircraft according to an embodiment of the present application.
Fig. 7 is a schematic flow chart of steps 020 to 040 before step 300 in a method for controlling end guidance section lateral coupling of a lifting body aircraft according to an embodiment of the present application.
FIG. 8 is a graph showing the response of the roll angle in the application example of the present application.
Fig. 9 is a schematic diagram of a lateral overload response curve in an application example of the present application.
Fig. 10 is a schematic view of rudder deflection angle curves in an application example of the present application.
Fig. 11 is a schematic diagram of interference estimation curves in an application example of the present application.
Fig. 12 is a schematic structural view of a terminal guidance section lateral-to-lateral coupling control device of a lifting body aircraft in an embodiment of the application.
Fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Aiming at the problem that the traditional three-channel independent design method based on small disturbance linearization and coefficient freezing assumption is difficult to meet the maneuvering and attitude control requirements of the lifting body aircraft, the embodiment of the application provides a terminal guidance section transverse and lateral coupling control method of the lifting body aircraft, a terminal guidance section transverse and lateral coupling control device of the lifting body aircraft, electronic equipment and a computer readable storage medium, and an internal and external loop cascade model of the lifting body aircraft is obtained by decomposing a preset transverse and lateral coupling model of the lifting body aircraft; acquiring a lateral coupling item of a terminal guidance section of the lifting body aircraft based on the inner loop cascade model and the outer loop cascade model; the application decomposes a transverse lateral coupling model based on a singular perturbation theory to establish an inner loop cascade model and an outer loop cascade model, independently extracts the coupling term to facilitate observation, and provides a decoupling control method of a cascade sliding mode controller and an interference observer based on the model, wherein the decoupling control method is used for realizing observation and compensation of the coupling term through the interference observer and improving the robustness of a system by utilizing sliding mode control.
In order to effectively realize the observation and compensation of the transverse and lateral coupling items of the terminal guidance section of the lifting body aircraft, and simultaneously effectively improve the robustness of the control process of the lifting body aircraft, and further improve the control reliability and stability of the lifting body aircraft, the application provides an embodiment of the transverse and lateral coupling control method of the terminal guidance section of the lifting body aircraft, referring to fig. 1, wherein the transverse and lateral coupling control method of the terminal guidance section of the lifting body aircraft specifically comprises the following contents:
step 100: and decomposing a transverse and lateral coupling model of the preset lifting body aircraft to obtain an inner loop cascade model and an outer loop cascade model of the lifting body aircraft.
In step 100, the terminal guidance section transverse-lateral coupling control device of the lifting body aircraft may set the lateral overload and the rolling angle of the lifting body aircraft as an outer loop, and set the rolling angular velocity and the heading angular velocity of the lifting body aircraft as an inner loop; according to the singular perturbation principle, performing time scale separation on the transverse side channel coupling model, and decomposing the transverse side channel coupling model into an outer loop and an inner loop, wherein equations corresponding to the outer loop and the inner loop respectively form an inner loop cascade model and an outer loop cascade model of the lifting body aircraft, and the change of the outer loop is slower than that of the inner loop.
Step 200: and acquiring a lateral coupling item of the terminal guidance section of the lifting body aircraft based on the inner loop cascade model and the outer loop cascade model.
In step 200, the terminal guidance section transverse and lateral coupling control device of the lifting body aircraft may obtain an external loop interference term in the lateral coupling term based on an equation of an external loop in the internal and external loop cascade model, and obtain an interference term of a sideslip angle in the lateral coupling term on a rolling channel according to an equation of an internal loop in the internal and external loop cascade model.
It can be understood that the terminal guidance section refers to a guidance mode adopted by the terminal section (very close to a target) of the aircraft in the flying process, and common terminal guidance modes include terrain matching guidance, GPS guidance, infrared guidance, television guidance, seeking guidance and the like, and inertial guidance is often combined with other guidance modes to form reliable composite guidance with higher cost due to lower precision.
Step 300: and compensating and controlling the lateral coupling item by using a cascade sliding mode controller corresponding to the internal and external loop cascade model and a preset interference observer.
In step 300, the terminal guidance section lateral coupling control device of the lifting body aircraft may acquire a disturbance observer corresponding to the lifting body aircraft based on a preset hyper-torsion algorithm, where the hyper-torsion algorithm is a continuous second-order sliding mode control algorithm.
In order to improve the application reliability of the lateral channel coupling model, so as to further realize the observation and compensation of the lateral coupling item of the terminal guidance section of the lifting body aircraft, and simultaneously, effectively improve the robustness of the control process of the lifting body aircraft, in one embodiment of the lateral coupling control method of the terminal guidance section of the lifting body aircraft, referring to fig. 2, the following is specifically included before step 100 of the lateral coupling control method of the terminal guidance section of the lifting body aircraft:
step 010: and establishing a lateral channel coupling model for representing the lateral state of the lifting body aircraft according to the angle data of the lifting body aircraft.
It will be appreciated that the angle data includes: angle of attack, pitch angle, roll angle, sideslip angle, roll rudder deflection angle, rudder deflection, roll angular velocity, and angular velocity.
Correspondingly, referring to fig. 3, the step 010 specifically includes the following:
step 011: and establishing a power coefficient fourth-order matrix according to the attack angle, the pitch angle and the dynamic coefficients of the lifting body aircraft.
Step 012: and establishing the lateral channel coupling model by applying the power coefficient fourth-order matrix, the rolling angle, sideslip angle, rolling rudder deflection angle, heading rudder deflection, rolling angular velocity, heading angular velocity and a plurality of dynamic coefficients of the lifting body unmanned aerial vehicle.
In order to improve the application reliability of the fourth-order equation of the power coefficient, so as to further realize the observation and compensation of the transverse lateral coupling term of the terminal guidance section of the lifting body aircraft, and simultaneously, can effectively improve the robustness of the control process of the lifting body aircraft, in one embodiment of the transverse lateral coupling control method of the terminal guidance section of the lifting body aircraft, referring to fig. 4, the following is specifically included after the step 012 of the transverse lateral coupling control method of the terminal guidance section of the lifting body aircraft:
step 013: and acquiring the partial derivative of the lateral overload relative sideslip angle of the lifting body aircraft.
Step 014: and converting the lateral side channel coupling model by applying the partial derivative of the lateral overload relative sideslip angle, and determining a new power coefficient fourth-order equation corresponding to the converted lateral side channel coupling model based on the partial derivative of the lateral overload relative sideslip angle.
In order to improve the application reliability of the inner loop cascade model and the outer loop cascade model, so as to further realize the observation and compensation of the transverse lateral coupling item of the terminal guidance section of the lifting body aircraft, and simultaneously, can effectively improve the robustness of the control process of the lifting body aircraft, in one embodiment of the transverse lateral coupling control method of the terminal guidance section of the lifting body aircraft, referring to fig. 5, the step 100 of the transverse lateral coupling control method of the terminal guidance section of the lifting body aircraft specifically comprises the following contents:
Step 101: and setting the lateral overload and the rolling angle of the lifting body aircraft as an outer loop, and setting the rolling angular speed and the course angular speed of the lifting body aircraft as an inner loop.
Step 102: according to the singular perturbation principle, performing time scale separation on the transverse side channel coupling model, and decomposing the transverse side channel coupling model into an outer loop and an inner loop, wherein equations corresponding to the outer loop and the inner loop respectively form an inner loop cascade model and an outer loop cascade model of the lifting body aircraft, and the change of the outer loop is slower than that of the inner loop.
In order to improve accuracy of acquiring lateral coupling items of a terminal guidance section of a lifting body aircraft, so as to further realize observation and compensation of lateral coupling items of the terminal guidance section of the lifting body aircraft, and simultaneously, to effectively improve robustness of a control process of the lifting body aircraft, in an embodiment of a terminal guidance section lateral coupling control method of the lifting body aircraft, referring to fig. 6, step 200 of the terminal guidance section lateral coupling control method of the lifting body aircraft specifically includes the following contents:
step 201: and acquiring an external loop interference term in the lateral coupling term based on an equation of an external loop in the internal and external loop cascade model.
Step 202: and acquiring an interference item of the sideslip angle in the lateral coupling item on the rolling channel according to an equation of an inner loop in the inner loop and outer loop cascade model.
In order to improve the application reliability of the cascade sliding mode controller, so as to further realize the observation and compensation of the transverse lateral coupling item of the terminal guidance section of the lifting body aircraft, and simultaneously, to effectively improve the robustness of the control process of the lifting body aircraft, in one embodiment of the transverse lateral coupling control method of the terminal guidance section of the lifting body aircraft, referring to fig. 7, the following is specifically included before step 300 of the transverse lateral coupling control method of the terminal guidance section of the lifting body aircraft:
step 020: and establishing an outer loop sliding mode surface function corresponding to an equation of an outer loop in the inner and outer loop cascade model.
Step 030: establishing an inner loop sliding mode surface function corresponding to an equation of an inner loop in the inner and outer loop cascade model; the cascade sliding mode controller is composed of an outer loop sliding mode surface function and an inner loop sliding mode surface function.
In order to improve accuracy of compensation control, so as to further realize observation and compensation of a terminal guidance section lateral coupling item of the lifting body aircraft, and simultaneously, to effectively improve robustness of a lifting body aircraft control process, in an embodiment of the terminal guidance section lateral coupling control method of the lifting body aircraft, before step 300 of the terminal guidance section lateral coupling control method of the lifting body aircraft further specifically includes the following contents:
Step 040: and acquiring a disturbance observer corresponding to the lifting body aircraft based on a preset hyper-torsion algorithm, wherein the hyper-torsion algorithm is a continuous second-order sliding mode control algorithm.
In order to further explain the scheme, the application also provides a specific application example of the terminal guidance section transverse and lateral coupling control method of the lifting body aircraft, which specifically comprises the following contents:
the method comprises the first step of establishing a lateral channel cascade decoupling model based on a lateral channel coupling model.
The lateral small disturbance motion equation set considering the lateral channel coupling is:
the power coefficient fourth-order matrix in the formula is as follows:
in the two formulasIs pitch angle, gamma is roll angle, alpha is attack angle, beta is sideslip angle, delta x For rolling rudder deflection angle, delta y Is rudder deflection omega x For scrolling angular velocity omega y A is the course angular velocity 33 、b 11 、b 14 、b 15 、b 17 、b 22 、b 24 、b 25 、b 27 、b 32 、b 34 、b 36 、b 35 Is a kinetic coefficient.
The introduction of the intermediate quantity nzbet is defined as the partial derivative of the lateral overload relative to the sideslip angle, and the approximate proportional relation between the overload and the sideslip angle is simplified as shown in the formula (3):
according to the above transformation, the lateral state equation is converted into:
wherein the new power coefficient fourth-order equation A' is:
for the aircraft considered by the application, the state quantity for design is x= [ ω ] x ω y n z γ] T The gesture and overload loop are generally quite different from the angular velocity loop bandwidth, the angular velocity changes firstly after the control surface deflects, and the allowance can be approximately regarded as unchanged in the process. According to the singular perturbation principle, the transverse side channel model can be subjected to time scale separation and is decomposed into a fast loop and a slow loop to form a cascade system. Wherein the outer loop changes slowly and the inner loop changes faster. The adoption of the layered design method can simplify the design of the controller and reduce the coupling degree between channels. Considering that the lateral overload and the rolling angle change slowly, the lateral overload and the rolling angle change are set as an outer loop, the heading and the rolling angle speed are set as an inner loop, and r c For outer loop instruction, x 2c Is an inner loop instruction, u is a control instruction, x 1 、x 2 Is a state quantity.
Decomposing the formula (4) according to the design principle to obtain a cascade model outer loop equation:
in [ omega ] xc ω yc ] T For the nominal control quantity of the outer loop, as the command signal of the inner loop, the value of-nzbet.b 35 ·δ y The effect on the outer loop is considered as interference.
The same decomposition can obtain the cascade model inner loop equation as follows:
it can be seen from the formulas (6) and (7) that the interference term b of the sideslip angle on the rolling channel can be obtained after the transverse and lateral dynamics model is converted into the cascade form 14 /nzbet·n z ＝b 14 Beta is independent and can be regarded as subsystem interference to be processed in design, so that design complexity is reduced. For ease of representation, the state matrix is represented independently as:
and secondly, designing an internal and external loop sliding mode controller.
Consider the following series of multiple input multiple output linear systems:
wherein: x is x 1 、x 2 ∈R n N-dimension, which is the state quantity of the space; u epsilon R n Is a control amount; f (f) 1 (·)、f 2 (·)∈R n ；d 1 、d 2 ∈R n Unknown disturbances that are normative; g 1 (·)、g 2 (·)∈R n×n Is a non-singular matrix.
The design sliding die surface is as follows:
s 1 ＝e 1 +c 1 ∫e 1 dτ (10)
s 2 ＝e 2 +c 2 ∫e 2 dτ (11)
wherein: s is(s) 1 ＝[s 11 ... s 1n ] T Is an outer loop sliding mode surface function; e, e 1 ＝x 1cx -x 1 Tracking error for the outer loop; s is(s) 2 ＝[s 21 ... s 2n ] T Is an inner loop sliding mode surface function; e, e 2 ＝x 2cx -x 2 Tracking error for the inner loop; c i ＝diag(c i1 ,c i2 ,…,c in ) (i=1, 2), and c ij >0。
According to the sliding mode control principle, when the motion of the system can enter a sliding mode (i.e. s i (x i ) =0), the system will remain in motion on the slide face and move along the face toward the origin. In order to enable the system to enter a sliding mode in a limited time and effectively weaken buffeting, an improved double-power approach law is designed:
wherein sat (·) is a saturation function, expressed as follows:
in the formulas (12) to (14): sgns i ＝[sgns i1 sgns i2 … sgns in ] T ，ε i ＝diag(ε i1 ,ε i2 ,…,ε in )，K i ＝diag(K i1 ,K i2 ,…,K in )，τ i ＝diag(τ i1 ,τ i2 ,…,τ in )，M i ＝diag(M i1 ,M i2 ,…,M in )。τ i To approach the law switching threshold by adjusting epsilon i 、K i 、τ i And M i A suitable approach law can be obtained.
The approach law of the double powers is adopted to carry out staged control, and the system is far away from the sliding mode surface (s i >τ i ) In the case of the third item K i |s i /τ i | 2 sat(s i ) The convergence speed of the system can be increased. Near the system's slip plane(s) i <τ i ) In the fourth itemK i |s i /τ i | 0.5 sat(s i ) The convergence speed of the system can be increased, and when the system reaches the vicinity of the sliding mode surface, smooth transition with the sliding mode surface is realized by a sat (·) function. In addition, the two items after approach to the law are at the demarcation point s i ＝τ i Cannot smoothly transition, thus increasing isokinetic approach law-L i s i sat(|s i |)-ε i sat(s i ) The discontinuity of the system at the demarcation point is reduced. Therefore, the double-power approach law can improve the convergence speed of the system, greatly reduce buffeting of the system and ensure the stability of the system.
For the outer loop slip form face equation (10), the first derivative is obtained and substituted into the approach law equation (12), and the following can be obtained:
is provided withUnknown bounded, define the generalized interference of outer loop as +.>So that
P i >0 is the upper bound of the bounded disturbance of the ith channel.
Order theThe inner loop command signal can be derived according to equation (15):
performing stability analysis on the outer ring, and defining the Lyapunov function asThe derivation of V can be obtained:
(1) First consider interferenceWhen the expression (17) contains a double power approach law, it is necessary to analyze the stability and the arrival time limitation in a piecewise manner. When |s 1j /τ 1j |>1 (j=1, 2, …, n),
the system is known to meet the arrival condition. At this stage, K 1 |s 1 /τ 1 | 2 sat(s 1 ) The effect is far greater than K 2 |s 1 /τ 1 | 0.5 sat(s 1 ) And epsilon 1 sat(s 1 )+L 1 s 1 sat(|s 1 I), ignoring the effect of the latter two, equation (12) becomes:
Two-sided integration of formula (19) can be obtained:
[s 1 (t)/τ 1 ] -1 ＝K 1 ·t/τ 1 +[s 1 (0)/τ 1 ] -1 (20)
from this, the system state slave s can be obtained 1 (0) To |s 1 (t)|＝τ 1 Time required for the first stage of (2):
t 1 ＝τ 1 ·[1-(s 1 (0)/τ 1 ) -1 ]/K 1 (21)
when |s 1j /τ 1j |<1 (j=1, 2, …, n),
the system is known to meet the arrival condition. At this stage, K 2 |s 1 /τ 1 | 0.5 sat(s 1 ) The effect is far greater than K 1 |s 1 /τ 1 | 2 sat(s 1 ) And epsilon 1 sat(s 1 )+L 1 s 1 sat(|s 1 I), ignoring the effect of the latter two, equation (12) becomes:
two-sided integration of equation (23) can be obtained:
from this, the system state slave |s can be obtained 1 (0)|＝τ 1 To |s 1 (t 2 ) Time required for the first phase of |=0:
t 2 ＝τ 1 ·2/K 1 (25)
because some approach terms in the double-power approach law are ignored in order to simplify the calculation process, the total approach time is smaller than the sum of the approach times of two stages, namely:
t≤t 1 +t 2 ＝τ 1 ·[1-(s 1 (0)/τ 1 ) -1 ]/K 1 +τ 1 ·2/K 1 (26)
therefore, when no interference exists, the system can converge to the sliding mode surface and be stabilized near the original position within a limited time under the action of the sliding mode control.
(2) In view of the presence of a bounded disturbance,
due to the presence of interference, - (lambda) min (ε 1 /M 1 )-P imax )·|s 1 The term cannot be determined negative, and in order to ensure the stability of the system, the application adds the following disturbance control quantity to the inner loop command signal type (16):
v in 1 Is an estimate of the interference.
The application adopts a sliding mode interference observer based on a super-distortion algorithm to realize the estimation of interference. The super-twist algorithm is a continuous second order sliding mode control algorithm that can achieve stable convergence of the sliding mode variable and its first derivative to zero.
The lemma 1 gives a nonlinear differential equation with perturbation:
wherein: ζ (t) is unknown bounded disturbance andc is the upper bound of the interference derivative; χ (t) is the state; ρ and ζ are constant coefficients. If->And ζ is greater than or equal to 1.1C, χ (t) and +.>At a finite time t τ Less than or equal to 7.6 x (0)/(ζ -C) converges to zero.
The following auxiliary slip-form faces were constructed according to lemma 1:
middle sigma 1 ＝[σ 11 ... σ 1n ] T 。
Deriving the formula (30), and combining the formula (35) can obtain:
middle v 1 ＝[ν 11 ν 12 … ν 1n ] T 。
By comparing the expression (32) with the expression (29), the following supertwist control law can be obtained:
v 1 ＝λ 1 |σ 1 | 0.5 sgnσ 1 +ω 1 ∫sgnσ 1 dτ (33)
wherein:
through the sliding mode interference observer of (33), the interference can be realized within a limited time limitIs a function of the estimate of (2). The inner loop command signal thus becomes:
at this timeThe process is as follows:
as can be seen from the quotation mark 1,the last term converges to zero in a finite time, whereas +_ according to formula (26)>The first few items also converge in a limited time, so the system is progressively stable.
The design of the inner loop of the system is similar to the outer loop process, and the design results are directly given here as follows:
where the variables are defined similarly to the outer loop.
Through the sliding mode control of the inner and outer paths, effective suppression of position bounded interference can be realized, and stability of the system is ensured.
From the above description, according to the terminal guidance section transverse-lateral coupling control method of the lifting body aircraft provided by the application example, aiming at the problem of transverse-lateral channel coupling of the lifting body type plane-symmetric aircraft in the terminal guidance section, a transverse-lateral channel cascade model is firstly established based on a singular perturbation theory, and a coupling term is decomposed. On the basis, a sliding mode controller is respectively designed for the inner loop and the outer loop, the coupling item is compensated and controlled by combining a sliding mode interference observer, and the stability of the controller is proved by utilizing a Liapunov stability analysis method. The comparison simulation result shows that the designed controller can weaken buffeting and simultaneously maintain good dynamic characteristics, and the robustness of the rolling channel to lateral coupling interference is improved.
The following is a detailed description of an example of aircraft feature point control in conjunction with fig. 8-11.
The method comprises the first step of establishing a lateral channel cascade decoupling model based on a lateral channel coupling model.
Taking an aircraft as an example, the aircraft data adopts a lifting body type plane symmetrical aircraft, wherein the dynamic coefficients are a33= 0.07025, b11= -0.14409, b12=0, b14= 196.75855, b15= 3.38109, b17= -140.00389, b22= -0.08501, b24= -2.51066, b25= 21.84122, b27= -9.04592, b32= -1.04637, b34= 0.07025, b35= 0.01779, b36= -0.00746, the attack angle alpha= -5.03 degrees, the sideslip angle 0 degrees, the ballistic dip angle theta= -29.8 degrees, and the flying speed is 1000m/s. The set-up state matrix is expressed independently as:
and secondly, designing an internal and external loop sliding mode controller.
Defining a sliding die surface as follows:
wherein e 1 ＝[n zc -n z γ c -γ] T ，e 2 ＝[ω xc -ω x ω yc -ω y ] T 。
The aircraft inner loop command signal is designed according to equation (35):
the aircraft roll and rudder control signals are designed according to equation (37):
wherein A is 2 The elements in B are not zero for a typical aircraft,thus A is 2 B total reversible.
Will-nzbet.b 35 ·δ y ，b 14 Beta is regarded as an interference term, and compensation control is performed according to a sliding mode interference observer, so that cascade control of a transverse side channel can be realized.
In order to effectively realize the observation and compensation of the transverse and lateral coupling items of the terminal guidance section of the lifting body aircraft, and simultaneously effectively improve the robustness of the control process of the lifting body aircraft, and further improve the control reliability and stability of the lifting body aircraft, the application provides an embodiment of a transverse and lateral coupling control device of the terminal guidance section of the lifting body aircraft for realizing all or part of the content in the transverse and lateral coupling control method of the terminal guidance section of the lifting body aircraft, and referring to fig. 12, the transverse and lateral coupling control device of the terminal guidance section of the lifting body aircraft specifically comprises the following contents:
the model decomposition module 10 is used for decomposing a transverse and lateral coupling model of a preset lifting body aircraft to obtain an inner loop cascade model and an outer loop cascade model of the lifting body aircraft;
a coupling term independent module 20, configured to obtain a lateral coupling term of a terminal guidance section of the lifting body aircraft based on the inner loop cascade model and the outer loop cascade model;
and the compensation control module 30 is used for performing compensation control on the lateral coupling item by applying a cascade sliding mode controller corresponding to the inner loop and outer loop cascade model and a preset interference observer.
The embodiment of the terminal guidance section lateral coupling control device of the lifting body aircraft provided in the present disclosure may be specifically used to execute the processing flow of the embodiment of the terminal guidance section lateral coupling control method of the lifting body aircraft, and the functions thereof are not described herein in detail, and may refer to the detailed description of the terminal guidance section lateral coupling control method embodiment of the lifting body aircraft.
From the above description, it can be seen that the terminal guidance section transverse and lateral coupling control device of the lifting body aircraft provided by the embodiment of the application decomposes the transverse and lateral coupling model based on the singular perturbation theory, establishes an internal and external loop cascade model, independently extracts the coupling items for convenient observation, and provides a decoupling control method of a cascade sliding mode controller and an interference observer based on the model, which realizes observation and compensation of the coupling items through the interference observer, and improves the robustness of the system by utilizing sliding mode control. Simulation verification shows that the scheme has good control performance on the aircraft with obvious coupling characteristics, can effectively inhibit the influence of the coupling items, can further effectively realize the observation and compensation of the transverse and lateral coupling items of the terminal guidance section of the lifting body aircraft, can effectively improve the robustness of the control process of the lifting body aircraft, has good control performance on the aircraft with obvious coupling characteristics, can effectively inhibit the influence of the coupling items, and further improves the control reliability and stability of the lifting body aircraft.
In order to effectively realize the observation and compensation of the transverse and lateral coupling items of the terminal guidance section of the lifting body aircraft and effectively improve the robustness of the control process of the lifting body aircraft and further improve the control reliability and stability of the lifting body aircraft, the application provides an embodiment of electronic equipment for realizing all or part of the contents in the transverse and lateral coupling control method of the terminal guidance section of the lifting body aircraft, wherein the electronic equipment specifically comprises the following contents:
A processor (processor), a memory (memory), a communication interface (Communications Interface), and a bus; the processor, the memory and the communication interface complete communication with each other through the bus; the communication interface is used for realizing information transmission between the terminal guidance section transverse and lateral coupling control device of the lifting body aircraft and various databases, sensors of the lifting body aircraft, a control center, a user terminal and other related equipment; the electronic device may be a desktop computer, a tablet computer, a mobile terminal, etc., and the embodiment is not limited thereto. In this embodiment, the electronic device may be implemented with reference to an embodiment of the terminal guidance section lateral-direction coupling control method of the lifting body aircraft in the embodiment, and an embodiment of the terminal guidance section lateral-direction coupling control device of the lifting body aircraft, and the contents thereof are incorporated herein, and the repetition is omitted.
Fig. 13 is a schematic block diagram of a system configuration of an electronic device 9600 according to an embodiment of the present application. As shown in fig. 13, the electronic device 9600 may include a central processor 9100 and a memory 9140; the memory 9140 is coupled to the central processor 9100. Notably, this fig. 13 is exemplary; other types of structures may also be used in addition to or in place of the structures to implement telecommunications functions or other functions.
In one embodiment, the terminal guidance section lateral coupling control function of the lifting body aircraft may be integrated into the central processor 9100. The central processor 9100 may be configured to perform the following control:
step 100: and decomposing a transverse and lateral coupling model of the preset lifting body aircraft to obtain an inner loop cascade model and an outer loop cascade model of the lifting body aircraft.
Step 200: and acquiring a lateral coupling item of the terminal guidance section of the lifting body aircraft based on the inner loop cascade model and the outer loop cascade model.
Step 300: and compensating and controlling the lateral coupling item by using a cascade sliding mode controller corresponding to the internal and external loop cascade model and a preset interference observer.
From the above description, it can be seen that, according to the electronic device provided by the embodiment of the application, the lateral-to-lateral coupling model is decomposed based on the singular perturbation theory, the internal-external loop cascade model is built, the coupling item is independently extracted to facilitate observation, and based on the model, a decoupling control method of a cascade sliding mode controller and an interference observer is provided, the observation and compensation of the coupling item are realized through the interference observer, and meanwhile, the robustness of the system is improved by utilizing sliding mode control. Simulation verification shows that the scheme has good control performance on the aircraft with obvious coupling characteristics, can effectively inhibit the influence of the coupling items, can further effectively realize the observation and compensation of the transverse and lateral coupling items of the terminal guidance section of the lifting body aircraft, can effectively improve the robustness of the control process of the lifting body aircraft, has good control performance on the aircraft with obvious coupling characteristics, can effectively inhibit the influence of the coupling items, and further improves the control reliability and stability of the lifting body aircraft.
In another embodiment, the end guidance section lateral coupling control device of the lifting body aircraft may be configured separately from the central processor 9100, for example, the end guidance section lateral coupling control device of the lifting body aircraft may be configured as a chip connected to the central processor 9100, and the end guidance section lateral coupling control function of the lifting body aircraft is implemented by the control of the central processor.
As shown in fig. 13, the electronic device 9600 may further include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is noted that the electronic device 9600 need not include all of the components shown in fig. 13; in addition, the electronic device 9600 may further include components not shown in fig. 13, and reference may be made to the related art.
As shown in fig. 13, the central processor 9100, sometimes referred to as a controller or operational control, may include a microprocessor or other processor device and/or logic device, which central processor 9100 receives inputs and controls the operation of the various components of the electronic device 9600.
The memory 9140 may be, for example, one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. The information about failure may be stored, and a program for executing the information may be stored. And the central processor 9100 can execute the program stored in the memory 9140 to realize information storage or processing, and the like.
The input unit 9120 provides input to the central processor 9100. The input unit 9120 is, for example, a key or a touch input device. The power supply 9170 is used to provide power to the electronic device 9600. The display 9160 is used for displaying display objects such as images and characters. The display may be, for example, but not limited to, an LCD display.
The memory 9140 may be a solid state memory such as Read Only Memory (ROM), random Access Memory (RAM), SIM card, etc. But also a memory which holds information even when powered down, can be selectively erased and provided with further data, an example of which is sometimes referred to as EPROM or the like. The memory 9140 may also be some other type of device. The memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application/function storage portion 9142, the application/function storage portion 9142 storing application programs and function programs or a flow for executing operations of the electronic device 9600 by the central processor 9100.
The memory 9140 may also include a data store 9143, the data store 9143 for storing data, such as contacts, digital data, pictures, sounds, and/or any other data used by an electronic device. The driver storage portion 9144 of the memory 9140 may include various drivers of the electronic device for communication functions and/or for performing other functions of the electronic device (e.g., messaging applications, address book applications, etc.).
The communication module 9110 is a transmitter/receiver 9110 that transmits and receives signals via an antenna 9111. A communication module (transmitter/receiver) 9110 is coupled to the central processor 9100 to provide input signals and receive output signals, as in the case of conventional mobile communication terminals.
Based on different communication technologies, a plurality of communication modules 9110, such as a cellular network module, a bluetooth module, and/or a wireless local area network module, etc., may be provided in the same electronic device. The communication module (transmitter/receiver) 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide audio output via the speaker 9131 and to receive audio input from the microphone 9132 to implement usual telecommunications functions. The audio processor 9130 can include any suitable buffers, decoders, amplifiers and so forth. In addition, the audio processor 9130 is also coupled to the central processor 9100 so that sound can be recorded locally through the microphone 9132 and sound stored locally can be played through the speaker 9131.
The embodiment of the present application further provides a computer readable storage medium capable of implementing all the steps in the method for controlling transverse lateral coupling of a terminal guidance section of a lifting body aircraft in the above embodiment, where the computer readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements all the steps in the method for controlling transverse lateral coupling of a terminal guidance section of a lifting body aircraft in the above embodiment, where an execution subject is a server or a client, for example, the processor implements the following steps when executing the computer program:
Step 100: and decomposing a transverse and lateral coupling model of the preset lifting body aircraft to obtain an inner loop cascade model and an outer loop cascade model of the lifting body aircraft.
Step 200: and acquiring a lateral coupling item of the terminal guidance section of the lifting body aircraft based on the inner loop cascade model and the outer loop cascade model.
Step 300: and compensating and controlling the lateral coupling item by using a cascade sliding mode controller corresponding to the internal and external loop cascade model and a preset interference observer.
As can be seen from the above description, the computer readable storage medium provided by the embodiment of the present application decomposes a lateral coupling model based on a singular perturbation theory, establishes an internal and external loop cascade model, extracts a coupling term independently for observation, and provides a decoupling control method of a cascade sliding mode controller and an interference observer based on the model, wherein the observation and compensation of the coupling term are realized through the interference observer, and meanwhile, the robustness of the system is improved by using sliding mode control. Simulation verification shows that the scheme has good control performance on the aircraft with obvious coupling characteristics, can effectively inhibit the influence of the coupling items, can further effectively realize the observation and compensation of the transverse and lateral coupling items of the terminal guidance section of the lifting body aircraft, can effectively improve the robustness of the control process of the lifting body aircraft, has good control performance on the aircraft with obvious coupling characteristics, can effectively inhibit the influence of the coupling items, and further improves the control reliability and stability of the lifting body aircraft.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (6)
1. The transverse and lateral coupling control method for the terminal guidance section of the lifting body aircraft is characterized by comprising the following steps of: decomposing a transverse and lateral coupling model of a preset lifting body aircraft to obtain an inner loop cascade model and an outer loop cascade model of the lifting body aircraft; acquiring a lateral coupling item of a terminal guidance section of the lifting body aircraft based on the inner loop cascade model and the outer loop cascade model; performing compensation control on the lateral coupling item by using a cascade sliding mode controller corresponding to the internal and external loop cascade model and a preset interference observer;
decomposing a transverse and lateral coupling model of a preset lifting body aircraft to obtain an inner loop cascade model and an outer loop cascade model of the lifting body aircraft, wherein the method comprises the following steps of: setting the lateral overload and the rolling angle of the lifting body aircraft as an outer loop, and setting the rolling angular speed and the course angular speed of the lifting body aircraft as an inner loop; according to a singular perturbation principle, performing time scale separation on a transverse side channel coupling model, and decomposing the transverse side channel coupling model into an outer loop and an inner loop, wherein equations corresponding to the outer loop and the inner loop respectively form an inner loop cascade model and an outer loop cascade model of the lifting body aircraft, and the change of the outer loop is slower than that of the inner loop;
The obtaining the lateral coupling item of the terminal guidance section of the lifting body aircraft based on the inner loop cascade model comprises the following steps: acquiring an external loop interference term in the lateral coupling term based on an equation of an external loop in the internal and external loop cascade model, and acquiring an interference term of a sideslip angle in the lateral coupling term on a rolling channel according to an equation of an internal loop in the internal and external loop cascade model;
before the decomposing of the transverse and lateral coupling model of the preset lifting body aircraft, the method further comprises the following steps: establishing a lateral channel coupling model for representing the lateral state of the lifting body aircraft according to the angular data of the lifting body aircraft;
the angle data includes: angle of attack, pitch angle, roll angle, sideslip angle, roll rudder deflection angle, rudder deflection, roll angular velocity and angular velocity; correspondingly, the building of the lateral-side channel coupling model for representing the lateral-side state of the lifting body aircraft according to the flight data of the lifting body aircraft comprises the following steps: establishing a power coefficient fourth-order matrix according to the attack angle, the pitch angle and a plurality of dynamic coefficients of the lifting body aircraft; and establishing the lateral channel coupling model by applying the power coefficient fourth-order matrix, the rolling angle, the sideslip angle, the rolling rudder deflection angle, the course rudder deflection, the rolling angular velocity, the course angular velocity and a plurality of dynamic coefficients of the lifting body aircraft.
2. The method of controlling terminal guidance section lateral coupling of a lifting body aircraft according to claim 1, further comprising, after said establishing said lateral-channel coupling model: acquiring a partial derivative of a side overload relative sideslip angle of the lifting body aircraft; and converting the lateral side channel coupling model by applying the partial derivative of the lateral overload relative sideslip angle, and determining a new power coefficient fourth-order equation corresponding to the converted lateral side channel coupling model based on the partial derivative of the lateral overload relative sideslip angle.
3. The method for controlling terminal guidance section lateral coupling of a lifting body aircraft according to claim 1, further comprising, before the applying the cascade sliding mode controller corresponding to the inner and outer loop cascade model and the preset disturbance observer to perform compensation control on the lateral coupling term: establishing an outer loop sliding mode surface function corresponding to an equation of an outer loop in the inner and outer loop cascade model, and establishing an inner loop sliding mode surface function corresponding to an equation of an inner loop in the inner and outer loop cascade model; the cascade sliding mode controller is composed of an outer loop sliding mode surface function and an inner loop sliding mode surface function.
4. The method for controlling terminal guidance section lateral coupling of a lifting body aircraft according to claim 1, further comprising, before the applying the cascade sliding mode controller corresponding to the inner and outer loop cascade model and the preset disturbance observer to perform compensation control on the lateral coupling term: and acquiring a disturbance observer corresponding to the lifting body aircraft based on a preset hyper-torsion algorithm, wherein the hyper-torsion algorithm is a continuous second-order sliding mode control algorithm.
5. A terminal guidance section lateral coupling control device of a lifting body aircraft, comprising: the model decomposition module is used for decomposing a transverse and lateral coupling model of the preset lifting body aircraft to obtain an inner loop cascade model and an outer loop cascade model of the lifting body aircraft; the coupling item independent module is used for acquiring a lateral coupling item of the terminal guidance section of the lifting body aircraft based on the inner loop cascade model and the outer loop cascade model; the compensation control module is used for performing compensation control on the lateral coupling item by applying a cascade sliding mode controller corresponding to the internal and external loop cascade model and a preset interference observer;
decomposing a transverse and lateral coupling model of a preset lifting body aircraft to obtain an inner loop cascade model and an outer loop cascade model of the lifting body aircraft, wherein the method comprises the following steps of: setting the lateral overload and the rolling angle of the lifting body aircraft as an outer loop, and setting the rolling angular speed and the course angular speed of the lifting body aircraft as an inner loop; according to a singular perturbation principle, performing time scale separation on a transverse side channel coupling model, and decomposing the transverse side channel coupling model into an outer loop and an inner loop, wherein equations corresponding to the outer loop and the inner loop respectively form an inner loop cascade model and an outer loop cascade model of the lifting body aircraft, and the change of the outer loop is slower than that of the inner loop;
The obtaining the lateral coupling item of the terminal guidance section of the lifting body aircraft based on the inner loop cascade model comprises the following steps: acquiring an external loop interference term in the lateral coupling term based on an equation of an external loop in the internal and external loop cascade model, and acquiring an interference term of a sideslip angle in the lateral coupling term on a rolling channel according to an equation of an internal loop in the internal and external loop cascade model;
the method comprises the steps of establishing a lateral channel coupling model for representing the lateral state of the lifting body aircraft according to the angular data of the lifting body aircraft;
the angle data includes: angle of attack, pitch angle, roll angle, sideslip angle, roll rudder deflection angle, rudder deflection, roll angular velocity and angular velocity; correspondingly, the building of the lateral-side channel coupling model for representing the lateral-side state of the lifting body aircraft according to the flight data of the lifting body aircraft comprises the following steps: establishing a power coefficient fourth-order matrix according to the attack angle, the pitch angle and a plurality of dynamic coefficients of the lifting body aircraft; and establishing the lateral channel coupling model by applying the power coefficient fourth-order matrix, the rolling angle, the sideslip angle, the rolling rudder deflection angle, the course rudder deflection, the rolling angular velocity, the course angular velocity and a plurality of dynamic coefficients of the lifting body aircraft.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the terminal guidance section lateral coupling control method of a lifting body aircraft according to any one of claims 1 to 4 when the program is executed by the processor.
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