CN111781941A - Aircraft rolling channel attitude control method based on sliding mode active disturbance rejection composite control - Google Patents
Aircraft rolling channel attitude control method based on sliding mode active disturbance rejection composite control Download PDFInfo
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- CN111781941A CN111781941A CN202010541327.5A CN202010541327A CN111781941A CN 111781941 A CN111781941 A CN 111781941A CN 202010541327 A CN202010541327 A CN 202010541327A CN 111781941 A CN111781941 A CN 111781941A
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- aircraft
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- sliding mode
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
Abstract
The invention discloses an aircraft rolling channel attitude control method based on sliding mode active disturbance rejection composite control, which comprises the following steps of: (1) according to an aircraft motion equation, under the assumption of small disturbance, linearizing a projectile body mathematical model by using a coefficient freezing method to obtain a linearized mathematical model of a rolling channel; (2) a nonlinear tracking differentiator is adopted to arrange a transition process, and a differentiated signal input by a system is reasonably extracted; (3) designing a rolling channel attitude control law by adopting a sliding mode variable structure control method according to a linearized mathematical model; (4) on the basis of the sliding mode variable structure controller, the uncertainty of the real-time estimation system and the external interference sum of the extended state observer are added, and compensation control is carried out on the observed external interference. The invention adopts the sliding mode-active disturbance rejection composite control method to control the attitude of the rolling channel of the aircraft, has the advantages of fast response and high control precision, and has better effects on the aspects of attitude instruction tracking, disturbance resistance and the like.
Description
Technical Field
The invention belongs to the field of flight control of aircrafts, and relates to an aircraft rolling channel attitude control method based on sliding mode active disturbance rejection composite control, which is suitable for rolling channel attitude control of aircrafts.
Background
On the premise that the requirement on the attitude control technical index of the aircraft is continuously improved, the traditional single PID control cannot meet the control requirement. With the development of modern control theory, a more effective aircraft attitude control method is adopted, and becomes an important subject of an aircraft attitude control system.
The sliding mode variable structure control is essentially special nonlinear control and is represented as control discontinuity, and the control strategy is characterized in that a feedback control structure is purposefully and continuously transformed in a jump mode in a dynamic process, so that a system moves according to a preset sliding mode dynamic state track, and the performance of the system reaches a certain expected index. The method is widely applied to the fields of robot control, aircraft control, motor control and the like.
The active disturbance rejection control technology is a novel practical technology which absorbs the achievement of modern control theory, develops and enriches the essence of PID thought (eliminates errors based on errors), all uncertainty and external disturbance acting on a controlled object are summarized as unknown disturbance through a core component, namely an extended state observer, and the unknown disturbance is estimated and compensated in real time by using input and output data of the object. Therefore, interference suppression and robust tracking control for larger uncertainty are realized. Has certain superiority.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method overcomes the defects of the prior art and provides the aircraft rolling channel attitude control method based on sliding mode active disturbance rejection composite control. The method realizes the purpose of high-precision control by estimating and compensating the attitude error of the rolling channel in real time.
The technical solution of the invention is as follows: an aircraft rolling channel attitude control method based on sliding mode active disturbance rejection composite control comprises the following steps:
the method comprises the following steps that (1) according to an aircraft motion equation, under the assumption of small disturbance, a coefficient freezing method is used for obtaining a linear mathematical model of a rolling channel of the aircraft;
step (2) a nonlinear tracking differentiator is adopted to arrange a transition process, and a differentiated signal input by a system is reasonably extracted;
step 3, designing a sliding mode surface switching function design and an approach law by adopting a sliding mode variable structure controller according to a linear mathematical model;
and (4) adding the uncertainty of the real-time estimation system and the external interference sum of the extended state observer on the basis of the sliding mode variable structure controller, and compensating the observed external interference to realize the attitude control of the rolling channel of the aircraft.
Compared with the prior art, the invention has the advantages that:
1) under the condition of large external disturbance, the designed sliding mode variable structure controller can track input signals quickly;
2) in the process of acquiring the input signal and the approximate differential signal thereof, the invention introduces the nonlinear tracking differentiator, which can reasonably extract the differential signal of the input signal;
3) according to the method, the uncertainty and the disturbance sum of the system are accurately estimated in real time by expanding the state observer, and external disturbance is compensated, so that the effect of accurately tracking the attitude of the aircraft is realized, and the system has strong robustness.
4) In the presence of disturbance, the effect of the composite control is better than that of a single sliding mode variable structure controller.
Drawings
FIG. 1 is a flow chart of an aircraft rolling channel attitude control method based on sliding mode active disturbance rejection composite control according to the invention;
fig. 2 is a schematic block diagram of a scroll channel control according to an embodiment.
Detailed Description
The following describes in detail a specific embodiment of the aircraft rolling channel attitude control method based on sliding mode active disturbance rejection composite control according to the method of the present invention with reference to fig. 1 and fig. 2:
1. the coefficient freezing method is used for linearizing the mathematical model of the projectile body, and the mathematical model of the rolling channel is obtained by the following steps:
wherein gamma is the roll angle of the aircraft; w is axIs the roll angular velocity of the aircraft; c. C1,c3Is a pneumatic parameter of the aircraft,xis the aileron deflection angle of the aircraft.
2. Reasonably extracting a differential signal input by the system by adopting a nonlinear tracking differentiator:
wherein x in the formula1Input signal gamma of rolling channel of aircraft for trackingd，x2Is an approximately differential signal of the input signal of the aircraft roll channel, rxNonlinear tracking of the velocity factor, h, of the differentiator for the aircraft roll channelxAnd tracking the filter factor of the differentiator for the rolling channel nonlinearity of the aircraft.
3. And designing a sliding mode variable structure controller of a rolling channel according to the aircraft linearization model.
(1) Designing a sliding mode surface switching function of an aircraft rolling channel as follows:
wherein, cxTo control a parameter, the Hurwitz function, i.e., c, must be satisfiedx＞0。
exTracking error for aircraft roll channel，γ,wxAre the roll attitude angle and roll angular velocity signals.
(2) The approach law function of the sliding mode variable structure controller for designing the rolling channel of the aircraft is as follows:
wherein the content of the first and second substances,x,kxis a control parameter;
obtaining a control law expression of an aircraft rolling channel based on an approximation law as follows:
4. and designing an extended state observer to estimate and compensate the interference in real time based on the steps.
(1) The extended state observer of the active disturbance rejection controller of the roll channel of the aircraft is:
wherein e in the formula is the observation error of the input signal of the rolling channel of the aircraft, and z1Inputting signal x for aircraft rolling channel1Estimate of z2As approximate differential signal x of the roll channel2Estimate of z3Estimate of the sum of the system uncertainty and the external disturbance for the aircraft roll channel, β1,β2,β3,b0Is the parameter to be adjusted.
(2) The method comprises the following steps of performing compensation control on interference of an aircraft roll channel:
therefore, the control law expression of the rolling channel based on the sliding mode active disturbance rejection controller is obtained as follows:
u＝u1-u2(13)
those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art. Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (5)
1. An aircraft rolling channel attitude control method based on sliding mode active disturbance rejection composite control is characterized by comprising the following steps:
the method comprises the following steps that (1) according to an aircraft motion equation, under the assumption of small disturbance, a coefficient freezing method is used for obtaining a linear mathematical model of a rolling channel of the aircraft;
step (2) a nonlinear tracking differentiator is adopted to arrange a transition process, and a differentiated signal input by a system is reasonably extracted;
step 3, designing a sliding mode surface switching function design and an approach law by adopting a sliding mode variable structure controller according to a linear mathematical model;
and (4) adding the uncertainty of the real-time estimation system and the external interference sum of the extended state observer on the basis of the sliding mode variable structure controller, and compensating the observed external interference to realize the attitude control of the rolling channel of the aircraft.
2. The attitude control method for the rolling channel of the aircraft based on the sliding-mode active-disturbance-rejection composite control is characterized by comprising the following steps of: the nonlinear tracker in the step (2) adopts the following model:
wherein, fhan (x)1-xd,x2,r,h)：
Wherein r is a velocity factor and h is a filtering factor; x is the number ofdIs a reference input signal of the system, x1Tracking a reference input signal, x2Tracking the approximately differential signal of the reference input, d0,a,a0And f is an intermediate variable in the resolving process, and the input signal of the system is tracked and the approximate differential signal of the input signal is obtained by solving an equation through iterative elimination.
3. The attitude control method for the rolling channel of the aircraft based on the sliding-mode active-disturbance-rejection composite control is characterized by comprising the following steps of: in the step (3), the following model is adopted for the sliding mode surface switching function:
s(x)＝Cx (2)
wherein x is the corresponding coefficient vector of the switching surface, and C is the corresponding parameter.
4. The attitude control method for the rolling channel of the aircraft based on the sliding-mode active-disturbance-rejection composite control is characterized by comprising the following steps of: in the step (3), the following model is adopted for the approach law:
wherein the content of the first and second substances,
and k is a parameter to be adjusted.
5. The attitude control method for the rolling channel of the aircraft based on the sliding-mode active-disturbance-rejection composite control is characterized by comprising the following steps of: the extended state observer in the step (4) adopts the following model:
wherein y is the system output, z1For an input signal x1Estimate of z2To approximate a differential signal x2U is the system control quantity, z3Is an expanded state variable-an estimate of the sum of the system uncertainty and external disturbances, β1,β2,β3,b0Is the parameter to be adjusted.
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Application publication date: 20201016 |