CN115755590B - Anti-interference guidance control system and method for hypersonic aircraft - Google Patents
Anti-interference guidance control system and method for hypersonic aircraft Download PDFInfo
- Publication number
- CN115755590B CN115755590B CN202310024613.8A CN202310024613A CN115755590B CN 115755590 B CN115755590 B CN 115755590B CN 202310024613 A CN202310024613 A CN 202310024613A CN 115755590 B CN115755590 B CN 115755590B
- Authority
- CN
- China
- Prior art keywords
- current
- angular rate
- angle
- line
- expected
- 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
Images
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
Abstract
The application provides an anti-jamming guidance control system and method for a hypersonic aircraft. A tracking differentiator in the system processes the to-be-processed line-of-sight angular rate and outputs an expected line-of-sight angular rate; after receiving the expected line-of-sight angular rate and the current state quantity of the aircraft, the line-of-sight angular rate controller processes the current state quantity according to the expected line-of-sight angular rate and outputs an expected attitude angle; after receiving the expected attitude angle and the current state quantity of the aircraft, the attitude angle controller processes the current state quantity according to the expected attitude angle and outputs an expected angular rate; after receiving the expected angular rate and the current state quantity and the current control quantity of the aircraft, the angular rate controller processes the current state quantity and the current control quantity according to the expected angular rate to output an expected rudder deflection quantity, so that the amplitude limiting controller obtains an actual rudder deflection quantity, and the motion state of the hypersonic aircraft is controlled through the actual rudder deflection quantity. The system improves the landing point precision of the hypersonic flight vehicle.
Description
Technical Field
The application relates to the technical field of data processing, in particular to an anti-interference guidance control system and method for a hypersonic aircraft.
Background
The hypersonic flight vehicle (HSV) generally refers to an aircraft with the flight Mach number larger than 5, has the characteristics of hypersonic speed, high maneuverability and large range, and has very important significance in the military and civil fields. However, the hypersonic aircraft is high in cost and difficult to test, and has uncertain factors such as strong nonlinearity, strong coupling and severe pneumatic parameter change in the reentry flight process, the flight environment is extremely severe, and the operational control surface may be influenced by noise interference such as gust and atmospheric turbulence to cause effectiveness loss fault or blocking fault.
It can be seen that uncertainty factors and noise of the flight environment during reentry flight seriously affect the landing point accuracy of the hypersonic flight vehicle, and these also pose new challenges to reentry trajectory optimization.
Disclosure of Invention
The embodiment of the application aims to provide an anti-interference guidance control system and method for a hypersonic aircraft, which are used for solving the problems in the prior art and improving the landing point precision of the hypersonic aircraft.
In a first aspect, an anti-jamming guidance control system for a hypersonic aircraft is provided, which may include:
the tracking differentiator is used for receiving the to-be-processed line-of-sight angular rate, processing the to-be-processed line-of-sight angular rate and outputting an expected line-of-sight angular rate; the desired line-of-sight angular velocities include desired line-of-sight angular velocities of the hypersonic aerial vehicle relative to the target in two target directions within an inertial coordinate system;
the line-of-sight angular rate controller is used for receiving the output expected line-of-sight angular rate and acquiring the current state quantity of the hypersonic aircraft in real time; processing the current state quantity by taking the expected line-of-sight angular rate as a target, and outputting an expected attitude angle; the desired attitude angles include a desired angle of attack, a desired sideslip angle, and a desired roll angle of speed;
the attitude angle controller is used for receiving the output expected attitude angle and acquiring the current state quantity of the hypersonic aircraft in real time; processing the current state quantity by taking the expected attitude angle as a target, and outputting an expected angular rate; the desired angular rates include a desired roll rate, a desired yaw rate, and a desired pitch rate;
the angular rate controller is used for receiving the output expected angular rate and acquiring the current state quantity and the current control quantity of the hypersonic aircraft in real time; processing the current state quantity and the current control quantity by taking the expected angular rate as a target, and outputting an expected rudder deflection quantity; the desired rudder deflection amount comprises a desired left elevator deflection amount, a desired right elevator deflection amount, and a desired rudder deflection amount;
and the amplitude limiting controller is used for correcting the output expected rudder deflection according to a preset standard rudder deflection range to obtain an actual rudder deflection, and controlling the motion state of the hypersonic aircraft according to the actual rudder deflection.
In a second aspect, an anti-interference guidance control method for a hypersonic aircraft is provided, and applied to the system in the first aspect, the method may include:
acquiring the linear angular velocity to be processed in real time and acquiring the current state quantity and the current control quantity of the hypersonic aircraft;
the tracking differentiator processes the to-be-processed line-of-sight angular rate and outputs an expected line-of-sight angular rate; the expected line-of-sight angular velocities comprise expected line-of-sight angular velocities of the hypersonic aerial vehicle relative to the target in two target directions within an inertial coordinate system;
after acquiring the expected line-of-sight angular rate and the current state quantity of the hypersonic aircraft, the line-of-sight angular rate controller processes the current state quantity by taking the expected line-of-sight angular rate as a target and outputs an expected attitude angle; the desired attitude angles include a desired angle of attack, a desired sideslip angle, and a desired roll angle of speed;
after acquiring an expected attitude angle and the current state quantity of the hypersonic aircraft, the attitude angle controller processes the current state quantity by taking the expected attitude angle as a target and outputs an expected angular rate; the desired angular rates include a desired roll rate, a desired yaw rate, and a desired pitch rate;
after acquiring an expected angular velocity, the current state quantity and the current control quantity of the hypersonic flight vehicle, the angular velocity controller processes the current state quantity and the current control quantity by taking the expected angular velocity as a target, and outputs an expected rudder deflection; the desired rudder deflection amount comprises a desired left elevator deflection amount, a desired right elevator deflection amount, and a desired rudder deflection amount;
and the amplitude limiting controller corrects the output expected rudder deflection according to a preset standard rudder deflection range to obtain an actual rudder deflection, so that the motion state of the hypersonic aircraft is controlled through the actual rudder deflection.
In a fourth aspect, a computer-readable storage medium is provided, having stored therein a computer program which, when executed by a processor, performs the method steps of any of the above first aspects.
The tracking differentiator in the anti-interference guidance control system for the hypersonic aircraft provided by the embodiment of the application processes the received to-be-processed line-of-sight angular rate and outputs the expected line-of-sight angular rate; after receiving the output expected line-of-sight angular rate and acquiring the current state quantity of the hypersonic aircraft, the line-of-sight angular rate controller processes the current state quantity to output an expected attitude angle by taking the expected line-of-sight angular rate as a target; after receiving the output expected attitude angle and acquiring the current state quantity of the hypersonic aircraft, the attitude angle controller processes the current state quantity to output an expected angular rate by taking the expected attitude angle as a target; after receiving the output expected angular rate and acquiring the current state quantity and the current control quantity of the hypersonic aircraft, the angular rate controller processes the current state quantity and the current control quantity by taking the expected angular rate as a target to output an expected rudder deflection quantity; and the amplitude limiting controller corrects the output expected rudder deflection according to a preset standard rudder deflection range to obtain an actual rudder deflection so as to control the motion state of the hypersonic aircraft. The system solves the problem of control precision reduction caused by the problems of uncertainty and the like of environmental noise and pneumatic parameters, and improves the point falling precision of the supersonic aircraft.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a schematic diagram of an anti-jamming guidance control system for a hypersonic aircraft according to an embodiment of the present application;
FIG. 2 is a schematic diagram of another hypersonic aircraft anti-jamming guidance control system provided by the embodiment of the application;
fig. 3 is a schematic flow diagram of an anti-jamming guidance control method for a hypersonic aircraft according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without any creative effort belong to the protection scope of the present application.
For the sake of easy understanding, terms referred to in the embodiments of the present application are described below:
the state feedback controller may be a proportional-integral-derivative (PID) controller.
The hypersonic aircraft (HSV) anti-interference guidance control system provided by the embodiment of the application solves the problem that the control precision is reduced due to the problems of uncertainty and the like of environmental noise and pneumatic parameters in the prior art. The anti-interference guidance control system for the hypersonic aircraft comprises a 3-layer first-order control system (or called as a serial control system) which respectively controls a line-of-sight angular rate, an attitude angle and an angular rate, and as shown in fig. 1, the system can comprise: a Tracking-differentiator (TD), a line-of-sight angular rate controller, an attitude angle controller, an angular rate controller, and a limiting controller.
The tracking differentiator TD is used for receiving the to-be-processed line-of-sight angular velocity, processing the to-be-processed line-of-sight angular velocity and outputting an expected line-of-sight angular velocity; the desired line-of-sight angular velocity may include a desired line-of-sight angular velocity of the hypersonic aerial vehicle (or "aerial vehicle") relative to the target in two target directions within an inertial coordinate system;
the line-of-sight angular rate controller is used for receiving the output expected line-of-sight angular rate and acquiring the current state quantity of the hypersonic aircraft in real time; processing the current state quantity by taking the expected line-of-sight angular rate as a target, and outputting an expected attitude angle; the desired attitude angles may include a desired angle of attack, a desired sideslip angle, and a desired roll angle of speed;
the attitude angle controller is used for receiving the output expected attitude angle and acquiring the current state quantity of the hypersonic aircraft in real time; processing the current state quantity by taking the expected attitude angle as a target, and outputting an expected angular rate; the desired angular rates may include a desired roll rate, a desired yaw rate, and a desired pitch rate;
the angular rate controller is used for receiving the output expected angular rate and acquiring the current state quantity and the current control quantity of the hypersonic aircraft in real time; processing the current state quantity and the current control quantity by taking the expected angular rate as a target, and outputting an expected rudder deflection; the desired amount of rudder deflection may include a desired left elevator deflection, a desired right elevator deflection, and a desired rudder deflection;
and the amplitude limiting controller is used for correcting the output expected rudder deflection according to a preset standard rudder deflection range to obtain an actual rudder deflection so as to control the motion state of the hypersonic aircraft through the actual rudder deflection.
Wherein, the default standard rudder deflection range is as follows: [ -30 °,30 ° ], i.e., any one of the left, right, and rudder deflection amounts in the actual rudder deflection amount is required to be within the standard rudder deflection range.
The hypersonic aircraft anti-interference guidance control system can establish a guidance control integrated model based on a system structure, and specifically comprises the following steps:
(a) Establishing a 6-degree-of-freedom model of the hypersonic aircraft:
in the formula, x, y and z are different coordinate positions of HSV in an inertial coordinate system respectively; v is the movement speed of HSV; m is the mass of HSV; theta and
the flight inclination angle and the flight declination angle of HSV are respectively; h is the flight height of HSV; g is the local acceleration of gravity of HSV; />
，/>
Is the value of the gravitational acceleration of the earth's surface; r is the vector of the HSV aircraft centroid in the geocentric inertial coordinate system; constant R is the radius of the earth；/>
Roll angular velocity, yaw angular velocity and pitch angular velocity of HSV are respectively; />
Is angle of attack, is greater or less than>
Is a side slip angle, is selected>
Is the speed roll angle; />
The rotational inertia of HSV on the x axis, the y axis and the z axis respectively; />
Roll aerodynamic moment, yaw aerodynamic moment and pitch aerodynamic moment which are respectively suffered by HSV; d, L and Z represent the aerodynamic resistance, the lifting force and the lateral force of HSV.
The accuracy and the credibility of the aerodynamic model determine the accuracy of aerodynamic force and aerodynamic moment of the aircraft, are the key of the whole aircraft control system and are important standards for whether the aircraft can be used or not. Fitting aerodynamic force and aerodynamic moment to a polynomial structure, the aerodynamic force being shown in equation (2):
wherein q =0.5 ρ V 2 Represents dynamic pressure, ρ is atmospheric density, S is aircraft area, C D , C L , C Z Respectively representing the aerodynamic coefficient of lift, the aerodynamic coefficient of resistance and the aerodynamic coefficient of lateral force, C D , C L , C Z The fitting result of (c) is shown in equation (3).
In the formula (I), the compound is shown in the specification,
respectively representing the rudder deflection of a left elevator, the rudder deflection of a right elevator and the rudder deflection of a rudder of the hypersonic aircraft. />
Represents->
Is determined by the angle of attack>
Caused->
Component and->
Represents->
Rudder deflection by the left elevator>
Caused->
Component and->
Represents->
Deflection by the rudder of the right elevator>
Caused->
And (4) components. />
Represents->
By angle of attack>
Caused->
Component and->
Represents->
Based on the rudder deflection of the left elevator>
Caused>
Component and->
Represents->
Deflection by the rudder of the right elevator>
Caused->
Component and->
Represents->
Deflection by the rudder of the right elevator>
Caused->
And (4) components.
Represents->
Based on the angle of attack α and the sideslip angle β ->
Component and->
Represents->
Rudder deflection by the left elevator>
Caused->
Component and->
Represents->
Deflection by the rudder of the right elevator>
Caused->
Component and->
Represents->
Deflection by the rudder of the right elevator>
Caused->
And (4) components.
The three-axis attitude moment is shown in formula (4):
wherein, C l ，C m ，C n Respectively roll moment coefficient, yaw moment coefficient and pitch moment coefficient, q represents dynamic pressure,
the aircraft center-of-gravity coefficient is represented, and the fitting result is shown in formula (5).
In the formula (I), the compound is shown in the specification,
for the aircraft wing span, c is the mean aerodynamic chord length, from the result of the polynomial of the aerodynamic fit the aerodynamic coefficient->
And a pneumatic moment coefficient->
Both as a function of angle and rudder deflection, i.e. by varying the rudder surface deflection->
To change the magnitude of the aerodynamic force and the aerodynamic moment, so that the attitude of the aircraft changes, in which formula->
、/>
The meaning of the isoparametric corresponds to the value in equation (3) < i >>
，/>
The meaning of the parameters is similar, and the detailed description is omitted here.
(b) Establishing an aircraft-target line of sight angle model
In the formula (I), the compound is shown in the specification,
represents the relative distance of the aircraft from the target, and>
is->
Components on three axes of the inertial frame; />
Respectively representing the line of sight angles of the aircraft relative to the target in two target directions of the inertial system.
The control target of the hypersonic flight vehicle is
。
(c) Establishing a guidance control integrated system model based on the formulas (a) and (b), specifically, rewriting the formulas (1) and (6) into the forms of the formulas (7) to (9):
in the formula (I), the compound is shown in the specification,
is the uncertainty part in the view angle model, the total uncertainty part, which is
A non-linear function of (d); />
Is pneumatically related to>
Partial derivatives of (a). />
For the uncertainty part in the attitude angle model, ->
Is a conversion matrix from three-axis angular velocity to pneumatic attitude angle, the three-axis angular velocity comprises the current roll angular velocity->
The current yaw rate->
And current pitch angle speed->
。
For the uncertainty part in the angular velocity model, is>
The partial derivative of the aerodynamic moment with respect to the three-axis rudder deflection, which includes the current left elevator deflection->
The current right elevator deflection->
And current rudder offset->
。
The expressions (7) to (9) represent views, respectivelyThe control principle of the linear angular rate controller, the attitude angle controller and the angular rate controller can be deduced from the control principle, and the flight state of the aircraft to be controlled can be controlled by changing the rudder deflection quantity (
) Based on the angular roll speed, yaw rate and pitch rate (in or on)>
) Can control the rudder deflection (
) Making the change; attack angle->
Side slide angle->
And speed roll angle->
Can control roll, yaw and pitch angular velocities (</r)>
) Is changed in angle of attack>
And sideslip angle>
Can be varied in accordance with a predetermined control target (` based on `) of the aircraft>
) Therefore, the landing point precision of the aircraft can be realized by continuously controlling the motion state of the aircraft by taking the control target as a reference.
Further, the anti-interference guidance control system for the hypersonic aircraft of the present application can also be shown in fig. 2, wherein:
the tracking differentiator TD receives the angular rate of the line of sight to be processedSuch as
And processing the to-be-processed line-of-sight angular rate to output an expected line-of-sight angular rate u 0 ，u 0 Is->
Wherein is present>
A desired line of sight rate, representing a first target direction>
Representing a desired line of sight angular rate for the second target direction. The tracking differentiator is mainly used for processing the expected thrust signal and solving the contradiction between rapidity and overshoot. The formula is as follows: />
/>
Where e' is the error signal, T c Is a thrust command, T e It is the desired thrust that is to be exerted,
is the derivative of the thrust command, h and->
Respectively, an integration step size and a speed factor, and fhan () represents a fast optimal control synthesis function.
(1) For the line-of-sight angular rate controller:
the line-of-sight angular rate controller may include a first error unit A1, a first state feedback controller PTD1, a first fractional order extended state observer FOESO1, and a first compensation unit S1;
a first fractional order extended state observer for receiving the expected line-of-sight angular rate u0 output by the tracking differentiator, and the current attack angle state quantity alpha, the current sideslip angle state quantity beta and the current line-of-sight angular rates in two target directions of the hypersonic flight vehicle, such as
(ii) a Processing the current attack angle state quantity alpha, the current sideslip angle state quantity beta and the current line-of-sight angle speed in two target directions by adopting a fractional order expansion state algorithm of the line-of-sight angle speed to obtain the state observation quantity of the current line-of-sight angle speed>
And a disturbance observation of the angular rate of the line of sight stage->
；
A first error unit for receiving a desired line-of-sight angular rate output by the tracking differentiator; state observations of desired and current line-of-sight angular rates
Is determined as the line of sight angular rate error->
；
The first state feedback controller is used for processing the line-of-sight angular rate error by adopting a preset error control algorithm to obtain an expected attitude angle to be compensated;
a first compensation unit for adopting a preset compensation algorithm to measure the disturbance observation of the line-of-sight angular rate level
And processing the attitude angle to be processed to output an expected attitude angle u 1 。/>
。
(2) For the attitude angle controller:
the attitude angle controller may include a second error unit A2, a second state feedback controller PID2, a second fractional order extended state observer FOESO2, and a second compensation unit S2;
a second fractional order extended state observer for receiving the desired attitude angle output by the line-of-sight angular rate controller, anThe current attack angle state quantity alpha, the current sideslip angle state quantity beta, the current speed roll angle and the current roll angle speed of the hypersonic aircraft
Current yaw rate>
And current pitch angle speed>
(ii) a Processing the current state quantity of the attack angle, the current state quantity of the sideslip angle, the current speed rolling angle, the current rolling angular velocity, the current yaw angular velocity and the current pitch angular velocity by adopting a fractional order expansion state algorithm of the attitude angle to obtain the state observation quantity (based on the current attitude angle)>
Disturbance observation/evaluation in and attitude angle stage>
；
A second error unit for observing the states of the desired attitude angle and the current attitude angle
Is determined as an attitude angle error>
；
The second state feedback PID controller is used for processing the attitude angle error by adopting a preset error control algorithm to obtain an expected angular rate to be compensated;
a second compensation unit for adopting a preset compensation algorithm to measure the disturbance observation of the attitude angle level
And the angular rate to be processed is processed to output the expected angular rate u 2 。/>
。
(3) For angular rate controllers:
the angular rate controller may comprise a third error unit A3, a third state feedback controller PID3, a third fractional order extended state observer, FOESO3, and a third compensation unit S3;
the third fractional order extended state observer is used for receiving the expected angular rate output by the angular rate controller, the current roll angular speed, the current yaw angular speed and the current pitch angular speed of the hypersonic aerocraft, and the current left elevator deflection, right elevator deflection and rudder deflection;
processing the current roll angular velocity, the current yaw angular velocity, the current pitch angular velocity, the current left elevator deflection, the current right elevator deflection and the current rudder deflection by adopting a fractional order expansion state algorithm of angular rate to obtain a state observed quantity of the current angular rate
And disturbance observation of the angular rate stage->
；
A third error unit for observing the state of the desired angular rate and the current angular rate
Is determined as angular rate error>
；
The third state feedback controller is used for processing the angular rate error by adopting a preset error control algorithm to obtain an expected rudder deflection to be compensated; the desired rudder deflection to be compensated may include a left elevator deflection to be compensated, a right elevator deflection to be compensated, and a rudder deflection to be compensated;
a third compensation unit for using the preset compensation algorithm to measure the disturbance observation of the angular rate level
And the rudder deflection to be processed is processed, and an expected rudder deflection u is output 3 。/>
。
Specifically, with reference to fig. 2, the control process of the hypersonic aircraft anti-interference guidance control system of the present application on the flight state of the hypersonic aircraft is as follows:
line-of-sight angular rate controller which controls the input to the desired line-of-sight angular rate via the TD output, i.e.
(ii) a PID1 inputs the desired line-of-sight angular rate u 0 Observed state quantity Z observed from FOESO1 11 The difference is the angular rate error>
Line of sight angular rate error>
Processed by PID1 and then output, and the processed quantity output by PID1 and the disturbance observed quantity Z observed by FOESO1 12 After compensation, the desired posture angle is obtained>
。
An attitude angle controller which controls a desired attitude angle input as an output of the line-of-sight angular rate controller, i.e. an attitude angle controller
The input of PID2 is the expected attitude angle and the observed state quantity Z of FOESO2 21 The difference is the gesture angle error>
Angular error of attitude>
Processed by PID2 and then output, and the processed quantity output by PID2 and the disturbance observed quantity Z observed by FOESO2 22 After compensation has been made, the desired angular rate is obtained>
。
An angular rate controller which controls a desired angular rate input as an attitude angle controller, i.e.
The inputs to PID3 are the desired angular rate and the observed state quantity Z of FOESO3 31 The difference is then the angular rate error>
Angular rate error>
Processed by PID3 and then output, and the processed quantity output by PID3 and the disturbance observed quantity Z observed by FOESO3 32 After compensation, the desired rudder deflection is obtained>
。
And the amplitude limiting controller corrects the expected rudder deflection output by the angular rate controller according to a preset standard rudder deflection range so as to control the expected rudder deflection to conform to the standard rudder deflection range. And inputting the actual rudder deflection u obtained after correction into a flight state model of the aircraft, such as models corresponding to the formula (3) and the formula (5), so as to obtain accurate aerodynamic force and aerodynamic moment of the aircraft.
Further, the operating principle of the FOESO in each stage of controller is as follows, and the ESO is first introduced as an example:
the idea of ESO in modern control theory is to observe the state variable z of the system 1 ,z 2 ,…,z n On the basis of (2), all factors having influence on the output of the controlled object except the controlled variable are called sum disturbance f (x) 1 ,x 2 ,…,x n ) Expanding the sum perturbation to a new state variable z n+1 And establishing the observed sum disturbance of the extended state observer by using a special feedback mechanism of the extended state observer. It has the greatest advantagesThe method is independent of a model generating disturbance, and can estimate a total disturbance value generated by model parameter uncertainty and external environment change without a detailed and accurate system model to obtain a total disturbance estimation value, and offset the observed disturbance in real time when the estimation value is finally output.
Taking a second-order integration system as an example:
wherein f (x) 1 ,x 2 ,
) For the total disturbance, a new state variable x is introduced in order to observe the magnitude of the total disturbance 3 = f(x 1 ,x 2 ,/>
) The second order system is then expanded to the form:
for better tracking of the extended third order system, the following extended state observer was established:
wherein u is the output value of the controller, b is the gain of the controller, and the state observer can let z be the output value of the controller 1 、z 2 、z 3 Observing three state variables x of the system separately 1 、x 2 、x 3 And x is 3 Is the expanded interference term f (x) 1 ,x 2 ). And x3 is used as a compensation term and added into the control output, so that the influence of the disturbance on the system can be eliminated.
On the basis of the traditional ESO, the thought of fractional order is introduced to the ESO, and the following fractional order extended state observer FOESO is established for an extended second-order system:
(1) The fractional order extended state observer FOESO corresponding to the visual angular rate controller has a calculation formula of a fractional order extended state algorithm of the visual angular rate represented as:
wherein the content of the first and second substances,
and &>
The differential order of the state quantities corresponding to the fractional order expansion states of the line-of-sight angular rate,
And &>
Respectively representing an adjustable parameter>
Represents a fractional differentiation and/or is present>
Is a pair>
The estimation of the gain matrix is carried out,
representing an aerodynamic force in relation to a current angle of attack status quantity>
And the current sideslip angle status quantity>
Is greater than or equal to>
RepresentStatus observer for current line-of-sight angular rate, based on a current line-of-sight angular rate>
A disturbance observer representing a line-of-sight angular rate level;
(2) The fractional order extended state observer FOESO corresponding to the attitude angle controller has a calculation formula of a fractional order extended state algorithm of the attitude angle represented as:
wherein, the first and the second end of the pipe are connected with each other,
and &>
Differentiation orders and/or based on state quantities corresponding in each case to a fractional expansion state of the attitude angle>
And &>
Respectively representing an adjustable parameter>
Represents a fractional differentiation and/or a combination thereof>
Is a pair>
Evaluation of the matrix, <' > based on the evaluation>
Expressed as a conversion matrix from three-axis angular velocities including a current roll angular velocity, a current yaw angular velocity, and a current pitch angular velocity, and/or>
A state observed quantity representing the current attitude angle,/>
Representing a disturbance observation of an attitude angle level;
(3) The fractional order extended state observer FOESO corresponding to the angular rate controller has a calculation formula of a fractional order extended state algorithm of the angular rate represented as:
wherein the content of the first and second substances,
and &>
A differentiation order of the state variable corresponding in each case to a fractional expansion state of the angular rate>
And &>
Respectively represents an adjustable parameter>
Represents a fractional differentiation and/or a combination thereof>
Is paired with>
Evaluation of the matrix, <' > based on the evaluation>
Expressed as the partial derivative of the aerodynamic moment with respect to a three-axis rudder deflection, including the current left elevator deflection, the current right elevator deflection, and the current rudder deflection, </>>
Status observation, or status observation, signifying a current angular rate>
Representing a disturbance observation of angular rate steps. />
Corresponding to the differential orders of the state quantities in the FOESO, respectively, two poles of the second-order system are configured at the same position, and then:
where μ is the differential operator. i represents different types, the values are 1, 2 and 3, and three types of attitude angle, angular rate and rudder deflection are respectively represented.
Since the FOESO has a good processing effect on the high-frequency noise, the high-frequency noise can be effectively compensated in the control system.
In some embodiments, the observed state quantity of FOESO
And an expected input->
Error obtained after difference
Transmitted to a PID controller to obtain->
. Wherein it is present>
,/>
，
。/>
The input quantity of the PID controller is observed by the control command and the FOESO
Is greater than or equal to>
Generates a control command ^ after passing through a PID controller>
The control command plus a disturbance observed by FOESO>
A compensation term, i.e. the final control output is obtained>
。
The calculation formula of the preset error control algorithm is represented as follows:
wherein i represents different control quantity types, takes values of 1, 2 and 3, respectively represents three types of attitude angle, angular rate and rudder deflection,
represents different types of corresponding desired values to be compensated for>
、/>
And &>
PID parameter, representing a controller of different control quantity type>
Representing the difference values corresponding to different types, and t represents the current moment;
the calculation formula of the preset compensation algorithm is represented as:
wherein the content of the first and second substances,
indicates a corresponding desired value of a different type, is present>
Represents a compensation factor for each type>
Representing different types of corresponding disturbance observations.
Fig. 3 is a schematic flow chart of an anti-interference guidance control method for a hypersonic aircraft according to an embodiment of the present application. The method is applied to the system described above, and as shown in fig. 3, the method may include:
step S310, acquiring the linear angular rate to be processed and the current state quantity and the current control quantity of the hypersonic aircraft in real time;
and step S320, processing the to-be-processed line-of-sight angular rate by the tracking differentiator, and outputting the expected line-of-sight angular rate.
The desired line-of-sight angular velocity comprises a desired line-of-sight angular velocity of the hypersonic aerial vehicle relative to the target in two target directions within an inertial frame.
And S330, after acquiring the expected line-of-sight angular rate and the current state quantity of the hypersonic aircraft, the line-of-sight angular rate controller processes the current state quantity by taking the expected line-of-sight angular rate as a target and outputs an expected attitude angle.
The desired attitude angles include a desired angle of attack, a desired sideslip angle, and a desired roll angle of speed.
Step S340, after the expected attitude angle and the current state quantity of the hypersonic aircraft are obtained, the attitude angle controller processes the current state quantity by taking the expected attitude angle as a target, and outputs an expected angular rate.
The desired angular rates include a desired roll rate, a desired yaw rate, and a desired pitch rate.
And S350, after acquiring the expected angular velocity, the current state quantity and the current control quantity of the hypersonic aircraft, the angular velocity controller processes the current state quantity and the current control quantity by taking the expected angular velocity as a target, and outputs an expected rudder deflection.
The desired amount of rudder deflection includes a desired left elevator deflection, a desired right elevator deflection, and a desired rudder deflection.
And S360, correcting the output expected rudder deflection by the amplitude limiting controller according to a preset standard rudder deflection range to obtain an actual rudder deflection, and controlling the motion state of the hypersonic aircraft through the actual rudder deflection.
In yet another embodiment provided by the present application, there is further provided a computer-readable storage medium having stored therein instructions, which when run on a computer, cause the computer to execute the hypersonic aircraft anti-jamming guidance control method according to any one of the above embodiments.
In yet another embodiment provided by the present application, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the hypersonic aircraft anti-jamming guidance control method described in any one of the above embodiments.
As will be appreciated by one of skill in the art, the embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the true scope of the embodiments of the present application.
It is apparent that those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the embodiments of the present application. Thus, provided that such modifications and variations of the embodiments of the present application fall within the scope of the claims of the embodiments of the present application and their equivalents, the embodiments of the present application are intended to include such modifications and variations as well.
Claims (9)
1. An anti-jamming guidance control system for a hypersonic aircraft, the system comprising:
the tracking differentiator is used for receiving the to-be-processed line-of-sight angular rate, processing the to-be-processed line-of-sight angular rate and outputting an expected line-of-sight angular rate; the desired line-of-sight angular velocities include desired line-of-sight angular velocities of the hypersonic aerial vehicle relative to the target in two target directions within an inertial coordinate system;
the line-of-sight angular rate controller is used for receiving the output expected line-of-sight angular rate and acquiring the current state quantity of the hypersonic aircraft in real time; processing the current state quantity by taking the expected line-of-sight angular rate as a target, and outputting an expected attitude angle; the desired attitude angles include a desired angle of attack, a desired sideslip angle, and a desired roll angle of speed;
the attitude angle controller is used for receiving the output expected attitude angle and acquiring the current state quantity of the hypersonic aircraft in real time; processing the current state quantity by taking the expected attitude angle as a target, and outputting an expected angular rate; the desired angular rates include a desired roll rate, a desired yaw rate, and a desired pitch rate;
the angular rate controller is used for receiving the output expected angular rate and acquiring the current state quantity and the current control quantity of the hypersonic aircraft in real time; processing the current state quantity and the current control quantity by taking the expected angular rate as a target, and outputting an expected rudder deflection quantity; the desired rudder deflection amount comprises a desired left elevator deflection amount, a desired right elevator deflection amount, and a desired rudder deflection amount;
the amplitude limiting controller is used for correcting the output expected rudder deflection according to a preset standard rudder deflection range to obtain an actual rudder deflection so as to control the motion state of the hypersonic aircraft through the actual rudder deflection;
wherein the line-of-sight angular rate controller comprises a first fractional order extended state observer; a first fractional order extended state observer for receiving the desired line of sight angular rate of the output of the tracking differentiator, and a hypersonic aircraftCurrent angle of attack state quantity alpha, current sideslip angle state quantity beta and current line of sight angular rates in two target directions
(ii) a Adopting a fractional order expansion state algorithm of the line-of-sight angular rate to judge whether the current attack angle state quantity alpha, the current sideslip angle state quantity beta and the current line-of-sight angular rate in two target directions are greater or smaller>
Processing it to obtain a status observation measure for the current line-of-sight angular rate>
And a disturbance observation of the angular rate of the line of sight stage->
；
The attitude angle controller comprises a second fractional order extended state observer; a second fractional order extended state observer used for receiving the expected attitude angle output by the line-of-sight angular rate controller and the current attack angle state quantity alpha, the current sideslip angle state quantity beta, the current speed roll angle and the current roll angular speed of the hypersonic aerocraft
The current yaw rate->
And current pitch angle speed>
(ii) a Adopting a fractional order expansion state algorithm of the attitude angle to judge whether the current attack angle state quantity alpha, the current sideslip angle state quantity beta, the current speed roll angle and the current roll angle speed->
The current yaw rate->
And current pitch angle speed>
Processing the attitude angle to obtain the state observation quantity->
And disturbance observation of the attitude angle level->
；
The angular rate controller comprises a third fractional order extended state observer; a third fractional order extended state observer for receiving the desired angular rate output by the angular rate controller and the current roll angular rate of the hypersonic aircraft
The current yaw rate->
And current pitch angle speed->
And the current left elevator bias->
Based on the deviation of the right elevator>
Sum rudder offset
(ii) a Employing a fractional order dilated state algorithm for angular rate, for the current roll angular velocity->
Current yaw rate>
And current pitch angle speed->
And the current left elevator bias->
Right elevator deflection amount>
And rudder deflection->
Processing is carried out to obtain a status observation measure of the current angular rate>
Disturbance observation in sum angular rate stage>
；
Wherein, the calculation formula of the fractional order expansion state algorithm of the visual angle rate is represented as:
wherein the content of the first and second substances,
and &>
Differentiation orders and/or differentiation orders of state quantities which correspond in each case to a fractional expansion state of the angular line of sight rate>
And &>
Respectively represents an adjustable parameter>
Represents a fractional differentiation and/or a combination thereof>
Is paired with>
Evaluation of a matrix, <' > based on>
Representing the amount of aerodynamic force in relation to the current angle of attack status->
And the current sideslip angle status quantity>
Is greater than or equal to>
Status observer, which represents the current line of sight angular rate>
A disturbance observer representing a line-of-sight angular rate level;
the calculation formula of the fractional order expansion state algorithm of the attitude angle is expressed as follows:
wherein, the first and the second end of the pipe are connected with each other,
and &>
The differential order of the state quantity corresponding to the fractional order expansion state of the attitude angle device for selecting or keeping>
And
respectively represents an adjustable parameter>
Represents a fractional differentiation and/or a combination thereof>
Is a pair>
Evaluation of the matrix, <' > based on the evaluation>
Expressed as a conversion matrix from triaxial angular velocities including the current roll angular velocity, the current yaw angular velocity and the current pitch angular velocity, and/or>
Status observer, representing a current attitude angle>
Representing a disturbance observation of an attitude angle level;
the calculation formula of the fractional order expansion state algorithm of the angular rate is expressed as:
wherein, the first and the second end of the pipe are connected with each other,
and &>
Differential order of state quantities corresponding to fractional order expansion states of angular rate、/>
And
respectively represents an adjustable parameter>
Represents a fractional differentiation and/or a combination thereof>
Is paired with>
Evaluation of the matrix, <' > based on the evaluation>
Expressed as the partial derivative of the aerodynamic moment with respect to a three-axis rudder deflection, including the current left elevator deflection, the current right elevator deflection, and the current rudder deflection, </>>
Status observation, or status observation, signifying a current angular rate>
Representing disturbance observations of angular rate order.
2. The system of claim 1, wherein the line of sight angular rate controller further comprises a first error unit, a first state feedback controller, and a first compensation unit;
a first error unit for receiving a desired line-of-sight angular rate output by the tracking differentiator; state observations of the desired line-of-sight angular rate and the current line-of-sight angular rate
Determining the difference as a line of sight angular rate error;
the first state feedback controller is used for processing the line-of-sight angular rate error by adopting a preset error control algorithm to obtain an expected attitude angle to be compensated;
a first compensation unit for adopting a preset compensation algorithm to measure the disturbance observation of the line-of-sight angular rate level
And processing the expected attitude angle to be compensated, and outputting the expected attitude angle.
3. The system of claim 2, wherein the attitude angle controller further comprises a second error unit, a second state feedback controller, and a second compensation unit;
the second fractional order extended state observer is used for receiving the expected attitude angle output by the line-of-sight angular rate controller, and the current attack angle state quantity, the current sideslip angle state quantity, the current speed rolling angle, the current rolling angular speed, the current yaw angular speed and the current pitch angular speed of the hypersonic aerocraft; adopting a fractional order expansion state algorithm of an attitude angle to carry out the adjustment on the current attack angle state quantity, the current sideslip angle state quantity and the current speed roll angle
Processing the current roll angular speed, the current yaw angular speed and the current pitch angular speed to obtain a state observation quantity->
And disturbance observation of the attitude angle level->
；
A second error unit for measuring the state observation of the desired attitude angle and the current attitude angle
Determining the difference of the two as an attitude angle error;
the second state feedback controller is used for processing the attitude angle error by adopting a preset error control algorithm to obtain an expected angular rate to be compensated;
a second compensation unit for adopting a preset compensation algorithm to measure the disturbance observation of the attitude angle level
And processing the desired angular rate to be compensated, and outputting the desired angular rate.
4. The system of claim 3, wherein the angular rate controller further comprises a third error unit, a third state feedback controller, and a third compensation unit;
a third error unit for observing the state of the desired angular rate and the current angular rate
The difference of (d) is determined as the angular rate error;
the third state feedback controller is used for processing the angular rate error by adopting a preset error control algorithm to obtain an expected rudder deflection to be compensated; the expected rudder deflection to be compensated comprises a left elevator deflection to be compensated, a right elevator deflection to be compensated and a rudder deflection to be compensated;
a third compensation unit for applying a preset compensation algorithm to the disturbance observed quantity of the angular rate stage
And processing the expected rudder deflection to be compensated, and outputting the expected rudder deflection.
5. The system of claim 4, wherein the predetermined error control algorithm has a calculation formula expressed as:
wherein i represents different control quantity types, the values are 1, 2 and 3, three types of attitude angle, angular rate and rudder deflection are respectively represented,
indicates the desired value, which corresponds to the different type, to be compensated>
、/>
And &>
Respectively representing PID parameters corresponding to controllers with different control quantity types, and t represents the current moment; { (R) } when i =1>
For line-of-sight angular rate error, < when i =2 >>
For attitude angle error ≧ when i =3>
Is the angular rate error;
the calculation formula of the preset compensation algorithm is expressed as follows:
wherein the content of the first and second substances,
indicates a corresponding desired value of a different type, is present>
Representing different types of corresponding compensation coefficients>
Representing different types of corresponding disturbance observations.
6. The system of claim 1, wherein the preset standard rudder misalignment range is: [ -30 °,30 ° ].
7. The system of claim 1, wherein the desired line of sight angular rates in the two target directions are:
wherein the content of the first and second substances,
a desired line of sight rate, representing a first target direction>
Representing a desired line-of-sight angular rate for the second target direction.
8. An anti-interference guidance control method for a hypersonic aircraft, which is applied to the system of any one of claims 1-7, and comprises the following steps:
acquiring a to-be-processed line-of-sight angular rate in real time and acquiring a current state quantity and a current control quantity of the hypersonic aircraft;
the tracking differentiator processes the to-be-processed line-of-sight angular rate and outputs an expected line-of-sight angular rate; the desired line-of-sight angular velocities include desired line-of-sight angular velocities of the hypersonic aerial vehicle relative to the target in two target directions within an inertial coordinate system;
after acquiring an expected line-of-sight angular rate and the current state quantity of the hypersonic aircraft, the line-of-sight angular rate controller processes the current state quantity by taking the expected line-of-sight angular rate as a target and outputs an expected attitude angle; the desired attitude angles include a desired angle of attack, a desired sideslip angle, and a desired roll angle of speed;
after acquiring an expected attitude angle and the current state quantity of the hypersonic aircraft, the attitude angle controller processes the current state quantity by taking the expected attitude angle as a target and outputs an expected angular rate; the desired angular rates include a desired roll angular rate, a desired yaw angular rate, and a desired pitch angular rate;
after acquiring an expected angular velocity, the current state quantity and the current control quantity of the hypersonic flight vehicle, the angular velocity controller processes the current state quantity and the current control quantity by taking the expected angular velocity as a target, and outputs an expected rudder deflection; the desired rudder deflection amount comprises a desired left elevator deflection amount, a desired right elevator deflection amount, and a desired rudder deflection amount;
the amplitude limiting controller corrects the output expected rudder deflection according to a preset standard rudder deflection range to obtain an actual rudder deflection, so that the motion state of the hypersonic aircraft is controlled through the actual rudder deflection;
wherein the line-of-sight angular rate controller comprises a first fractional order extended state observer; a first fractional order extended state observer for receiving the expected line-of-sight angular rate output by the tracking differentiator, the current attack angle state quantity alpha, the current sideslip angle state quantity beta and the current line-of-sight angular rates in two target directions of the hypersonic flight vehicle
(ii) a Adopting a fractional order expansion state algorithm of the line-of-sight angular rate to judge whether the current attack angle state quantity alpha, the current sideslip angle state quantity beta and the current line-of-sight angular rate in two target directions are greater or smaller>
Processing the result to obtain a status observation measure->
And disturbance observation of a line-of-sight angular rate stage>
；/>
The attitude angle controller comprises a second fractional order extended state observer; a second fractional order extended state observer for receiving the expected attitude angle output by the line-of-sight angular rate controller, and the current attack angle state quantity alpha, the current sideslip angle state quantity beta, the current speed roll angle and the current roll angular rate of the hypersonic aerocraft
The current yaw rate->
And current pitch angle speed->
(ii) a Adopting a fractional order expansion state algorithm of the attitude angle to judge whether the current attack angle state quantity alpha, the current sideslip angle state quantity beta, the current speed roll angle and the current roll angle speed->
The current yaw rate->
And current pitch angle speed->
Processing the attitude angle to obtain a state observation quantity->
And disturbance observation of the attitude angle level->
；
The angular rate controller comprises a third fractional order extended state observer; a third fractional order extended state observer for receiving the desired angular rate output by the angular rate controller and the current roll of the hypersonic aircraftAngular velocity
The current yaw rate->
And current pitch angle speed->
And the current left elevator bias->
Based on the deviation of the right elevator>
And rudder offset
(ii) a Employing a fractional order dilated state algorithm for angular rate, for the current roll angular velocity->
The current yaw rate->
And current pitch angle speed->
And the current left elevator bias->
Based on the deviation of the right elevator>
And rudder deflection->
Processing it to obtain a status observation which is current angular rate>
Disturbance observation in sum angular rate stage>
；
Wherein, the calculation formula of the fractional order expansion state algorithm of the visual angle rate is represented as:
wherein, the first and the second end of the pipe are connected with each other,
and &>
A differentiation order of a state quantity, which corresponds in each case to a fractional expansion state of the line-of-sight angular rate>
And &>
Respectively represents an adjustable parameter>
Represents a fractional differentiation and/or a combination thereof>
Is paired with>
Evaluation of a matrix, <' > based on>
Representing the amount of aerodynamic force in relation to the current angle of attack status->
And at presentSideslip angle state amount>
Is greater than or equal to>
Status observer, which represents the current line of sight angular rate>
A disturbance observer representing a line-of-sight angular rate level;
the calculation formula of the fractional order expansion state algorithm of the attitude angle is represented as follows:
wherein, the first and the second end of the pipe are connected with each other,
and &>
The differential order of the state quantity corresponding to the fractional order expansion state of the attitude angle device for selecting or keeping>
And
respectively representing an adjustable parameter>
Represents a fractional differentiation and/or a combination thereof>
Is a pair>
Evaluation of the matrix, <' > based on the evaluation>
Expressed as a conversion matrix from three-axis angular velocities including a current roll angular velocity, a current yaw angular velocity, and a current pitch angular velocity, and/or>
Status observation representing current attitude angle>
A disturbance observer representing an attitude angle level;
the calculation formula of the fractional order expansion state algorithm of the angular rate is expressed as:
wherein, the first and the second end of the pipe are connected with each other,
and &>
A differentiation order of the state variable corresponding in each case to a fractional expansion state of the angular rate>
And
respectively represents an adjustable parameter>
Represents a fractional differentiation and/or a combination thereof>
Is paired with>
Evaluation of the matrix, <' > based on the evaluation>
Expressed as the partial derivative of the aerodynamic moment with respect to the triaxial rudder deflection including the current left elevator deflection, the current right elevator deflection and the current rudder deflection, <' >>
Status observation representing a current angular rate>
Representing a disturbance observation of angular rate steps.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method of claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310024613.8A CN115755590B (en) | 2023-01-09 | 2023-01-09 | Anti-interference guidance control system and method for hypersonic aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310024613.8A CN115755590B (en) | 2023-01-09 | 2023-01-09 | Anti-interference guidance control system and method for hypersonic aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115755590A CN115755590A (en) | 2023-03-07 |
| CN115755590B true CN115755590B (en) | 2023-04-14 |
Family
ID=85348426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310024613.8A Active CN115755590B (en) | 2023-01-09 | 2023-01-09 | Anti-interference guidance control system and method for hypersonic aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115755590B (en) |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110347170B (en) * | 2019-06-19 | 2021-06-22 | 南京航空航天大学 | Reusable carrier reentry segment robust fault-tolerant guidance control system and working method |
| CN111290421A (en) * | 2020-03-20 | 2020-06-16 | 湖南云顶智能科技有限公司 | Hypersonic aircraft attitude control method considering input saturation |
-
2023
- 2023-01-09 CN CN202310024613.8A patent/CN115755590B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN115755590A (en) | 2023-03-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106773713B (en) | High-precision nonlinear path tracking control method for under-actuated marine vehicle | |
| CN107608367B (en) | Multivariable interference compensation quadrotor unmanned aerial vehicle trajectory and attitude cooperative control method | |
| CN108614426B (en) | Multi-mobile-robot formation robust control method based on disturbance observer | |
| CN105242676B (en) | A kind of finite time convergence control time-varying Sliding Mode Attitude control method | |
| Huang et al. | Fixed-time autonomous shipboard landing control of a helicopter with external disturbances | |
| CN110347170B (en) | Reusable carrier reentry segment robust fault-tolerant guidance control system and working method | |
| CN109703768B (en) | Soft air refueling docking method based on attitude/trajectory composite control | |
| CN106802570B (en) | Method and device for tracking position of unmanned helicopter | |
| CN111506095B (en) | Method for tracking and controlling relative pose of saturation fixed time between double rigid body feature points | |
| Jia et al. | Agile flight control under multiple disturbances for quadrotor: Algorithms and evaluation | |
| Lendek et al. | Application of Takagi-Sugeno observers for state estimation in a quadrotor | |
| CN112558621A (en) | Decoupling control-based flying mechanical arm system | |
| CN113568419A (en) | Fault-tolerant control method for variable-load quad-rotor unmanned aerial vehicle | |
| CN111522352A (en) | Design method of single-parameter active disturbance rejection attitude controller of multi-rotor aircraft | |
| CN115576341A (en) | Unmanned aerial vehicle trajectory tracking control method based on function differentiation and adaptive variable gain | |
| Garcia et al. | Robust geometric navigation of a quadrotor UAV on SE (3) | |
| CN107145640B (en) | Dynamic scale planning method for floating base and mechanical arm in neutral buoyancy experiment | |
| CN113805481A (en) | Four-rotor aircraft self-adaptive neural network positioning control method based on visual feedback | |
| CN115755590B (en) | Anti-interference guidance control system and method for hypersonic aircraft | |
| CN116679548A (en) | Three-degree-of-freedom helicopter robust output feedback control method based on time-varying observer | |
| Zhao et al. | Trajectory tracking control for parafoil systems based on the model-free adaptive control method | |
| Lee et al. | Performance comparison of three different types of attitude control systems of the quad-rotor UAV to perform flip maneuver | |
| CN114147713B (en) | Track tracking control method based on adaptive neural network high-order dynamic sliding mode | |
| Bonci et al. | The Double Propeller Ducted-Fan, an UAV for safe Infrastructure inspection and human-interaction | |
| CN116449694A (en) | Three-degree-of-freedom helicopter robust output feedback control method based on self-adaptive variable parameters |
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 |