CN115793696A - Hypersonic aircraft attitude control method, system, electronic equipment and medium - Google Patents
Hypersonic aircraft attitude control method, system, electronic equipment and medium Download PDFInfo
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Abstract
The invention discloses a hypersonic aircraft attitude control method, a hypersonic aircraft attitude control system, electronic equipment and a hypersonic aircraft attitude control medium. The method comprises the following steps: constructing an attitude kinematics equation and a dynamics equation of the hypersonic aircraft; constructing a sliding mode function based on a sliding mode control theory; determining a sliding mode control algorithm based on the kinematics equation, the dynamics equation and the sliding mode function; adjusting the fixed gain in the sliding mode control algorithm in real time to obtain a self-adaptive fuzzy sliding mode attitude control algorithm; and controlling the attitude of the hypersonic aircraft based on the self-adaptive fuzzy sliding mode attitude control algorithm. The attitude control method of the hypersonic speed aircraft provided by the invention adopts a self-adaptive fuzzy sliding mode attitude control algorithm to carry out attitude control, the self-adaptive fuzzy sliding mode attitude control algorithm is a method combining a sliding mode control algorithm and fuzzy control, and the problems of low precision and low robustness of the traditional hypersonic speed aircraft control algorithm are solved.
Description
Technical Field
The invention relates to the technical field of control of hypersonic aircrafts, in particular to a method, a system, electronic equipment and a medium for controlling postures of hypersonic aircrafts.
Background
Hypersonic aircraft refers to aircraft with flight speeds between five and twenty times the speed of sound, and is generally guided missiles, aerospace planes and the like. Unlike a common missile, the flight orbit of the hypersonic aerocraft is positioned in an adjacent space, the height is about 30km, the atmospheric density is far lower than that of low altitude, and a certain lift force can be still provided, so that the aerocraft can maintain high-speed cruising for a long time in the space. Due to the characteristic, the hypersonic aircraft has wide application prospect in the military field and the civil field.
In the military field, the main advantages of hypersonic aircrafts are the following two aspects: long-distance striking ability and strong penetration ability in a short time. In the civil field, the main advantages of hypersonic aircrafts are the following three aspects: globally accessible transport capacity, extremely short flight times and low cost space utilization.
Because the hypersonic aircraft cruises at high speed at the high altitude of thirty-thousand meters, the lift-drag ratio of the hypersonic aircraft is required to be larger, the axial symmetry type aerodynamic shape of the conventional missile is not suitable any more, and the plane symmetry type aerodynamic shape is adopted and mainly comprises a wave rider and a lifting body.
The basic principle of the waverider is as follows: the body is streamline, and the front edge of the body can generate a large number of shock waves, under the action of the shock waves, lift force can be generated, and meanwhile, generated resistance is small. The lift body mainly adopts a wing body fusion technology, does not have a specific wing for generating lift force, and generates lift force mainly by depending on the special configuration of the whole body, so that the mutual interference between the wing and the body is greatly reduced, the stability is improved, and the lift force is also increased.
However, these aerodynamic profiles also cause serious non-linearity problems, the stability of the aircraft is poor, the coupling between the individual channels is severe, and the dynamic and aerodynamic parameters of the aircraft are also significantly affected. In addition, because the hypersonic aircraft is high in speed and high in dynamic pressure, small disturbance can generate obvious influence on the attitude of the aircraft, and the accumulation of aerodynamic heat caused by high-speed flight can also generate influence on a dynamic model of the aircraft. This means that the classical control theory used by the traditional axisymmetric missile is difficult to satisfy the stability, robustness and other indexes required by the control system, and a control theory with better control precision and stronger robustness needs to be adopted.
Disclosure of Invention
The invention aims to provide a hypersonic aircraft attitude control method, a hypersonic aircraft attitude control system, electronic equipment and a hypersonic aircraft attitude control medium, and solves the problems that an existing hypersonic aircraft control algorithm is low in precision and robustness.
In order to achieve the purpose, the invention provides the following scheme:
a hypersonic aircraft attitude control method comprises the following steps:
constructing an attitude kinematics equation and a dynamics equation of the hypersonic aircraft;
constructing a sliding mode function based on a sliding mode control theory;
determining a sliding mode control algorithm based on the kinematics equation, the dynamics equation and the sliding mode function;
adjusting the fixed gain in the sliding mode control algorithm in real time to obtain a self-adaptive fuzzy sliding mode attitude control algorithm;
and controlling the attitude of the hypersonic aircraft based on the self-adaptive fuzzy sliding mode attitude control algorithm.
Optionally, the attitude kinematics equation is as follows:
the kinetic equation is as follows:
F y ＝Y-mgcosθcosγ v
F z ＝Z+mgcosθsinγ v
wherein alpha is an attack angle, beta is a sideslip angle, and gamma v In order to determine the speed deflection angle,
in order to be the derivative of the angle of attack,
in order to be the derivative of the slip angle,
is the derivative of the deviation angle of velocity, V is the hypersonic flight velocity, theta is the inclination angle of the trajectory, sigma is the deviation angle of the trajectory, [ omega ] x ,ω y ,ω z ]Roll angular velocities of x, y, z axes,
angular acceleration about the x, y, z axes, F y Is the resultant force longitudinally borne by the hypersonic aircraft, F z Is the resultant force on the hypersonic aerocraft in the lateral direction, a i 、b i 、c j The mixture is a coefficient, i =1,2,3,j =1,2,3,4,y is the lift force acting on the hypersonic vehicle, and Z is the lateral force acting on the hypersonic vehicle.
Optionally, the sliding mode function has the following expression:
wherein S is x 、S y And S z Roll, pitch and yaw channel sliding mode variables, c x 、c y And c z The parameters of the sliding mode surface of the rolling channel, the pitching channel and the yawing channel respectively, e x 、e y And e z The errors between the actual values and the command values of the roll, pitch and yaw channels, respectively.
Optionally, the sliding mode control algorithm has the following expression:
wherein, delta x 、δ y 、δ z Rudder deflection, gamma, of the aircraft ailerons, elevators, rudders, respectively c 、
Respectively a speed deflection angle instruction, a first derivative of the speed deflection angle instruction, and a second derivative of the speed deflection angle instruction,
respectively overload instruction, overload instruction first derivative, overload instruction second derivative, beta c 、
Is a sideslip angle command, a first derivative of the sideslip angle command, a second derivative of the sideslip angle command, a x1 And a x2 All are the rolling channel coefficient, a y1 And a y 2 Are all pitch channel coefficients, c z1 As yaw channel coefficient, k x 、k y And k z Sliding mode control law parameters of a rolling channel, a pitching channel and a yawing channel respectively are epsilon x 、ε y 、ε z And the sliding mode fixed gains of the rolling channel, the pitching channel and the yawing channel are respectively.
Optionally, the fixed gain in the sliding mode control algorithm is adjusted in real time to obtain a self-adaptive fuzzy sliding mode attitude control algorithm, which specifically includes:
designing a membership function of an input fuzzy set in the sliding mode control algorithm;
designing a membership function of an output fuzzy set in the sliding mode control algorithm;
designing a fuzzy rule;
converting the input fuzzy set into an output fuzzy set based on the membership function of the input fuzzy set, the membership function of the output fuzzy set and the fuzzy rule;
and adjusting the fixed gain in the sliding mode control algorithm in real time based on the output fuzzy set.
The expression of the adaptive fuzzy sliding mode attitude control algorithm with fixed gain is designed as follows:
wherein the content of the first and second substances,
and
the real-time sliding mode control gain of a rolling channel, a pitching channel and a yawing channel is obtained through fuzzy control.
The invention also provides a hypersonic aircraft attitude control system, which comprises:
the kinematic equation and kinetic equation building module is used for building an attitude kinematic equation and a kinetic equation of the hypersonic aircraft;
the sliding mode function construction module is used for constructing a sliding mode function based on a sliding mode control theory;
a sliding mode control algorithm obtaining module, configured to determine a sliding mode control algorithm based on the kinematics equation, the dynamics equation, and the sliding mode function;
the adjusting module is used for adjusting the fixed gain in the sliding mode control algorithm in real time to obtain a self-adaptive fuzzy sliding mode attitude control algorithm;
and the attitude control module is used for controlling the attitude of the hypersonic aircraft based on the self-adaptive fuzzy sliding mode attitude control algorithm.
The invention also provides electronic equipment which comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor runs the computer program to enable the electronic equipment to execute the attitude control method of the hypersonic aircraft.
The present invention also provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the hypersonic aircraft attitude control method as described above.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the attitude control method of the hypersonic speed aircraft provided by the invention adopts a self-adaptive fuzzy sliding mode attitude control algorithm to carry out attitude control, the self-adaptive fuzzy sliding mode attitude control algorithm is a method combining the sliding mode control algorithm and fuzzy control, and the problems of low precision and low robustness of the existing hypersonic speed aircraft control algorithm are solved. The sliding mode control algorithm can realize good control on the hypersonic aircraft, and the control precision meets the requirement; the fuzzy algorithm can be used for self-adapting the parameters, and can realize good suppression of buffeting under the condition that the control precision is ensured to meet the requirement, so that the attitude of the hypersonic aircraft can be controlled more accurately.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of a hypersonic aircraft attitude control method provided by the present invention;
FIG. 2 shows the tracking of overload command under sliding mode control algorithm
FIG. 3 is a schematic diagram of tracking of a roll angle command under a sliding mode control algorithm;
FIG. 4 is a schematic diagram of the tracking situation of the slip angle command under the sliding mode control algorithm;
FIG. 5 is a schematic diagram of a change situation of an attack angle under a sliding mode control algorithm;
FIG. 6 is a schematic diagram of overload tracking error under a sliding mode control algorithm;
FIG. 7 is a schematic diagram of a roll angle tracking error under a sliding mode control algorithm;
FIG. 8 is a schematic diagram of a slip angle tracking error under a sliding mode control algorithm;
FIG. 9 is a schematic view of variable variation of a downward-bending channel sliding mode;
FIG. 10 is a schematic diagram of a variation condition of sliding mode variables of a rolling channel under a sliding mode control algorithm;
FIG. 11 is a schematic diagram of a variation condition of sliding mode variables of an off-course channel under a sliding mode control algorithm;
fig. 12 is a schematic view of the rudder deflection angle of the elevator under the sliding mode control algorithm;
FIG. 13 is a schematic diagram of an auxiliary wing rudder deflection angle under a sliding mode control algorithm;
FIG. 14 is a schematic view of a rudder deflection angle under a sliding mode control algorithm;
FIG. 15 is a schematic diagram of the speed variation under the sliding mode control algorithm;
FIG. 16 is a schematic diagram of tracking of an overload instruction under an adaptive fuzzy sliding mode attitude control algorithm;
FIG. 17 is a schematic view of tracking of a roll angle command under an adaptive fuzzy sliding mode attitude control algorithm;
FIG. 18 is a schematic view of the tracking situation of the sideslip angle command under the adaptive fuzzy sliding mode attitude control algorithm;
FIG. 19 is a schematic view of a change situation of an attack angle under a self-adaptive fuzzy sliding mode attitude control algorithm;
FIG. 20 is a schematic diagram of overload tracking error under the adaptive fuzzy sliding mode attitude control algorithm;
FIG. 21 is a schematic diagram of a roll angle tracking error under an adaptive fuzzy sliding mode attitude control algorithm;
FIG. 22 is a schematic view of a side slip angle tracking error under the adaptive fuzzy sliding mode attitude control algorithm;
FIG. 23 is a schematic diagram of an elevator rudder deflection angle under a self-adaptive fuzzy sliding mode attitude control algorithm;
FIG. 24 is a schematic diagram of an auxiliary wing rudder deflection angle under a self-adaptive fuzzy sliding mode attitude control algorithm;
fig. 25 is a schematic view of a rudder deflection angle under an adaptive fuzzy sliding mode attitude control algorithm.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The sliding mode variable structure control is one of the common control methods in the design of the aircraft controller, has stronger robustness and is more suitable for the design of the hypersonic aircraft controller. The control signal is obtained by selecting the sliding mode variable, the sliding mode surface and the model information, the sliding mode variable is rapidly converged to the sliding mode surface under the action of the control signal, and then the sliding mode variable moves on the sliding mode surface all the time, so that the controlled object is well controlled. The sliding mode control has extremely strong robustness and is widely applied to actual production and life because the algorithm design is simple and is insensitive to uncertain parts and various interferences in the model. However, after the sliding mode variables converge to the sliding mode surface, the sliding mode variables frequently pass through the sliding mode surface, which can cause a serious buffeting problem. The chattering phenomenon causes frequent actions of the equipment, which results in serious energy waste, and causes frequent actions of the actuating mechanism of the equipment, which easily causes damage to the machine. Generally, sliding mode control is combined with other self-adaptive control methods, a composite control law is designed, and control parameters can be selected by self aiming at different environmental conditions, so that the optimal control effect is achieved. The self-adaptive control is suitable for a nonlinear model or the model has larger uncertainty and strong robustness, and can adapt to different environments.
Fuzzy control is a novel nonlinear digital control technology which is built and matured gradually in the seventies of the last century and is based on fuzzy sets, fuzzy variables and fuzzy logic. Through fuzzy mathematics and the like, the fuzzy control can fuzzify human experiences, convert the human experiences into corresponding mathematical models, and output control instructions after defuzzification, so that the precise control of complex models is realized. Because the control algorithm is more combined with human experience, the method has good control effect on a nonlinear model or a model with larger uncertainty, and has strong anti-interference capability and better robustness. In the seventies of the last century, human beings realize the control of a steam boiler through fuzzy control for the first time, which is considered as the beginning of the real birth of the fuzzy control. The fuzzy control fuses human production and living experiences with a control system, and has stronger intelligence.
The invention provides a novel adaptive fuzzy sliding mode attitude control method for a hypersonic aircraft, aiming at solving the problems of low precision and low robustness of the existing hypersonic aircraft control algorithm. The control method adopts a sliding mode control algorithm, sets a linear sliding mode surface containing an error variable, and can ensure that the sliding mode surface converges to zero in limited time by designing a reasonable sliding mode control quantity; when the sliding mode surface converges to zero, the error variable can gradually converge to zero. The parameters of the sliding mode control algorithm adopt a fuzzy self-adaptive method, and the prior knowledge of human beings is applied to the fuzzy algorithm; and the fuzzy control algorithm adaptively adjusts parameters of the sliding mode algorithm according to the current control condition, and when the control error is large, the parameters are large, and when the control error is small, the parameters are small.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
The embodiment provides a hypersonic aircraft attitude control method, as shown in fig. 2, the method includes the following steps:
step 101: and constructing an attitude kinematics equation and a dynamics equation of the hypersonic aircraft.
The kinematic equation and the kinetic equation are constructed as follows:
wherein alpha is an attack angle, beta is a sideslip angle, and gamma v Is the velocity drift angle, V is the flight velocity, theta is the trajectory inclination angle, sigma is the trajectory drift angle, [ omega ] x ,ω y ,ω z ]For roll angular velocity, F y Resultant force in the longitudinal direction of the aircraft, F z Is the resultant force applied to the aircraft in the lateral direction, coefficient a i 、b i 、c j ，i＝1,2,3，j＝1,2,3,4。
Wherein, J x 、J y 、J z 、J xy The moment of inertia and the product of inertia of the aircraft about the x-axis, the y-axis and the z-axis, respectively. [ X, Y, Z ]] T The aerodynamic forces acting on the hypersonic flight vehicle are drag, lift and lateral forces. The expression is as follows:
wherein q is dynamic pressure, S is hypersonic aircraft reference area, C X 、C Y And C Z Respectively drag coefficient, lift coefficient and lateral force coefficient, and the calculation formula of the values can be written as:
and Ma is the flight Mach number of the aircraft.
[M x ,M y ,M z ] T The aerodynamic moments acting on the aircraft are roll moments, yaw moments and pitch moments, and the expressions are as follows:
wherein b is the transverse correlation length, L is the longitudinal correlation length, C Mx 、C My And C Mz The roll moment coefficient, yaw moment coefficient and pitch moment coefficient, the calculation formula of the values can be written as:
wherein, delta x Is delta y Is delta z As aircraft pairsWings, elevators and rudder offsets.
Step 102: and constructing a sliding mode function based on a sliding mode control theory.
In order to ensure convergence of the attitude tracking error of the aircraft, a linear sliding mode function containing the error and a derivative thereof is designed.
The sliding mode function is constructed as follows:
wherein s is x 、s y And s z Slip form surfaces designed for three channels, c x 、c y And c z As a parameter of the slip form surface, e x 、e y And e z For the difference between the actual value and the expected value of the state quantity of each channel, c x 、c y 、c z Are all greater than zero, and have:
the derivative of equation (7) is:
step 103: and determining a sliding mode control algorithm based on the kinematics equation, the dynamics equation and the sliding mode function.
Substituting the formula (1), the formula (2), the formula (4), the formula (5) and the formula (7) into the formula (8), the algorithm for designing the sliding mode attitude control of the hypersonic flight vehicle in the step S3 can be obtained as follows:
wherein, delta x 、δ y And delta z Is the rudder deflection of ailerons, elevators and rudders of the aircraft, gamma c 、
And
is the speed declination command and its first and second derivatives, n yc 、
And
is the overload command and its first and second derivatives, beta c 、
And
is the slip angle command and its first and second derivatives, k x 、k y And k z For roll, pitch and yaw channel sliding mode control law parameters, epsilon x 、ε y And epsilon z Sliding fixed gain, k, for the roll, pitch and yaw channels x 、k y 、k z 、ε x 、ε y And ε z Are all greater than 0,a x1 、a x2 、a y1 、a y2 And c z1 The channel coefficients of rolling, pitching and yawing of the model are obtained and satisfy
Indicating the rudder deflection delta x The externally induced roll moment coefficient portion,
step 104: and adjusting the fixed gain in the sliding mode control algorithm in real time to obtain the self-adaptive fuzzy sliding mode attitude control algorithm.
Based on a fuzzy control theory, human parameter adjustment experience of the sliding mode algorithm is fuzzified to obtain a fuzzy parameter adaptive law, and fixed gain in the morning sliding mode control algorithm designed in the step 103 is adjusted in real time to obtain an adaptive fuzzy sliding mode attitude control algorithm.
The parameter adjusting experience of the sliding mode control shows that when the sliding mode variable s is far away from the sliding mode surface, the parameter epsilon is large, so that the sliding mode variable s can be converged on the sliding mode surface in the shortest time possible; when the sliding mode variable s is close to the sliding mode surface, the smaller the parameter epsilon, the less the buffeting phenomenon is obvious.
The above experience can be reduced to when the sliding mode variable is multiplied by the first derivative of the sliding mode variable
When larger, ε should be larger; otherwise, it should be smaller, i.e.:
according to the above experience, the fuzzy control system input and output fuzzy sets are respectively defined as follows:
NB means large negative values, NM means medium negative values, ZO means zero values, PM means medium positive values and PM means large positive values.
Aiming at the formula (11), the sliding mode variable of the fuzzy system and the first derivative product of the sliding mode variable are multiplied
The membership function is designed as follows:
for equation (11), the membership function to which the output parameter epsilon of the fuzzy system belongs is designed as:
the product of the sliding mode variable and the first derivative of the sliding mode variable can be obtained through the fuzzy set (11) and the corresponding membership functions (12) to (19)
Changing the clear value into a fuzzy quantity, and adapting to a subsequent fuzzy rule.
The fuzzy rule is a fuzzy controller core, the invention adopts a language type fuzzy rule, the fuzzy memory is composed of many fuzzy memory relations of \8230; (if 8230; \8230; the then \8230;). These F conditional statements are a summary of human experience with sliding mode control tuning. The fuzzy rule is as follows:
after the fuzzy logic (20) reasoning, the fuzzy system can output a fuzzy set, which is the synthesis of the conclusion obtained by the fuzzy rule (20), and the parameter epsilon (t) can be obtained through the clarification.
Epsilon of fixed gain in the sliding mode control law established in the foregoing x 、ε y And ε z The adaptive parameter epsilon (t) obtained in step S4 is used to obtain the adaptive sliding mode fuzzy control law:
step 105: and controlling the attitude of the hypersonic aircraft based on the self-adaptive fuzzy sliding mode attitude control algorithm.
In the invention, the simulation process of the sliding mode control method of the hypersonic aircraft comprises the following steps: for the designed control law formula (9), the control conditions are as follows: the mass of the aircraft is 1000kg; reference area of 0.5m 2 (ii) a The initial speed is 1800m/s; the initial position is [0, 3X 10 ] 4 ,0] T m; selecting a control command as a sine signal; simulation step size of 1 x 10 -4 s; the simulation time was 40s.
The simulation results are as follows: fig. 2 to 4 show the instruction and execution of each channel, and it can be seen that: each channel can quickly follow up the instruction in a short time, and the dynamic performance is good; fig. 5 shows the angle of attack variation, as can be seen: the angle of attack is always within the allowable range of the aircraft; fig. 6 to 8 show the execution error of each channel instruction, and it can be seen that: the errors are all almost zero, and the requirement on control precision is met; fig. 9 to 11 show the variable variation of the sliding mode of each channel, and can be seen: the sliding mode variables of all the channels can be converged to be near zero; the rudder deflection angle of each channel of fig. 12 to 14 can be seen: the rudder deflection angle is in the working range, but the phenomenon of obvious buffeting exists; fig. 15 is a velocity variation graph, the value of which is maintained around 5 Ma.
In the invention, the simulation process of the self-adaptive fuzzy sliding mode attitude control method of the hypersonic aircraft comprises the following steps: for the designed control law (21),the control conditions are as follows: the mass of the aircraft is 1000kg; reference area of 0.5m 2 (ii) a The initial speed is 1800m/s; the initial position is [0, 3X 10 ] 4 ,0] T m; selecting a control command as a sine signal; simulation step size of 1 x 10 -4 s; the simulation time was 40s.
The simulation results are as follows: fig. 16 to 18 are diagrams illustrating changes of instructions and execution conditions of each channel, and it can be seen that: each channel of the aircraft can track the command in real time, the dynamic performance is good, and the steady-state error is almost zero; fig. 19 is a diagram of the angle of attack variation, as can be seen: the value of which is always within the allowable range of the aircraft; FIGS. 20 to 22 are graphs showing the variation of the error of each channel; it can be seen that: the error values are all approximately zero; fig. 23 to 25 show the rudder deflection angle of each channel, as can be seen: the chattering phenomenon is effectively suppressed.
Compared with a simple sliding mode algorithm, the self-adaptive fuzzy sliding mode attitude control method provided by the invention can realize good control on the hypersonic aircraft, meets the requirement on control precision, and realizes good inhibition on buffeting.
Example two
In order to execute a corresponding method of the above embodiments to achieve corresponding functions and technical effects, the following provides a hypersonic aircraft attitude control system.
An attitude control system for a hypersonic aircraft, comprising:
the kinematic equation and kinetic equation building module is used for building an attitude kinematic equation and a kinetic equation of the hypersonic aircraft;
the sliding mode function construction module is used for constructing a sliding mode function based on a sliding mode control theory;
a sliding mode control algorithm obtaining module, configured to determine a sliding mode control algorithm based on the kinematics equation, the dynamics equation, and the sliding mode function;
the adjusting module is used for adjusting the fixed gain in the sliding mode control algorithm in real time to obtain a self-adaptive fuzzy sliding mode attitude control algorithm;
an attitude control module for controlling the attitude of the hypersonic aircraft based on the adaptive fuzzy sliding mode attitude control algorithm
EXAMPLE III
The third embodiment of the invention provides electronic equipment, which comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor runs the computer program to enable the electronic equipment to execute the attitude control method of the hypersonic aircraft in the first embodiment.
The electronic device may be a server.
Example four
The fourth embodiment of the invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the attitude control method of the hypersonic aircraft in the first embodiment is realized.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principle and embodiments of the present invention are explained by using specific examples, the above examples are only used to help understanding the method of the present invention and the core idea thereof, the described examples are only a part of examples of the present invention, not all examples, and all other examples obtained by a person of ordinary skill in the art without making creative efforts based on the examples of the present invention belong to the protection scope of the present invention.
Claims (9)
1. A hypersonic aircraft attitude control method is characterized by comprising the following steps:
constructing an attitude kinematics equation and a dynamics equation of the hypersonic aircraft;
constructing a sliding mode function based on a sliding mode control theory;
determining a sliding mode control algorithm based on the kinematics equation, the dynamics equation and the sliding mode function;
adjusting the fixed gain in the sliding mode control algorithm in real time to obtain a self-adaptive fuzzy sliding mode attitude control algorithm;
and controlling the attitude of the hypersonic aircraft based on the self-adaptive fuzzy sliding mode attitude control algorithm.
2. The hypersonic aircraft attitude control method of claim 1, wherein the attitude kinematics equation is as follows:
the kinetic equation is as follows:
F y ＝Y-mgcosθcosγ v
F z ＝Z+mgcosθsinγ v
wherein alpha is an attack angle, beta is a sideslip angle, and gamma is v In order to obtain the speed deflection angle,
in order to be the derivative of the angle of attack,
in order to be the derivative of the slip angle,
is the derivative of the deviation angle of velocity, V is the hypersonic flight velocity, theta is the inclination angle of the trajectory, sigma is the deviation angle of the trajectory, [ omega ] x ,ω y ,ω z ]Roll angular velocities of x, y, z axes,
angular acceleration about the x, y, z axes, F y Is the resultant force longitudinally borne by the hypersonic aerocraft F z Is the resultant force on the hypersonic aerocraft in the lateral direction, a i 、b i 、c j The mixture is a coefficient, i =1,2,3,j =1,2,3,4,y is the lift force acting on the hypersonic vehicle, and Z is the lateral force acting on the hypersonic vehicle.
3. The hypersonic aircraft attitude control method of claim 2, characterized in that the expression of the sliding-mode function is as follows:
wherein S is x 、S y And S z Roll, pitch and yaw channel sliding mode variables, c x 、c y And c z Roll, pitch and yaw channel slip form surface parameters, respectively, e x 、e y And e z The errors between the actual values and the command values of the roll, pitch and yaw channels are respectively.
4. The hypersonic aircraft attitude control method of claim 3, characterized in that the sliding mode control algorithm has the following expression:
wherein, delta x 、δ y 、δ z Rudder deflection, gamma, of the aircraft ailerons, elevators, rudders, respectively c 、
Respectively is a speed deflection angle instruction, a first derivative of the speed deflection angle instruction, a second derivative of the speed deflection angle instruction, n yc 、
Respectively overload instruction, overload instruction first derivative, overload instruction second derivative, beta c 、
Is a sideslip angle instruction, a first derivative of the sideslip angle instructionSecond derivative of numerical and sideslip angle command, a x1 And a x2 All are the rolling channel coefficient, a y1 And a y2 Are all pitch channel coefficients, c z1 As yaw channel coefficient, k x 、k y And k z The sliding mode control law parameters of a rolling channel, a pitching channel and a yawing channel are respectively epsilon x 、ε y 、ε z And the sliding mode fixed gains are respectively a rolling channel, a pitching channel and a yawing channel.
5. The attitude control method of the hypersonic aircraft according to claim 1, characterized in that the fixed gain in the sliding mode control algorithm is adjusted in real time to obtain an adaptive fuzzy sliding mode attitude control algorithm, which specifically comprises:
designing a membership function of an input fuzzy set in the sliding mode control algorithm;
designing a membership function of an output fuzzy set in the sliding mode control algorithm;
designing a fuzzy rule;
converting the input fuzzy set into an output fuzzy set based on the membership function of the input fuzzy set, the membership function of the output fuzzy set and the fuzzy rule;
and adjusting the fixed gain in the sliding mode control algorithm in real time based on the output fuzzy set.
6. The hypersonic aircraft attitude control method of claim 4, characterized in that the expression of the adaptive fuzzy sliding mode attitude control algorithm is as follows:
wherein the content of the first and second substances,
and
the real-time sliding mode control gain of a rolling channel, a pitching channel and a yawing channel is obtained through fuzzy control.
7. A hypersonic aircraft attitude control system, comprising:
the kinematic equation and kinetic equation building module is used for building an attitude kinematic equation and a kinetic equation of the hypersonic aircraft;
the sliding mode function construction module is used for constructing a sliding mode function based on a sliding mode control theory;
a sliding mode control algorithm obtaining module, configured to determine a sliding mode control algorithm based on the kinematics equation, the dynamics equation, and the sliding mode function;
the adjusting module is used for adjusting the fixed gain in the sliding mode control algorithm in real time to obtain a self-adaptive fuzzy sliding mode attitude control algorithm;
and the attitude control module is used for controlling the attitude of the hypersonic aircraft based on the self-adaptive fuzzy sliding mode attitude control algorithm.
8. An electronic device, comprising a memory for storing a computer program and a processor that runs the computer program to cause the electronic device to perform the hypersonic aircraft attitude control method of any of claims 1-6.
9. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the hypersonic aircraft attitude control method of any one of claims 1-6.
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