CN114281092B - Hypersonic aircraft coordination attitude control method based on sliding mode interference observer - Google Patents
Hypersonic aircraft coordination attitude control method based on sliding mode interference observer Download PDFInfo
- Publication number
- CN114281092B CN114281092B CN202111592834.2A CN202111592834A CN114281092B CN 114281092 B CN114281092 B CN 114281092B CN 202111592834 A CN202111592834 A CN 202111592834A CN 114281092 B CN114281092 B CN 114281092B
- Authority
- CN
- China
- Prior art keywords
- hypersonic aircraft
- interference
- attitude
- angle
- representing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000005312 nonlinear dynamic Methods 0.000 claims abstract description 15
- 230000008878 coupling Effects 0.000 claims description 19
- 238000010168 coupling process Methods 0.000 claims description 19
- 238000005859 coupling reaction Methods 0.000 claims description 19
- 239000011159 matrix material Substances 0.000 claims description 16
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000012938 design process Methods 0.000 claims description 3
- 239000013598 vector Substances 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 11
- 230000006870 function Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000013528 artificial neural network Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Feedback Control In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a hypersonic aircraft coordination attitude control method based on a sliding mode interference observer, which aims at the hypersonic aircraft attitude control problem under the conditions of unknown nonlinear dynamics, pneumatic parameter uncertainty and interference, and firstly, a hypersonic aircraft attitude dynamics model containing the pneumatic parameter uncertainty and the interference is established, the unknown nonlinear dynamics in the model is called as unknown dynamics, the pneumatic parameter uncertainty and the interference are called as total interference, and an equivalent model is obtained; secondly, designing a sliding mode interference observer, and respectively estimating unknown dynamic and total interference; and finally, designing a hypersonic aircraft coordination attitude controller based on the sliding mode interference observer by utilizing the unknown dynamic estimated value and the total interference estimated value and combining a back-stepping method. The invention realizes the gesture control of the flat flight section and the pressing section of the hypersonic aircraft, has the characteristics of strong robustness and rapidness, and is suitable for various hypersonic flight systems needing unpowered reentry.
Description
Technical Field
The invention relates to a hypersonic aircraft coordination attitude control method based on a sliding mode interference observer, which solves the hypersonic aircraft attitude control problem containing unknown nonlinear dynamics, pneumatic parameter uncertainty and interference.
Background
Hypersonic aircraft refers to aircraft having a flight speed greater than five machs, and typically operate in the vicinity of 20km-100km from the ground. Because of the characteristics of high flight speed and special working range, hypersonic aircrafts exhibit various characteristics different from those of traditional aerospace craft: strong uncertainty, interference, strong coupling, strong nonlinearity, fast time-variation, multiple constraints. Firstly, the speed of the hypersonic aircraft is extremely high, even 7000m/s can be reached in the reentry stage, and the speed variation range is very large, so that the control algorithm is required to have high-precision, rapidness and other performances, and the target instruction can be tracked in a short time; secondly, the problem of interference in the flight process is solved, the body of the hypersonic aircraft can be subjected to a real gas effect and a viscous effect due to the extremely high flight speed, and serious pneumatic heating can be caused, so that the structure and the inherent mode of the hypersonic aircraft are changed, the atmospheric environment is complex and changeable, and the hypersonic aircraft can be inevitably influenced by air flow disturbance in the flight environment to influence the control performance; the problem of strong coupling is solved, and strong coupling exists among all channels of the hypersonic aircraft and between the hypersonic aircraft structure and the aeroelasticity, so that the generated coupling moment is sometimes even larger than the control moment of the channel; finally hypersonic aircrafts have the problem of strong uncertainty. Because the flight airspace covers the atmosphere to near space, the effective range of classical aerodynamics is exceeded, the current flight test, wind tunnel simulation and computational fluid mechanics are not enough to accurately analyze the flight airspace, and on the other hand, the parameter uncertainty of the hypersonic aircraft is caused by the interaction between the airframe/propulsion/structural mechanics of the hypersonic aircraft. The factors bring a plurality of problems and challenges to the design of the attitude control system of the hypersonic aircraft, and the hypersonic aircraft high-precision coordination attitude control method has wide application prospect.
Currently, research on hypersonic aircraft attitude control is mainly focused on two aspects of adaptive control and robust control. The patent number CN201910333259.0 proposes a hypersonic aircraft coordination control method based on dynamic coupling analysis, and a dynamic coupling analysis method is applied to a hypersonic aircraft longitudinal system model to obtain a dynamic coupling relation matrix between a system variable and a control input variable, so as to design a hypersonic aircraft longitudinal system coordination controller. The hypersonic aircraft neural network learning control method based on lumped composite estimation is provided in the patent number CN201810950223.2, a hypersonic aircraft longitudinal channel model is decoupled into a speed subsystem and a height subsystem, the estimation is carried out by adopting a neural network aiming at uncertain dynamics existing in the system, the estimation is carried out by adopting a nonlinear observer aiming at coupling brought by an elastic mode, the height and the speed are provided based on two estimator information to realize the tracking of the height and the speed, the hypersonic aircraft neural network composite learning control method based on robust design is provided in the patent number CN201710789243.1, the strict feedback form of the gesture subsystem is transformed to obtain an output feedback form, the estimation is carried out on a newly defined variable by adopting a high-gain observer, meanwhile, the lumped uncertainty of the neural network approximation system is utilized, the method has better robustness, but the three methods neglect part of nonlinear dynamics in the hypersonic aircraft model based on the simplified longitudinal model, have a certain difference with the actual application of the hypersonic aircraft, and the hypersonic aircraft is difficult to directly apply in engineering. The method comprises the steps of designing a PID control law for a slow loop of a hypersonic aircraft attitude control system, designing a terminal sliding mode control law for a fast loop, reducing the sensitivity of a controller to system parameters, decomposing an attitude dynamics model into an inner loop and an outer loop for tracking an attitude angle and an angular velocity according to fast time-varying, nonlinear and strong coupling characteristics of the hypersonic aircraft in a hypersonic aircraft attitude self-adaptive decoupling control method research, and designing a double-loop control system structure by adopting a dynamic inverse method to obtain a better control effect, wherein the two methods are not designed for anti-interference aiming at interference, and the control accuracy is limited under the condition of interference.
In summary, the existing method lacks a high-precision coordination attitude control method for the hypersonic aircraft under the conditions of unknown nonlinear dynamics, uncertainty of aerodynamic parameters and interference, and needs to overcome the coordination attitude control method for the hypersonic aircraft based on the sliding mode interference observer.
Disclosure of Invention
The invention solves the technical problems that: aiming at the control problems of the flat flight section and the pressing section of the hypersonic aircraft with unknown nonlinear dynamics, uncertain aerodynamic parameters and interference, the defect of the prior art is overcome, the hypersonic aircraft coordination attitude control method based on the sliding mode interference observer is provided, the estimation and compensation of the unknown dynamics and the total interference are realized, a set of control strategies are adopted to enable the attitude of the aircraft to track a given expected attitude instruction, certain dynamic performance of the controller is ensured, and the autonomy, the accuracy and the anti-interference capability of the hypersonic aircraft control process are improved.
The technical scheme of the invention is as follows: according to the attitude dynamics characteristics of the hypersonic aircraft, a hypersonic aircraft attitude dynamics model containing pneumatic parameter uncertainty and interference is established, unknown nonlinear dynamics of the coupling of an attack angle, a sideslip angle, a speed roll angle channel and a centroid motion state in the attitude dynamics model are called as unknown dynamics, pneumatic parameter uncertainty and interference of roll, yaw and pitch channels are called as total interference, and related state variables in the attitude dynamics model are expressed in a differential equation set form, so that an equivalent model is obtained; secondly, designing a sliding mode interference observer, and respectively estimating the unknown dynamic and the total interference to obtain an estimated value of the unknown dynamic and the total interference, wherein the estimated error of the unknown dynamic and the total interference can be converged to zero in a limited time, and the specific value of the limited time is determined by the initial state of the aircraft and the design parameters of the sliding mode interference observer; finally, a hypersonic aircraft coordination gesture controller based on a sliding mode interference observer is designed by utilizing an unknown dynamic estimated value and a total interference estimated value and combining a back-stepping method, and the hypersonic aircraft coordination gesture control method based on the sliding mode interference observer is completed, wherein the method comprises the following specific implementation steps:
Firstly, establishing a hypersonic aircraft attitude dynamics model containing pneumatic parameter uncertainty and interference according to hypersonic aircraft attitude dynamics characteristics; unknown nonlinear dynamics of the coupling of attack angles, sideslip angles, velocity roll angle channels and mass center motion states in the gesture dynamics model are called unknown dynamics; the three channels represent a rolling channel, a yaw channel and a pitch channel, the uncertainty and the interference of aerodynamic parameters of the three channels in the attitude dynamics model are called total interference, related state variables in the attitude dynamics model are represented in the form of differential equation sets, and an equivalent model of the hypersonic aircraft attitude dynamics model is obtained, and the method comprises the following specific implementation steps:
(1) According to the attitude dynamics characteristics of the hypersonic aircraft, establishing a hypersonic aircraft attitude dynamics model containing pneumatic parameter uncertainty and interference;
wherein alpha is the attack angle of the hypersonic aircraft, beta is the sideslip angle of the hypersonic aircraft, gamma v is the velocity tilt angle of the hypersonic aircraft, First derivatives of alpha, beta and gamma v respectively, omega m、ωn、ωl is pitch, yaw and roll rotational angular velocity respectively,/>The first derivative of ω m、ωn、ωl, I m、In、Il is pitch, yaw, and roll axis moment of inertia, r 1、r2、r3 is unknown nonlinear dynamics of the coupling of attack angle, sideslip angle, velocity roll angle channel and centroid motion state in the gesture dynamics model, d 1、d2、d3 is pneumatic parameter uncertainty and interference of three channels in the gesture dynamics model, V is hypersonic aircraft speed, θ is track dip angle, m is hypersonic aircraft mass, g is gravitational acceleration, T is engine thrust, zero in the unpowered reentry process, D, L, Z, M m、Mn、Ml is resistance, lift force, lateral force, pitch moment, yaw moment, and roll moment, respectively, and the expression is as follows:
Wherein ρ is the atmospheric density, S is the hypersonic aircraft reference area, c D、cL、cZ is the resistance, lift, lateral force coefficient, b is the wing span, l is the average aerodynamic chord length of the wing, c m、cn、cl is the roll, yaw, pitch moment coefficient, aerodynamic force, aerodynamic moment coefficient model as follows:
Wherein Ma is Mach number, delta m、δn、δl is pitch, yaw and roll rudder deflection angles respectively, The control quantity is the pitch rudder deflection angle delta m, the yaw rudder deflection angle delta n and the roll rudder deflection angle delta l of the hypersonic aircraft;
(2) And expressing relevant state variables in the attitude dynamics model in the form of differential equation sets to obtain an equivalent model:
Wherein x 1＝[α,β,γv]T represents hypersonic aircraft attitude angle, x 2＝[ωm,ωn,ωl]T represents hypersonic aircraft angular rate, u= [ delta m,δn,δl]T ] represents control input, D 1＝[r1 r2 r3]T represents unknown dynamics, D 2＝[d1 d2d3]T represents total disturbance, and G represents control gain matrix.
Secondly, designing a sliding mode interference observer based on an equivalent model, and respectively estimating the unknown dynamic and the total interference to obtain an estimated value of the unknown dynamic and the total interference, wherein the estimated error of the unknown dynamic and the total interference can be converged to zero in a limited time, and the specific value of the limited time is determined by the initial state of the aircraft and the design parameters of the sliding mode interference observer;
based on the equivalent model, a sliding mode interference observer is designed as follows:
Wherein the method comprises the steps of ,[f1,f2,f3]T＝F(x1)x2,[f4,f5,f6]T＝H(x2)+M+Gu, Estimated value representing hypersonic aircraft angle of attack alpha,/>Estimated value representing hypersonic aircraft sideslip angle beta,/>Estimated value representing hypersonic aircraft speed pitch angle gamma v,/>Estimated value representing angular velocity ω m of pitch rotation of hypersonic aircraft,/>Estimated value representing yaw rotational angular velocity ω n of hypersonic aircraft,/>Estimated value representing hypersonic aircraft roll rotational angular velocity ω l,/>Representing an estimate of the unknown dynamic r 1,/>Representing an estimate of the unknown dynamic r 2,/>Representing an estimate of the unknown dynamic r 3,/>Representing an estimate of the total interference d 1/>Representing an estimate of the total interference d 2/>Representing an estimate of the total interference d 3, All represent intermediate variables in the design process, L 1、L2、L3、L4、L5、L6 represents the design parameters of the sliding mode interference observer, and the sign function is defined as follows: for real y
For column vectors
sign(Y)＝[sign(y1)sign(y2)sign(y3)]T
In the third step, a hypersonic aircraft attitude controller coordinated by three channels is designed by utilizing an unknown dynamic estimated value and a total interference estimated value and combining a back-stepping method, and the hypersonic aircraft coordinated attitude control method based on the sliding mode interference observer is completed:
(1) The calm function is designed such that hypersonic aircraft pose tracking desire instruction x 1d＝[αd,βd,γvd]T,αd represents the desired angle of attack, β d represents the desired sideslip angle, γ vd represents the desired velocity roll angle, pose tracking error z 1＝x1d-x1 is defined, and the calm function is designed:
Wherein E represents the inverse of matrix F (x 1):
Representing an estimate of the unknown dynamic D 1, c 1、κ1 representing a design parameter,/> A derivative representing the desired instruction x 1d;
(2) Designing a control input, enabling the hypersonic aircraft angular rate to track and calm a function z d, defining an angular rate tracking error z 2＝zd-x2, and designing a hypersonic aircraft coordination posture controller:
Wherein,
Wherein the matrix Φ represents:
Wherein, The derivative of the inverse matrix E, which represents the matrix F (x 1), is expressed as:
Wherein, Representing an estimate of the total interference D 2/(Derivative representing the desired gesture instruction,/>Representing the second derivative of the desired attitude command, κ 1、κ2、κ3、κ4、κ5、c1、c2 represents the design parameters of the hypersonic aircraft coordination attitude controller.
Compared with the prior art, the invention has the advantages that: aiming at the defects that the prior method has no favorable coupling among all channels, easy saturation of control input and lack of high-precision control capability, the invention designs a sliding mode interference observer to estimate the total interference consisting of the uncertainty of the unknown dynamic and the pneumatic parameter in an angular rate ring and the interference in a gesture ring respectively, designs a control law based on a back-stepping method to coordinate and control the three-axis gesture and compensate the unknown dynamic and the total interference, realizes a three-axis coordinated gesture controller, can obviously reduce the output of the controller by adjusting design parameters, reduces the occurrence of the saturation condition of the control surface of an actuating mechanism, can realize high-precision robust control of the gesture of a hypersonic aircraft under the condition that the uncertainty and the interference of the pneumatic parameter exist, and is suitable for gesture control systems of the flat flight section and the hold-down section of the hypersonic aircraft.
Drawings
FIG. 1 is a flow chart of the design of the method of the present invention;
FIG. 2 is a control block diagram of the method of the present invention;
FIG. 3 is a diagram of simulation results of unknown dynamic estimation effects of the method of the present invention;
FIG. 4 is a diagram of simulation results of the total interference estimation effect of the method of the present invention;
fig. 5 is a diagram of simulation results of the gesture tracking effect of the method of the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
As shown in fig. 1, the invention relates to a hypersonic aircraft coordination attitude control method based on a sliding mode interference observer. Firstly, establishing a hypersonic aircraft attitude dynamics model containing pneumatic parameter uncertainty and interference according to hypersonic aircraft attitude dynamics characteristics; unknown nonlinear dynamics of the coupling of attack angles, sideslip angles, velocity roll angle channels and mass center motion states in the gesture dynamics model are called unknown dynamics; the three channels represent a roll channel, a yaw channel and a pitch channel, and the pneumatic parameter uncertainty and the interference of the three channels in the attitude dynamics model are called total interference. Expressing relevant state variables in the attitude dynamics model in the form of differential equation sets to obtain an equivalent model; secondly, designing a sliding mode interference observer based on an equivalent model, and respectively estimating the unknown dynamic and the total interference to obtain estimated values of the unknown dynamic and the total interference, wherein the estimated errors of the unknown dynamic and the total interference can be converged to zero in a limited time, and the specific value of the limited time is determined by the initial state of the aircraft and the design parameters of the sliding mode interference observer. Thirdly, designing a three-channel coordinated hypersonic aircraft attitude controller by utilizing the dynamic estimation value and the total interference estimation value and combining a back-stepping method, so as to finish a hypersonic aircraft coordinated attitude control method based on a sliding mode interference observer; the three-axis coordination attitude controller is realized by designing the control law based on the backstepping method to carry out coordination control on the three-axis attitude and compensating unknown dynamic and total interference, the output of the controller can be obviously reduced by adjusting design parameters, the occurrence of the saturation condition of the control surface of an actuating mechanism is reduced, meanwhile, the high-precision robust control on the attitude of the hypersonic aircraft can be realized under the condition that the uncertainty and the interference of pneumatic parameters exist, and the three-axis coordination attitude controller is suitable for an attitude control system of a flat flight section and a pressing section of the hypersonic aircraft.
The specific implementation steps are as follows:
Firstly, establishing a hypersonic aircraft attitude dynamics model containing pneumatic parameter uncertainty and interference according to hypersonic aircraft attitude dynamics characteristics; unknown nonlinear dynamics of the coupling of attack angles, sideslip angles, velocity roll angle channels and mass center motion states in the gesture dynamics model are called unknown dynamics; the three channels represent a rolling channel, a yaw channel and a pitch channel, the uncertainty and the interference of aerodynamic parameters of the three channels in the attitude dynamics model are called total interference, related state variables in the attitude dynamics model are represented in the form of differential equation sets, and an equivalent model of the hypersonic aircraft attitude dynamics model is obtained, and the method comprises the following specific implementation steps:
(1) According to the attitude dynamics characteristics of the hypersonic aircraft, establishing a hypersonic aircraft attitude dynamics model containing pneumatic parameter uncertainty and interference;
wherein alpha is the attack angle of the hypersonic aircraft, the initial value is 0 radian, beta is the sideslip angle of the hypersonic aircraft, the initial value is 0 radian, gamma v is the velocity inclined angle of the hypersonic aircraft, the initial value is 0 radian, The first derivatives of alpha, beta and gamma v are respectively, omega m、ωn、ωl is the pitching, yawing and rolling rotation angular velocity respectively, the initial values are 0 radian/second,The first derivative of omega m、ωn、ωl, I m is pitch axis moment of inertia, 1800 kg-m 2,In is yaw axis moment of inertia, 1800 kg-m 2,Il is roll axis moment of inertia, 150 kg-m 2,r1、r2、r3 is unknown nonlinear dynamics of coupling of attack angle, sideslip angle, velocity roll angle channel and centroid motion state in the attitude dynamics model, d 1、d2、d3 is pneumatic parameter uncertainty and interference of three channels in the attitude dynamics model, V is hypersonic aircraft speed, initial value is 2400 m/s, θ is track dip angle, initial value is 0 radian, m is hypersonic aircraft mass, g is gravity acceleration, T is engine thrust, zero in unpowered reentry process, D, L, Z, M m、Mn、Ml is resistance, lift force, lateral force, pitch moment, yaw moment, roll moment, respectively, the expression is as follows:
Wherein ρ is the atmospheric density, S is the hypersonic aircraft reference area, the value is 1 square meter, c D、cL、cZ is resistance, lift, side force coefficient respectively, b is wing span length, the value is 4 meters, l is the average aerodynamic chord length of the wing, the value is 1 meter, c m、cn、cl is roll, yaw, pitch moment coefficient respectively, aerodynamic force, aerodynamic moment coefficient models are as follows:
Wherein Ma is Mach number, delta m、δn、δl is pitch, yaw and roll rudder deflection angles respectively, The control quantity is the pitch rudder deflection angle delta m, the yaw rudder deflection angle delta n and the roll rudder deflection angle delta l of the hypersonic aircraft.
(2) And expressing relevant state variables in the attitude dynamics model in the form of differential equation sets to obtain an equivalent model:
Wherein x 1＝[α,β,γv]T represents hypersonic aircraft attitude angle, x 2＝[ωm,ωn,ωl]T represents hypersonic aircraft angular rate, u= [ delta m,δn,δl]T ] represents control input, D 1＝[r1 r2 r3]T represents unknown dynamics, D 2＝[d1 d2d3]T represents total disturbance, and G represents control gain matrix.
Secondly, designing a sliding mode interference observer based on an equivalent model, and respectively estimating the unknown dynamic and the total interference to obtain an estimated value of the unknown dynamic and the total interference, wherein the estimated error of the unknown dynamic and the total interference can be converged to zero in a limited time, and the specific value of the limited time is determined by the initial state of the aircraft and the design parameters of the sliding mode interference observer;
the sliding mode interference observer is designed as follows:
Wherein the method comprises the steps of ,[f1,f2,f3]T＝F(x1)x2,[f4,f5,f6]T＝H(x2)+M+Gu, Estimated value representing hypersonic aircraft angle of attack alpha,/>Estimated value representing hypersonic aircraft sideslip angle beta,/>Estimated value representing hypersonic aircraft speed pitch angle gamma v,/>Estimated value representing angular velocity ω m of pitch rotation of hypersonic aircraft,/>Estimated value representing yaw rotational angular velocity ω n of hypersonic aircraft,/>Estimated value representing hypersonic aircraft roll rotational angular velocity ω l,/>Representing an estimate of the unknown dynamic r 1,/>Representing an estimate of the unknown dynamic r 2,/>Representing an estimate of the unknown dynamic r 3,/>Representing an estimate of the total interference d 1/>Representing an estimate of the total interference d 2/>Representing an estimate of the total interference d 3, All represent intermediate variables in the design process, L 1、L2、L3、L4、L5、L6 represents design parameters of the sliding mode interference observer, and can be taken as follows:
L1＝0.01
L2＝0.01
L3＝0.01
L4＝0.05
L5＝0.05
L6＝0.10
Wherein the sign function is defined as: for real y
For column vectors
sign(Y)＝[sign(y1) sign(y2) sign(y3)]T
Thirdly, designing a three-channel coordinated hypersonic aircraft attitude controller by utilizing an unknown dynamic estimated value and a total interference estimated value and combining a back-stepping method, and completing hypersonic aircraft coordinated attitude control based on a sliding mode interference observer:
(1) Designing a stabilizing function, enabling a hypersonic aircraft attitude tracking expected instruction x 1d＝[αd,βd,γvd]T,αd to represent an expected attack angle, namely a step signal with an initial value of 0 radian and a final value of 0.17 radian and a step response time of 0.5 seconds, enabling beta d to represent an expected sideslip angle, enabling gamma vd to represent an expected speed rolling angle, enabling the hypersonic aircraft attitude tracking expected instruction x 1d＝[αd,βd,γvd]T,αd to be a square wave signal with an amplitude of 0.087 radian and a period of 20 seconds, defining an attitude tracking error z 1＝x1d-x1, and designing the stabilizing function:
Wherein E represents the inverse of matrix F (x 1):
Representing an estimate of the unknown dynamic D 1, c 1、κ1 represents a design parameter, which can be chosen as c 1＝2.0、κ1 =0.3,/> A derivative representing the desired instruction x 1d;
(2) Designing a control input, enabling the hypersonic aircraft angular rate to track and calm a function z d, defining an angular rate tracking error z 2＝zd-x2, and designing a hypersonic aircraft coordination posture controller:
Wherein,
Wherein, the matrix Φ represents:
Wherein, The derivative of the inverse matrix E, which represents the matrix F (x 1), is expressed as:
Wherein, Representing an estimate of the total interference D 2/(Derivative representing the desired gesture instruction,/>Representing the second derivative of the desired attitude command, κ 1、κ2、κ3、κ4、κ5、c1、c2 represents the design parameters of the hypersonic aircraft coordination attitude controller, which can be taken as:
c2＝1.3,κ2＝0.3,κ3＝0.3,κ4＝0.3,κ5＝0.3
the hypersonic aircraft coordination attitude control method based on the sliding mode interference observer and the parameters are adopted, and simulation software is used for testing. Fig. 3 shows: the sliding mode interferes with the observer's estimated effect on the unknown dynamics. The solid line in the upper graph of fig. 3 represents the true value of the unknown dynamic r 1, the broken line represents the estimated value of the unknown dynamic r 1, and the estimated error converges to zero after 6 seconds; the solid line in the graph in fig. 3 represents the true value of the unknown dynamic r 2, the broken line represents the estimated value of the unknown dynamic r 2, and the estimated error converges to zero after 4 seconds; the solid line in the lower graph of fig. 3 represents the true value of the unknown dynamic r 3, the dashed line represents the estimated value of the unknown dynamic r 3, and the estimated error converges to zero after 4 seconds; fig. 3 illustrates that the sliding mode interference observer designed by the present invention can quickly converge to zero for the estimation error of unknown dynamics.
Fig. 4 shows: the effect of the sliding mode interference observer on the estimation of the total interference. The solid line in the upper graph of fig. 4 represents the true value of the total interference d 1, the broken line represents the estimated value of the total interference d 1, and the estimated error converges to zero over 8 seconds; the solid line in the graph in fig. 4 represents the true value of the total interference d 2, the broken line represents the estimated value of the total interference d 2, and the estimated error converges to zero over 4 seconds; the solid line in the lower graph of fig. 4 represents the true value of the total interference d 3, the broken line represents the estimated value of the total interference d 3, and the estimated error converges to zero over 4 seconds; fig. 4 illustrates that the error of the sliding mode interference observer designed by the present invention in estimating the total interference can converge to zero rapidly.
Fig. 5 shows: under the control action of the hypersonic aircraft coordination posture controller based on the sliding mode interference observer, the hypersonic aircraft has the tracking effect on the expected command x 1d＝[αd,βd,γvd]T. The solid line in the upper graph of fig. 5 represents the desired angle of attack α d, the dashed line represents the actual angle of attack α, and the tracking error converges to zero over 8 seconds; the solid line in the diagram in fig. 5 represents the desired sideslip angle β d, the broken line represents the actual sideslip angle β, and the tracking error converges to zero over 4 seconds; the solid line in the lower graph of fig. 5 indicates the desired speed roll angle γ vd, the broken line indicates the actual speed roll angle γ v, and the tracking error converges to zero over 4 seconds; fig. 5 illustrates that the hypersonic aircraft coordination posture controller designed by the invention has good control effect on the hypersonic aircraft posture, and the posture command tracking error can be quickly converged to zero.
By adopting the method to control the gesture of the hypersonic aircraft, a set of gesture control strategies can be used in the flat flight section and the pressing section of the hypersonic aircraft, and the dynamic performance of the controller is kept better, and no steady-state errors exist in unknown dynamic estimation, total interference estimation and gesture tracking. Meanwhile, compared with a single-channel controller without interference estimation and compensation, the control effect is relatively smaller in control input, and meanwhile, larger pneumatic parameter uncertainty and total system interference can be borne, so that the requirements of high precision and strong robustness are met.
What is not described in detail in the present specification belongs to the prior art known to those skilled in the art.
Claims (3)
1. The hypersonic aircraft coordination attitude control method based on the sliding mode interference observer is characterized by comprising the following steps of:
Firstly, establishing a hypersonic aircraft attitude dynamics model containing pneumatic parameter uncertainty and interference according to hypersonic aircraft attitude dynamics characteristics; unknown nonlinear dynamics of the coupling of attack angles, sideslip angles, velocity roll angle channels and mass center motion states in the gesture dynamics model are called unknown dynamics; the three channels represent a rolling channel, a yaw channel and a pitch channel, the uncertainty and the interference of pneumatic parameters of the three channels in the gesture dynamics model are called total interference, and related state variables in the gesture dynamics model are represented in the form of differential equation sets to obtain an equivalent model;
Secondly, designing a sliding mode interference observer based on an equivalent model, and respectively estimating the unknown dynamic and the total interference to obtain an estimated value of the unknown dynamic and the total interference, wherein the estimated error of the unknown dynamic and the total interference can be converged to zero in a limited time, and the specific value of the limited time is determined by the initial state of the aircraft and the design parameters of the sliding mode interference observer;
Thirdly, designing a hypersonic aircraft coordination gesture controller based on a sliding mode interference observer by utilizing an unknown dynamic estimated value and a total interference estimated value and combining a back-stepping method, so as to finish the hypersonic aircraft coordination gesture control method based on the sliding mode interference observer technology;
In the first step, according to the attitude dynamics characteristics of the hypersonic aircraft, establishing a hypersonic aircraft attitude dynamics model containing pneumatic parameter uncertainty and interference; unknown nonlinear dynamics of the coupling of attack angles, sideslip angles, velocity roll angle channels and mass center motion states in the gesture dynamics model are called unknown dynamics; the three channels represent a rolling channel, a yaw channel and a pitch channel, the uncertainty and the interference of pneumatic parameters of the three channels in the attitude dynamics model are called total interference, related state variables in the attitude dynamics model are represented in the form of differential equation sets, and an equivalent model is obtained, and the method comprises the following specific implementation steps:
(1) According to the attitude dynamics characteristics of the hypersonic aircraft, establishing a hypersonic aircraft attitude dynamics model containing pneumatic parameter uncertainty and interference;
wherein alpha is the attack angle of the hypersonic aircraft, beta is the sideslip angle of the hypersonic aircraft, gamma v is the velocity tilt angle of the hypersonic aircraft, First derivatives of alpha, beta and gamma v respectively, omega m、ωn、ωl is pitch, yaw and roll rotational angular velocity respectively,/>The first derivative of ω m、ωn、ωl, I m、In、Il is pitch, yaw, and roll axis moment of inertia, r 1、r2、r3 is unknown nonlinear dynamics of the coupling of attack angle, sideslip angle, velocity roll angle channel and centroid motion state in the gesture dynamics model, d 1、d2、d3 is pneumatic parameter uncertainty and interference of three channels in the gesture dynamics model, V is hypersonic aircraft speed, θ is track dip angle, m is hypersonic aircraft mass, g is gravitational acceleration, T is engine thrust, zero in the unpowered reentry process, D, L, Z, M m、Mn、Ml is resistance, lift force, lateral force, pitch moment, yaw moment, and roll moment, respectively, and the expression is as follows:
Wherein ρ is the atmospheric density, S is the hypersonic aircraft reference area, c D、cL、cZ is the resistance, lift, lateral force coefficient, b is the wing span, l is the average aerodynamic chord length of the wing, c m、cn、cl is the roll, yaw, pitch moment coefficient, aerodynamic force, aerodynamic moment coefficient model as follows:
Wherein Ma is Mach number, delta m、δn、δl is pitch, yaw and roll rudder deflection angles respectively, The control quantity is the pitch rudder deflection angle delta m, the yaw rudder deflection angle delta n and the roll rudder deflection angle delta l of the hypersonic aircraft;
(2) And expressing relevant state variables in the attitude dynamics model in the form of differential equation sets to obtain an equivalent model:
Wherein x 1＝[α,β,γv]T represents hypersonic aircraft attitude angle, x 2＝[ωm,ωn,ωl]T represents hypersonic aircraft angular rate, u= [ delta m,δn,δl]T ] represents control input, D 1＝[r1 r2 r3]T represents unknown dynamics, D 2＝[d1 d2 d3]T represents total disturbance, and G represents control gain matrix.
2. The hypersonic aircraft coordination posture control method based on the sliding mode interference observer as set forth in claim 1, wherein: in the second step, a sliding mode interference observer is designed based on an equivalent model as follows:
Wherein the method comprises the steps of ,[f1,f2,f3]T＝F(x1)x2,[f4,f5,f6]T＝H(x2)+M+Gu, Estimated value representing hypersonic aircraft angle of attack alpha,/>Estimated value representing hypersonic aircraft sideslip angle beta,/>Estimated value representing hypersonic aircraft speed pitch angle gamma v,/>Estimated value representing angular velocity ω m of pitch rotation of hypersonic aircraft,/>Estimated value representing yaw rotational angular velocity ω n of hypersonic aircraft,/>Estimated value representing hypersonic aircraft roll rotational angular velocity ω l,/>Representing an estimate of the unknown dynamic r 1,/>Representing an estimate of the unknown dynamic r 2,/>Representing an estimate of the unknown dynamic r 3,/>Representing an estimate of the total interference d 1/>Representing an estimate of the total interference d 2/>Representing an estimate of the total interference d 3, All represent intermediate variables in the design process, L 1、L2、L3、L4、L5、L6 represents the design parameters of the sliding mode interference observer, and the sign function is defined as follows: for real y
And for column vector y= [ Y 1,y2,y3]T,
sign(Y)＝[sign(y1) sign(y2) sign(y3)]T。
3. The hypersonic aircraft coordination posture control method based on the sliding mode interference observer as set forth in claim 1, wherein: the third step is specifically implemented as follows:
(1) The calm function is designed such that hypersonic aircraft pose tracking desire instruction x 1d＝[αd,βd,γvd]T,αd represents the desired angle of attack, β d represents the desired sideslip angle, γ vd represents the desired velocity roll angle, pose tracking error z 1＝x1d-x1 is defined, and the calm function is designed:
Wherein E represents the inverse of matrix F (x 1):
Representing an estimate of the unknown dynamic D 1, c 1、κ1 representing a design parameter,/> A derivative representing the desired instruction x 1d;
(2) Designing a control input, enabling the hypersonic aircraft angular rate to track and calm a function z d, defining an angular rate tracking error z 2＝zd-x2, and designing a hypersonic aircraft coordination posture controller:
Wherein,
Wherein, the matrix Φ represents:
Wherein, The derivative of the inverse matrix E, which represents the matrix F (x 1), is expressed as:
Wherein, Representing an estimate of the total interference D 2/(Derivative representing the desired gesture instruction,/>Representing the second derivative of the desired attitude command, κ 1、κ2、κ3、κ4、κ5、c1、c2 represents the design parameters of the hypersonic aircraft coordination attitude controller. /(I)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111592834.2A CN114281092B (en) | 2021-12-23 | 2021-12-23 | Hypersonic aircraft coordination attitude control method based on sliding mode interference observer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111592834.2A CN114281092B (en) | 2021-12-23 | 2021-12-23 | Hypersonic aircraft coordination attitude control method based on sliding mode interference observer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114281092A CN114281092A (en) | 2022-04-05 |
| CN114281092B true CN114281092B (en) | 2024-06-14 |
Family
ID=80874983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111592834.2A Active CN114281092B (en) | 2021-12-23 | 2021-12-23 | Hypersonic aircraft coordination attitude control method based on sliding mode interference observer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114281092B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116483103B (en) * | 2023-03-28 | 2023-12-01 | 西北工业大学 | Hypersonic aircraft attitude control method based on disturbance observer |
| CN116184839B (en) * | 2023-04-27 | 2023-06-23 | 中国科学院工程热物理研究所 | Self-adaptive anti-interference decoupling control system and method for aero-engine |
| CN116414152B (en) * | 2023-06-12 | 2023-08-15 | 中国空气动力研究与发展中心空天技术研究所 | Reentry vehicle transverse and lateral rapid maneuver control method, system, terminal and medium |
| CN116610137B (en) * | 2023-07-19 | 2023-09-15 | 北京航空航天大学 | Hypersonic aircraft strong disturbance rejection control method based on disturbance prediction |
| CN116755342B (en) * | 2023-08-17 | 2023-10-24 | 中国科学院工程热物理研究所 | Self-adaptive control system and method for anti-interference of back-stepping of aero-engine |
| CN117389154B (en) * | 2023-12-06 | 2024-02-27 | 北京航空航天大学杭州创新研究院 | Anti-interference attitude coordination control method for allosteric aircraft based on dynamic control allocation |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2037458C1 (en) * | 1986-12-11 | 1995-06-19 | Борисов Василий Васильевич | Method of transportation of loose materials, aerosols and capsules |
| US11011834B2 (en) * | 2017-06-27 | 2021-05-18 | Florida State University Research Foundation, Inc. | Metamaterials, radomes including metamaterials, and methods |
| CN107272719B (en) * | 2017-06-29 | 2019-09-20 | 南京航空航天大学 | Hypersonic aircraft attitude motion control method for coordinating based on coordinating factor |
| CN107479384B (en) * | 2017-09-05 | 2019-10-22 | 西北工业大学 | The non-backstepping control method of hypersonic aircraft neural network Hybrid Learning |
| CN110377045B (en) * | 2019-08-22 | 2020-09-01 | 北京航空航天大学 | Aircraft full-profile control method based on anti-interference technology |
| CN111045440B (en) * | 2019-12-16 | 2020-12-15 | 北京航空航天大学 | Hypersonic aircraft nose-down section rapid rolling control method |
| CN111290278B (en) * | 2020-02-27 | 2022-05-03 | 南京信息工程大学 | Hypersonic aircraft robust attitude control method based on prediction sliding mode |
| CN111367182A (en) * | 2020-04-23 | 2020-07-03 | 湖南云顶智能科技有限公司 | Hypersonic aircraft anti-interference backstepping control method considering input limitation |
-
2021
- 2021-12-23 CN CN202111592834.2A patent/CN114281092B/en active Active
Non-Patent Citations (1)
| Title |
|---|
| 多源干扰下高超声速飞行器自主精细控制;郭雷;《宇航学报》;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114281092A (en) | 2022-04-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114281092B (en) | Hypersonic aircraft coordination attitude control method based on sliding mode interference observer | |
| CN110377045B (en) | Aircraft full-profile control method based on anti-interference technology | |
| CN108363305B (en) | Tactical missile robust overload autopilot design method based on active interference compensation | |
| CN109426146B (en) | High-order nonsingular Terminal sliding mode control method of hypersonic aircraft | |
| CN111665857B (en) | Variant aircraft control method based on composite intelligent learning | |
| CN109189087B (en) | Self-adaptive fault-tolerant control method for vertical take-off and landing reusable carrier | |
| CN107942651B (en) | Near space vehicle control system | |
| CN111708377B (en) | Flight control method based on inertial navigation/flight control system information fusion | |
| CN106842912B (en) | Hypersonic speed maneuvering flight control surface saturation robust control method | |
| CN112346470A (en) | Four-rotor attitude control method based on improved active disturbance rejection control | |
| CN111679583B (en) | Adaptive control method of variant aircraft based on aerodynamic parameter estimation | |
| CN111367182A (en) | Hypersonic aircraft anti-interference backstepping control method considering input limitation | |
| CN109828602B (en) | Track loop nonlinear model transformation method based on observation compensation technology | |
| CN109062055A (en) | A kind of Near Space Flying Vehicles control system based on Back-stepping robust adaptive dynamic surface | |
| CN111290278B (en) | Hypersonic aircraft robust attitude control method based on prediction sliding mode | |
| CN109703768B (en) | Soft air refueling docking method based on attitude/trajectory composite control | |
| CN111045440B (en) | Hypersonic aircraft nose-down section rapid rolling control method | |
| CN111273681A (en) | Hypersonic aircraft high-safety anti-interference control method considering limited attack angle | |
| CN113778129A (en) | Hypersonic speed variable sweepback wing aircraft tracking control method with interference compensation | |
| CN115576341A (en) | Unmanned aerial vehicle trajectory tracking control method based on function differentiation and adaptive variable gain | |
| CN114721266B (en) | Self-adaptive reconstruction control method under condition of structural failure of control surface of airplane | |
| CN116300992A (en) | L-based 1 Adaptive dynamic inverse variant aircraft control method | |
| CN113900448A (en) | Aircraft prediction correction composite guidance method based on sliding mode disturbance observer | |
| CN114637312A (en) | Unmanned aerial vehicle energy-saving flight control method and system based on intelligent deformation decision | |
| CN111240204A (en) | Model reference sliding mode variable structure control-based flying bomb patrol control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |