CN111650947A - Stratospheric airship height nonlinear control method - Google Patents
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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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The invention discloses a non-linear control method for the height of an airship on a stratosphere, and belongs to the field of airship flight control. It only needs to measure the height signal and compare it to the desired height command to form a height error signal. And simultaneously, nonlinear transformation and integration are adopted to form a terminal sliding mode signal. And meanwhile, a differential dislocation device is constructed to obtain a differential dislocation signal of the terminal sliding mode signal, so that damping is provided for the system. And then constructing an interference observer, observing and estimating the nonlinear term and uncertainty of the altitude channel, forming a final airship pitch angle expected signal by a terminal sliding mode signal, an interference observation signal and a difference dislocation signal, tracking by an airship attitude stabilizing system, and finally realizing the accurate and stable control of the altitude of the stratospheric airship. The method has the advantages of good adaptability to both large-height signals and small-height signals, stable height control, good dynamic characteristics of the transition process and suitability for height control of stratospheric airship.
Description
Technical Field
The invention belongs to the field of aircraft flight guidance, and particularly relates to a height nonlinear control method of an stratospheric airship.
Background
The stratospheric airship has the characteristics of low flying speed, large control delay caused by large flying aerodynamic appearance and slow attitude response. Meanwhile, the general requirement device of the mission platform of the airship has a very stable climbing process, and the safety of the object carrying of the general requirement device is facilitated. For altitude control of a typical aircraft, for example, to ensure that the altitude control has sufficient stability margin and smoothness, it is generally necessary to measure the differential of the altitude signal, so that the control cost increases. Meanwhile, the altitude control scheme of the high-speed moving aircraft cannot directly control the airship moving to the stratosphere, and the main reason is that the altitude control cannot be guaranteed under the action of no differential signal because the speed is too high.
Based on the background technology, the invention adopts a nonlinear control method based on the terminal sliding mode, only the height signal needs to be measured, the damping signal is provided by a dislocation difference method, and the strong self-adaptive capacity is provided by adopting an interference observation method, so that the final height control has good robustness, and the height control effect also has good dynamic characteristics.
It is to be noted that the information invented in the above background section is only for enhancing the understanding of the background of the present invention, and therefore, may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a non-linear control method for the height of an airship on a stratosphere, and further solves the problems of poor stability and robustness of the height control of the airship on the stratosphere caused by the traditional height control method at least to a certain extent.
The invention provides a non-linear control method for the height of an airship on a stratosphere, which comprises the following steps:
step S10: measuring the flying height of the stratospheric airship by adopting an altimeter, setting an expected height instruction according to a control task, and comparing to obtain a height error;
step S20: designing a terminal type nonlinear term according to the height error signal, integrating to obtain a nonlinear integral signal, and then forming a terminal sliding mode signal;
step S30: designing a differential dislocation device according to the terminal sliding mode signal to obtain a differential dislocation signal of the terminal sliding mode signal;
step S40: designing a height channel interference observer according to the height error signal to obtain an interference observation signal;
step S50: and designing a final stratospheric airship pitch angle expected signal according to the terminal sliding mode signal, the difference dislocation signal and the interference observation signal, and conveying the signal to an airship attitude control system to realize height control.
In an exemplary embodiment of the present invention, designing a terminal-type nonlinear term, integrating to obtain a nonlinear integrated signal, and then forming a terminal sliding mode signal includes:
eh＝h-hd；
sef＝∫ef1dt；
s1＝c5eh+c6sef；
wherein ehFor the height error signal, hdAn expected height command to be set according to the flight mission of the stratospheric airship, h being the actual height of the stratospheric airship, ef1Is a terminal type nonlinear term, c1、c2、c3、c4The detailed design of the parameter is described in the following examples. sefIs the integral of a terminal-type nonlinear term, s1For terminal sliding mode signals, c5、c6The detailed design of the parameter is described in the following examples.
In an exemplary embodiment of the present invention, designing a differential shifter to obtain a differential shifted signal of a terminal sliding mode signal includes:
sd1＝(s1-y1)/T1；
when n is greater than or equal to 1, y1(n+1)＝y1(n)+sd1T；
sd2＝(s1-y2)/T2；
When n is greater than or equal to 1, y2(n+1)＝y2(n)+sd2T；
s1For said terminal sliding mode signal, y1、y2The output signals of the first and second differentiators are 0, y1(1)＝0，y2(1)＝0。sd1、sd2The increasing signals, T, of the first and second differentiators, respectively1、T2The detailed design of the time constant is described in the examples below. y is1(n) is the output signal y of the first differentiator1T is the time interval between data, the detailed design of which is described in the examples below. y is2(n) is the output signal y of the second differentiator2The nth data of (1). sdI.e. the differential misalignment signal sought.
In an exemplary embodiment of the present invention, designing a high-pass disturbance observer to obtain a disturbance observation signal comprises:
where z is a state variable of the disturbance observer whose initial value is zero, i.e. z (1) ═ 0.
To interfere with the observed signal, k1、k2、k6Is a constant parameter, the detailed design of which is described in the examples below, thetadFor the pitch angle command signal, the detailed design is as follows, and the initial value can be selected to be 0, i.e. thetad(1) 0. Wherein T is the time interval between data, and the setting of the differentiator is the same.
In an exemplary embodiment of the invention, designing a final stratospheric airship pitch angle expected signal according to a terminal sliding mode signal, a differential misalignment signal and an interference observation signal comprises:
wherein s is1For terminal sliding mode signals, sdIn order to be a differential skew signal,
to disturb the observed signal, θdThe initial value of the final expected signal of the pitch angle of the stratospheric airship is selected to be 0, k3、k4、k5、k7The detailed settings are described in the following examples.
On the basis, the aircraft attitude control system tracks the finally obtained expected pitch angle signal of the stratospheric airship, so that the height control error can be eliminated, and the height control of the stratospheric airship is realized.
Advantageous effects
The invention provides a non-linear control method for the height of an airship on a stratosphere, which has the advantages that a novel terminal sliding mode is adopted to combine height error signals, so that the final height control method has good adaptability to large signals and small signals. Meanwhile, a disturbance observer is adopted to estimate the triangular change nonlinearity and uncertainty existing between the altitude signal and the pitch angle signal in the altitude channel, so that the final altitude nonlinear control method has good robustness. Finally, the height nonlinear method only needs to measure the height signal, adopts a dislocation difference method to provide damping, and does not need to measure the speed signal to provide damping, so that the method has the characteristics of definite physical significance, simplicity in implementation and smooth signal, finally enables the height change to be very smooth, and is very suitable for the actual application requirements of the stratospheric airship.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart of a design implementation of a method for nonlinear control of the height of an airship in a stratosphere, provided by the invention;
FIG. 2 is a plot of the flight height (in meters) of an stratospheric airship in accordance with a method provided by an embodiment of the invention;
FIG. 3 is a non-linear integrated signal plot (without units) of a method provided by an embodiment of the present invention;
fig. 4 is a terminal sliding mode signal (without unit) of the method provided by the embodiment of the invention;
FIG. 5 is a differential skew signal plot (without units) of a method provided by an embodiment of the present invention;
FIG. 6 is a plot (without units) of an interference observed signal for a method provided by an embodiment of the present invention;
FIG. 7 is a stratospheric airship pitch angle desired signal (in degrees) in accordance with a method provided by an embodiment of the invention;
FIG. 8 is a plot of pitch rudder deflection angle signals (in degrees) for a stratospheric airship in accordance with a method provided by an embodiment of the present invention;
FIG. 9 is a plot of the pitch angle signature (in degrees) for a stratospheric airship embodying the methods provided by the present invention;
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the invention.
The invention discloses a non-linear control method for the height of an airship on a stratosphere, which mainly comprises the steps of carrying out non-linear integration on a height error signal to form a terminal sliding mode signal, and obtaining the dislocation difference of the terminal sliding mode signal by adopting a difference dislocation method, thereby providing a damping signal for a system. And then, estimating and observing the nonlinearity and uncertainty of inconvenient measurement and calculation of the altitude channel according to a disturbance observer to form a final altitude nonlinear control method. Due to the strong robustness brought by the terminal sliding mode and the self-adaptive capacity brought by the disturbance observer, the method is particularly suitable for the height control of the stratospheric airship.
Hereinafter, a method for controlling the height of an stratospheric airship according to an exemplary embodiment of the present invention will be explained and explained with reference to the drawings. Referring to fig. 1, a method for non-linear control of the height of a stratospheric airship may include the steps of:
step S10: and measuring the flying height of the stratospheric airship by adopting an altimeter, setting an expected height instruction according to the control task, and comparing to obtain a height error.
Specifically, firstly, an expected height instruction is set according to the flight mission of the stratospheric airship and is recorded as hd. And secondly, measuring the height of the stratospheric airship by using an altimeter or other height measuring devices, and recording the height as h. Finally, a height error signal is obtained by comparison, denoted as eh. It is defined as: e.g. of the typeh＝h-hd。
Step S20: and designing a terminal type nonlinear term according to the height error signal, integrating to obtain a nonlinear integral signal, and forming a terminal sliding mode signal.
Specifically, first, the following terminal-type nonlinear term, denoted as e, is designed based on the height error signalf1The calculation method is as follows:
wherein c is1、c2、c3、c4The detailed design of the parameter is described in the following examples.
Secondly, integrating according to the terminal nonlinear term to obtain a terminal integral signal which is recorded as sefThe integral operation is as follows:
sef＝∫ef1dt；
finally, according to the height error signal and the terminal integral signal, a terminal sliding mode signal is combined and recorded as s1The calculation method is as follows:
s1＝c5eh+c6sef；
wherein c is5、c6The detailed design of the parameter is described in the following examples.
Step S30: and designing a differential dislocation device according to the terminal sliding mode signal to obtain a differential dislocation signal of the terminal sliding mode signal.
Specifically, firstly, according to the terminal sliding mode signal s1Constructing a first differentiator, setting the output signal of the first differentiator to y1Set its initial value to 0, i.e. y1(1) When the signal is 0, the increasing signal of the first differentiator is obtained as sd1The calculation method is as follows:
sd1＝(s1-y1)/T1；
wherein T is1The detailed design of the time constant is described in the examples below. The output signal y of the first differentiator is then calculated according to the following recursive formula1N-th data y of1(n)
When n is greater than or equal to 1, y1(n+1)＝y1(n)+sd1T；
Where T is the time interval between data, the detailed design of which is described in the examples below.
Secondly, firstly according to the terminal sliding mode signal s1Constructing a second differentiator, setting the output signal of the second differentiator to y2Set its initial value to 0, i.e. y2(1) When the signal is 0, the increasing signal of the second differentiator is obtained as sd2The calculation method is as follows:
sd2＝(s1-y2)/T2；
wherein T is2The detailed design of the time constant is described in the examples below. The output signal y of the second differentiator is then calculated according to the following recursive formula2N-th data y of2(n)
When n is greater than or equal to 1, y2(n+1)＝y2(n)+sd2T；
Where T is the time interval between data, and is the same as the setting of the first differentiator.
Finally, according to the output signal y of the first differentiator1With the output signal y of the second differentiator2Solving the differential dislocation signal, denoted as sdThe calculation method is as follows:
step S40: and designing a height channel interference observer according to the height error signal to obtain an interference observation signal.
Specifically, the disturbance observer state variable z is first set to an initial value of zero, that is, z (1) ═ 0. Secondly, set the interference observation signal as
The calculation method is as follows:
finally, the state variable z of the disturbance observer is recursively solved according to the following disturbance observer:
wherein k is1、k2、k6Is a constant parameter, the detailed design of which is described in the examples below, thetadFor the pitch angle command signal, the detailed design is as follows, and the initial value can be selected to be 0, i.e. thetad(1) 0. Wherein T is the time interval between data, and the setting of the differentiator is the same.
Step S50: and designing a final stratospheric airship pitch angle expected signal according to the terminal sliding mode signal, the difference dislocation signal and the interference observation signal, and conveying the signal to an airship attitude control system to realize height control.
In particular, according to the terminal sliding mode signal s1And differential dislocation signal sdAnd interfering with the observed signal
Designing a final expected signal of the pitch angle of the stratospheric airship, and recording the signal as thetadThe initial value is selected to be 0, and the following calculation is as follows:
wherein k is3、k4、k5、k7The detailed settings are described in the following examples.
Then, the expected pitch angle signal is transmitted to a pitch channel attitude control system of the stratospheric airship for attitude control, so that the actual pitch angle of the stratospheric airship tracks the expected pitch angle command thetadThe height of the stratospheric airship can be controlled, wherein a stratospheric airship attitude control system is complex, and a corresponding design method is disclosed, which is not the content protected by the patent and is not described in detail herein.
Case implementation and computer simulation result analysis
To verify the validity of the method provided by the present invention, the following case simulation was performed.
In step S10, a desired height command is set, written as
The height of the stratospheric airship measured by the altimeter is shown in fig. 2.
In step S20, c is selected1＝0.01、c2＝0.01、c3＝0.01、c4The nonlinear integrated signal is obtained as shown in fig. 3. Finally, choose c5＝0.08、c6The terminal sliding mode signal is constructed as shown in fig. 4, which is 0.5.
In step S30, T is selected1＝10，T2T is 0.2, and the differential offset signal from which the terminal sliding mode signal is obtained is shown in fig. 5.
In step S40, k is selected1＝0.05、k2＝0.01、k3A high-channel interference observer is designed, and interference observation signals are obtained as shown in fig. 6.
In step S50, k is selected3＝15、k7＝200、k4＝0.02、k5The final stratospheric airship pitch angle desired signal is obtained as shown in fig. 7, which is 0.02. The final stratospheric airship pitch rudder deflection angle is shown in fig. 8, and the final stratospheric airship pitch angle is shown in fig. 9.
It can be seen from fig. 2 that the final height control of the stratospheric airship can well complete the tracking control task of large and small height instructions, and the flight is stable. Wherein, the flight mission is small-height before 800 seconds, and the flight mission is large-height after 800 seconds. As can be seen from fig. 7 and 9, the pitch angle of the airship can stably track the pitch angle instruction task, and meanwhile, as can be seen from fig. 8, the maximum pitch rudder deflection angle instruction of the airship is not more than 30 degrees, so that the engineering control requirement can be met. As can be seen from fig. 4, fig. 5 and fig. 6, the interference observation signal is consistent with the sliding mode signal and the differential error signal in order of magnitude, and meanwhile, since the signal itself is large, the selection of the corresponding control parameter is also small, so that the method is reasonable. In summary, it can be seen that the method provided by the embodiment of the invention has the characteristics of reasonable signal matching, clear physical significance, and stable and accurate tracking of height signals of the stratospheric airship, thereby having very high practical value.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Claims (5)
1. A non-linear control method for the height of an airship on a stratosphere is characterized by comprising the following steps:
step S10: measuring the flying height of the stratospheric airship by adopting an altimeter, setting an expected height instruction according to a control task, and comparing to obtain a height error;
step S20: designing a terminal type nonlinear term according to the height error signal, integrating to obtain a nonlinear integral signal, and then forming a terminal sliding mode signal;
step S30: designing a differential dislocation device according to the terminal sliding mode signal to obtain a differential dislocation signal of the terminal sliding mode signal;
step S40: designing a height channel interference observer according to the height error signal to obtain an interference observation signal;
step S50: and designing a final stratospheric airship pitch angle expected signal according to the terminal sliding mode signal, the difference dislocation signal and the interference observation signal, and conveying the signal to an airship attitude control system to realize height control.
2. The method of claim 1, wherein designing a terminal-type nonlinear term, integrating to obtain a nonlinear integral signal, and then forming a terminal sliding mode signal comprises:
eh＝h-hd；
sef＝∫ef1dt；
s1＝c5eh+c6sef；
wherein ehFor the height error signal, hdAn expected height command to be set according to the flight mission of the stratospheric airship, h being the actual height of the stratospheric airship, ef1Is a terminal type nonlinear term, c1、c2、c3、c4、c5、c6Is a constant parameter. sefIs the integral of a terminal-type nonlinear term, s1Is a terminal sliding mode signal.
3. The method for nonlinear control of the height of an airship in a stratosphere according to claim 1, wherein designing a differential dislocation device to obtain a differential dislocation signal of a terminal sliding mode signal comprises:
sd1＝(s1-y1)/T1；
when n is greater than or equal to 1, y1(n+1)＝y1(n)+sd1T；
sd2＝(s1-y2)/T2；
When n is greater than or equal to 1, y2(n+1)＝y2(n)+sd2T；
s1For said terminal sliding mode signal, y1、y2The output signals of the first and second differentiators are 0, y1(1)＝0，y2(1)＝0。sd1、sd2The increasing signals, T, of the first and second differentiators, respectively1、T2Is a time constant. y is1(n) is the output signal y of the first differentiator1T is the time interval between data. y is2(n) is the output signal y of the second differentiator2The nth data of (1). sdI.e. the differential misalignment signal sought.
4. The method of claim 1, wherein designing a height channel disturbance observer and obtaining a disturbance observation signal comprises:
where z is a state variable of the disturbance observer whose initial value is zero, i.e. z (1) ═ 0.
To interfere with the observed signal, k1、k2、k6Is a constant parameter, θdFor the pitch angle command signal, the detailed design is as follows, and the initial value can be selected to be 0, i.e. thetad(1) 0. Wherein T is the time interval between data, and the setting of the differentiator is the same.
5. The method of claim 1, wherein designing a final stratospheric airship pitch angle expected signal according to a terminal sliding mode signal, a differential misalignment signal and an interference observation signal comprises:
wherein s is1For terminal sliding mode signals, sdIn order to be a differential skew signal,
to disturb the observed signal, θdThe initial value of the final stratospheric airship pitch angle desired signal is selected to be 0. k is a radical of3、k4、k5、k7Is a constant parameter.
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