CN111190428B - Sensor and actuator attack-based self-adaptive attitude safety control method and system, controller and control method for aircraft system - Google Patents
Sensor and actuator attack-based self-adaptive attitude safety control method and system, controller and control method for aircraft system Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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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Abstract
A model acquisition method for self-adaptive attitude safety of an aircraft system based on sensor and actuator attacks establishes a mathematical model of the sensor attack and the actuator attack of the aircraft, designs an angular velocity virtual control law, designs a self-adaptive safety controller by using the system state after attack, and improves the safety control performance of the system according to the self-adaptive attitude safety control problem of the aircraft system due to the steps.
Description
1. Technical field
The invention relates to a control method and system, a controller and a control method, in particular to a control method and system, a controller and a control method for self-adaptive gesture safety of an aircraft system based on sensor and actuator attack.
2. Background art
Aircraft have wide application in formation flight, satellite surveillance, etc., and thus attitude control problems of aircraft systems have received wide attention. In addition, the aircraft system is a complex nonlinear system, which brings great challenges to designing a high-precision attitude controller, and many students in 2006 put forward a new structural concept for a space system, namely a separated modularized aircraft, wherein the separated modularized aircraft is characterized in that modules are independent, and communication between the modules passes through a wireless sensor network, however, the communication network can be attacked maliciously, so that the performance of a closed-loop system is reduced or the system is unstable,
therefore, aiming at the aircraft system attacked by the actuator and the sensor, the problem of self-adaptive attitude safety control of the aircraft system needs to be fully researched, and the safety control performance of the system is improved.
The technical scheme of the invention is made based on the technical base book of the applicant in 2019, 12 and 15 and the prior technical problems, technical characteristics and technical effects in the similar background technology obtained through retrieval.
3. Summary of the invention
The object of the invention is a model acquisition method of the self-adaptive attitude safety of an aircraft system based on sensor and actuator attack,
the object of the invention is a model acquisition system for the self-adaptive attitude safety of an aircraft system based on sensor and actuator attacks,
the object of the invention is a controller for adaptive attitude safety of an aircraft system based on sensor and actuator attacks,
the invention discloses an object of a control method for self-adaptive attitude safety of an aircraft system based on sensor and actuator attack.
In order to overcome the technical defects, the invention aims to provide an aircraft system self-adaptive attitude safety control method and system based on sensor and actuator attack, a controller and a control method, so that the safety control performance of the system is improved.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a model acquisition method for self-adaptive attitude safety of an aircraft system based on sensor and actuator attack comprises the following steps:
step 100: mathematical models of the sensor attack and the actuator attack of the aircraft are established,
step 200: a virtual control law of the angular velocity is designed,
step 300: and designing the self-adaptive safety controller by utilizing the system state after being attacked.
Due to the design of the steps, the safety control performance of the system is improved according to the self-adaptive attitude safety control problem of the aircraft system.
The invention designs an operation state equation set established in a CPU, which comprises the following contents:
the state space model Σ of the aircraft system is:
wherein q= [ q 0 ,∈ 1 ,∈ 2 ,∈ 3 ] T ,ω＝[ω 1 ,ω 2 ,ω 3 ] T ,J,u(t)＝[u 1 (t),u 2 (t),u 3 (t)] T ,d(t)＝[d 1 (t),d 2 (t),d 3 (t)] T Respectively representing the attitude, angular velocity, inertia matrix, control inputs and external disturbances of the aircraft,∈ T ＝[∈ 1 ,∈ 2 ,∈ 3 ]s (·) represents a 3 x 3 antisymmetric matrix,sensor and actuator attacks are described as
Wherein x (t) = [ q ] 0 ,∈ 1 ,∈ 2 ,∈ 3 ,ω 1 ,ω 2 ,ω 3 ],δ s (t, x (t)) represent system state and sensor attack,is the state after attack, used for the design of a feedback controller, delta u (t, x (t)) is an actuator attack. Parameterized actuators and sensors are described as
δ s (t,x(t))＝η(t)x(t),
Where eta (t) e R and W (t) are unknown time-varying weights, ψ (x (t)) is a nonlinear function of known structure, is an unknown constant.
The invention designs an operation state equation set established in a CPU, which comprises the following contents:
ω * ＝-K 1 ∈,K 1 >0,。
the invention designs an operation state equation set established in a CPU, which comprises the following contents:
the controller is designed as
Wherein the method comprises the steps of
The adaptive law is designed as
Wherein the method comprises the steps of Is-> And (5) estimating.
The invention designs a model acquisition system for self-adaptive attitude safety of an aircraft system based on sensor and actuator attack, which comprises the following contents:
a mathematical model building unit 10 of a sensor attack and an actuator attack of the aircraft is built,
the angular velocity virtual control law establishing unit 20 is designed,
the adaptive security controller building unit 30 is designed with the system state after the attack.
The invention designs a controller for self-adaptive attitude safety of an aircraft system based on sensor and actuator attack, which comprises the following contents: a model of adaptive attitude security for the aircraft system based on sensor and actuator attacks is stored in the controller,
the model of the adaptive attitude security of the aircraft system based on the sensor and actuator attack is obtained according to the model acquisition method of the adaptive attitude security of the aircraft system based on the sensor and actuator attack,
step 100: mathematical models of the sensor attack and the actuator attack of the aircraft are established,
step 200: a virtual control law of the angular velocity is designed,
step 300: and designing the self-adaptive safety controller by utilizing the system state after being attacked.
The invention designs a control method for self-adaptive attitude safety of an aircraft system based on sensor and actuator attack, which comprises the following steps:
and the controller for adaptive attitude security of the aircraft system based on sensor and actuator attack is applied to control in the CPU.
The invention has the technical effects that: aiming at an aircraft system containing quantized input, a state observer based on quantized output is designed, and an output feedback control strategy based on the observer is further provided; the observer-based output feedback control method designed by the invention can reduce the transmission of channel resources.
4. Description of the drawings
In order to more clearly illustrate the embodiments of the invention 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, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Figure 1 is a flow chart of a method of model acquisition for adaptive attitude security for an aircraft system based on sensor and actuator attacks of the present invention,
fig. 2 is a schematic structural diagram of an adaptive attitude safety controller for an aircraft system based on sensor and actuator attacks according to the present invention.
5. Detailed description of the preferred embodiments
Terms such as "having," "including," and "comprising," as used herein, are to be construed as not being accompanied by the presence or addition of one or more other elements or combinations thereof, in accordance with the censoring guidelines.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The invention will be further described with reference to the following examples, which are intended to illustrate the invention and not to limit it further.
The invention relates to a model acquisition method of self-adaptive attitude safety of an aircraft system based on sensor and actuator attack, which comprises the following steps:
step 100: mathematical models of the sensor attack and the actuator attack of the aircraft are established,
step 200: a virtual control law of the angular velocity is designed,
step 300: the self-adaptive security controller is designed by utilizing the system state after being attacked,
in this embodiment, the step 100 specifically includes the following:
the state space model Σ of the aircraft system is:
wherein q= [ q 0 ,∈ 1 ,∈ 2 ,∈ 3 ] T ,ω＝[ω 1 ,ω 2 ,ω 3 ] T ,J,u(t)＝[u 1 (t),u 2 (t),u 3 (t)] T ,d(t)＝[d 1 (t),d 2 (t),d 3 (t)] T Respectively representing the attitude, angular velocity, inertia matrix, control inputs and external disturbances of the aircraft,∈ T ＝[∈ 1 ,∈ 2 ,∈ 3 ]s (·) represents a 3 x 3 antisymmetric matrix,sensor and actuator attacks are described as
Wherein x (t) = [ q ] 0 ,∈ 1 ,∈ 2 ,∈ 3 ,ω 1 ,ω 2 ,ω 3 ],δ s (t, x (t)) represent system state and sensor attack,is the state after attack, used for the design of a feedback controller, delta u (t, x (t)) is an actuator attack. Parameterized actuators and sensors are described as
δ s (t,x(t))＝η(t)x(t),
Where eta (t) e R and W (t) are unknown time-varying weights, ψ (x (t)) is a nonlinear function of known structure, is an unknown constant which is used to determine,
in this embodiment, the step 200 specifically includes the following:
ω * ＝-K 1 ∈,K 1 >0,
in this embodiment, the step 300 specifically includes the following:
the controller is designed as
Wherein the method comprises the steps of
The adaptive law is designed as
Wherein the method comprises the steps of Is-> And (5) estimating.
An aircraft system self-adaptive attitude safety model acquisition system based on sensor and actuator attack comprises the following contents:
a mathematical model building unit 10 of a sensor attack and an actuator attack of the aircraft is built,
the angular velocity virtual control law establishing unit 20 is designed,
the adaptive security controller building unit 30 is designed with the system state after the attack.
An aircraft system self-adaptive attitude safety controller based on sensor and actuator attacks, comprising the following contents: a model of adaptive attitude security for the aircraft system based on sensor and actuator attacks is stored in the controller,
in the present embodiment, the model of the adaptive attitude security of the aircraft system based on the sensor and actuator attack is obtained according to the above-described model acquisition method of the adaptive attitude security of the aircraft system based on the sensor and actuator attack,
step 100: mathematical models of the sensor attack and the actuator attack of the aircraft are established,
step 200: a virtual control law of the angular velocity is designed,
step 300: the self-adaptive security controller is designed by utilizing the system state after being attacked,
a control method of self-adaptive attitude safety of an aircraft system based on sensor and actuator attack comprises the following steps:
and the controller for adaptive attitude security of the aircraft system based on sensor and actuator attack is applied to control in the CPU.
The above embodiment is only one implementation form of the sensor and actuator attack based adaptive attitude safety control method and system, controller and control method for an aircraft system provided by the present invention, and according to other modifications of the scheme provided by the present invention, components or steps in the sensor and actuator attack based adaptive attitude safety control method are added or reduced, or the present invention is applied to other technical fields close to the present invention, which all belong to the protection scope of the present invention.
Claims (5)
1. A model acquisition method for self-adaptive attitude safety of an aircraft system based on sensor and actuator attack is characterized by comprising the following steps: the method comprises the following steps:
step 100: mathematical models of the sensor attack and the actuator attack of the aircraft are established,
step 200: a virtual control law of the angular velocity is designed,
step 300: utilizing the attacked system state to design a self-adaptive safety controller;
the controller is designed as
Wherein the method comprises the steps of
Wherein the method comprises the steps ofIs the state after attack, x (t) = [ q ] 0 ,∈ 1 ,∈ 2 ,∈ 3 ,ω 1 ,ω 2 ,ω 3 ],δ s (t, x (t)) represent system state and sensor attack, respectively, delta u (t, x (t)) is an actuator attack, and parameterized actuators and sensors are described as
δ s (t,x(t))＝η(t)x(t),
Where eta (t) e R and W (t) are unknown time-varying weights, ψ (x (t)) is a nonlinear function of known structure, is an unknown constant, q= [ q ] 0 ,∈ 1 ,∈ 2 ,∈ 3 ] T ,ω＝[ω 1 ,ω 2 ,ω 3 ] T ,J,u(t)＝[u 1 (t),u 2 (t),u 3 (t)] T Respectively representing the attitude, angular velocity, inertia matrix and control input of the aircraft, and designing the adaptive law to
Wherein the method comprises the steps of Is mu 1 (t)＝(2η(t)+η(t) 2 )(1+η(t)) -2 ,
μ 2 (t)＝η(t)(1+η(t)) -1 ,W(t),And (5) estimating.
2. The method for obtaining the model of the adaptive attitude security of the aircraft system based on the sensor and the actuator attack according to claim 1, wherein the method comprises the following steps:
the state space model Σ of the aircraft system is:
Σ:
wherein q= [ q 0 ,∈ 1 ,∈ 2 ,∈ 3 ] T ,ω＝[ω 1 ,ω 2 ,ω 3 ] T ,J,u(t)＝[u 1 (t),u 2 (t),u 3 (t)] T ,d(t)＝[d 1 (t),d 2 (t),d 3 (t)] T Respectively representing the attitude, angular velocity, inertia matrix, control inputs and external disturbances of the aircraft,∈ T ＝[∈ 1 ,∈ 2 ,∈ 3 ]s (·) represents a 3 x 3 antisymmetric matrix,
sensor and actuator attacks are described as
Wherein x (t) = [ q ] 0 ,∈ 1 ,∈ 2 ,∈ 3 ,ω 1 ,ω 2 ,ω 3 ],δ s (t, x (t)) represent system state and sensor attack,
is the state after attack, used for the design of a feedback controller, delta u (t, x (t)) is an actuator attack, and parameterized actuators and sensors are described as
δ s (t,x(t))＝η(t)x(t),
Wherein eta (t) e R and W (t) are unknown time-variationsThe weights, ψ (x (t)) are nonlinear functions of known structure, is an unknown constant.
3. The method for obtaining the model of the adaptive attitude security of the aircraft system based on the sensor and the actuator attack according to claim 1, wherein the method comprises the following steps:
ω * ＝-K 1 ∈,K 1 >0。
4. an aircraft system self-adaptive attitude safety controller based on sensor and actuator attack is characterized in that: the method comprises the following steps: a model of adaptive attitude security for the aircraft system based on sensor and actuator attacks is stored in the controller,
a model of adaptive attitude safety of an aircraft system based on sensor and actuator attacks obtained according to the acquisition method of any one of claims 1 to 3.
5. A control method for self-adaptive attitude safety of an aircraft system based on sensor and actuator attack is characterized by comprising the following steps: use of the controller of claim 4 for control.
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| CN108629132A (en) * | 2018-05-10 | 2018-10-09 | 南京邮电大学 | The collaborative design method of fault Detection Filter and controller under DoS attack |
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| CN108628329A (en) * | 2018-03-19 | 2018-10-09 | 北京航空航天大学 | A kind of anti-interference attitude control method of spacecraft of TTC channel by replay attack |
| CN108628331A (en) * | 2018-05-09 | 2018-10-09 | 北京航空航天大学 | A kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor under fire |
| CN108629132A (en) * | 2018-05-10 | 2018-10-09 | 南京邮电大学 | The collaborative design method of fault Detection Filter and controller under DoS attack |
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