CN117784603A - Stratospheric airship increment backstepping control method based on time delay estimation - Google Patents
Stratospheric airship increment backstepping control method based on time delay estimation Download PDFInfo
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Abstract
The invention discloses a stratospheric airship increment back-step control method based on time delay estimation, which belongs to the technical field of automatic control and comprises the following steps: firstly, establishing a stratospheric airship attitude control model; step two, calculating the expected angular velocity inner ring control quantity, and performing preliminary calculation by an incremental backstepping method according to the sensor value to obtain an attitude inner ring control expected value; estimating an angular acceleration value according to an adaptive operator method; and step four, calculating the control quantity of the expected angular velocity channel, and calculating the actual control quantity of the control channel according to the designed control law. The invention provides a stratospheric airship increment back-off control method based on time delay estimation, which combines the time delay estimation and the increment back-off control to enhance the robustness under the uncertainty of a model, and has the advantages of lower requirement on modeling accuracy, higher robustness and better control accuracy.
Description
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to a stratospheric airship increment backstepping control method based on time delay estimation.
Background
The stratosphere is a field of air to be fully utilized, attracting a great deal of research interest. Stratospheric airships have also experienced rapid development at this point as an aircraft that utilizes stratosphere to stabilize atmospheric conditions. Such aircraft are capable of performing a variety of tasks, including flight crew and space relay. The dynamics of these airships are very unique, exhibiting significant non-linearities, strong coupling effects and features that cannot be modeled accurately. At the same time, there are also many unpredictable disturbances in the stratospheric environment. These factors make complex control systems for these airships very challenging.
Stratospheric airships commonly employ model-based control techniques. Excessive reliance on accurate system models can reduce the recovery capability and robustness of airship navigation solutions in control system design. The more adaptive and fault tolerant control method may be more suitable for improving the reliability of the airship guidance system in various operating environments. During the day and night periods, the airship needs to adjust the ballast and the projectile load to maintain a stable attitude, which can result in a change in the center of gravity. This means that existing model-based control methods have certain limitations on airship control systems.
Disclosure of Invention
The invention aims to provide a stratospheric airship increment backstepping control method based on time delay estimation, which solves the problem that the stratospheric airship commonly adopts a control technology based on a model and excessively depends on an accurate system model and the control method has limitations in the prior art.
In order to achieve the above purpose, the invention provides a stratospheric airship increment backstepping control method based on time delay estimation, which comprises the following steps:
firstly, establishing a stratospheric airship attitude control model;
step two, calculating the expected angular velocity inner ring control quantity, and performing preliminary calculation by an incremental backstepping method according to the sensor value to obtain an attitude inner ring control expected value;
estimating an angular acceleration value according to an adaptive operator method;
and step four, calculating the control quantity of the expected angular velocity channel, and calculating the actual control quantity of the control channel according to the designed control law.
Preferably, the specific process of establishing the stratospheric airship attitude control model in the first step is as follows:
s11, obtaining an angular velocity control equation of the stratospheric airship through the airship kinematics and the dynamics equation
Wherein the angular velocity vector Ω= [ p, q, r ]] T The component of the airship angular velocity on the engine system is p represents the airship rolling angular velocity, q represents the airship pitch angle velocity, and r represents the airship yaw angular velocity; b (B) 22 Representing the attitude control matrix, euler angles Θ= [ θ, ψ, φ] T θ represents the pitch angle of the airship under the boat system; psi represents the yaw angle of the airship under the system of boats; phi represents the roll angle of the airship under the boat system; f (F) ω Moment vector, τ, representing control of airship angular velocity ω An input control amount representing control of the angular velocity of the airship,representing the attitude angle vector derivative, delta, of the airship ω Representing interference due to channel coupling, τ υ An input control amount for controlling the speed of the airship is represented, and K represents a rotation matrix;
s12, modeling a control matrix by considering a dynamic model under the movement of the center of gravity, wherein the specific modeling is as follows:
wherein the method comprises the steps ofAnd->Control matrix, Δf, representing actual force and actual moment, respectively w And DeltaB 22 Representing a control matrix due to a change in center of gravity affected by the disturbance or operation.
Preferably, the specific expression for calculating the desired angular velocity inner ring control amount in the second step is as follows:
wherein e θ ＝Θ-Θ d Is the attitude angle error Θ d K is the desired angle of input 1 For the input of the control matrix,is the derivative of the desired attitude angle.
Preferably, in the third step, a specific calculation method for estimating the angular acceleration value according to the adaptive operator method is as follows:
wherein e Ω ＝Ω-Ω d As an angular velocity error of posture Ω d For the desired angular velocity value calculated in step two,for intra-system interference estimation, < >>Is the derivative of the intra-system interference estimate, +.>Disturbance estimation for system control matrix>For controlling the derivative of matrix disturbance estimation for the system, τ w0 Representing the input value at the current time, eye (3) Representing a 3 rd order diagonal matrix Γ 1 Representing interference estimation parameters Γ 2 Representing control matrix estimation parameters, wherein the adaptive projection operator Proj (α, β) is defined as follows:
wherein alpha and beta respectively represent input values,and->Respectively represent the maximum and minimum values of alpha, beta i A component representing the input value, ε being a given threshold;
the design angular acceleration self-adaptive estimation is as follows:
in the method, in the process of the invention,indicating the current moment control force->Representing control matrix estimate +.>Representing the current interference estimate.
Preferably, the specific calculation method of the desired angular velocity channel control amount in the fourth step is as follows:
s41, correcting the control matrix:
wherein,for the post-correction control matrix +.>For the design matrix, for estimating a revised control matrix;
s42, designing an angular velocity channel control quantity update law:
wherein K is 2 Inputting a vector for a control parameter;
s43, obtaining the control quantity of actual distribution:
wherein,representing the current control quantity input value.
Therefore, the stratospheric airship increment backstepping control method based on time delay estimation has the following beneficial effects:
(1) The method can reduce performance degradation caused by sensor delay, telemetry noise and uncertainty of model parameters. This is achieved by online estimation and compensation of coupling error dynamics in an incremental nonlinear control architecture;
(2) Under the condition of input lag and output signal distortion, the developed angular speed controller successfully realizes quick set point tracking without continuous oscillation;
(3) The inherent self-adaptive estimation characteristic in the method reduces the dependence on a high-fidelity analysis model, simplifies the update law of a compensator, and enhances the capability of resisting uncertainty of an unmodeled part;
(4) The method has the advantages that the whole structure is simple, engineering realization is easy, a control engineer can freely set the expected position or expected attitude angle of the airship according to actual conditions, and the method calculates the corresponding control quantity and directly transmits the control quantity to an executing mechanism so as to realize the control of the position or the attitude of the stratospheric airship.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is an overall flow chart of a stratospheric airship incremental backstepping control method based on time delay estimation according to the invention;
fig. 2 is a schematic view of a stratospheric airship used in the present invention.
Detailed Description
The following detailed description of the embodiments of the invention, provided in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, a stratospheric airship increment back-step control method based on time delay estimation includes the following steps:
firstly, establishing a stratospheric airship attitude control model; the specific process is as follows:
s11, obtaining an angular velocity control equation of the stratospheric airship through the airship kinematics and the dynamics equation
Wherein the angular velocity vector Ω= [ p, q, r ]] T The component of the angular velocity of the airship on the engine system is represented by p, the rolling angular velocity of the airship and qShowing the pitch angle speed of the airship, r representing the yaw angle speed of the airship; b (B) 22 Representing the attitude control matrix, euler angles Θ= [ θ, ψ, φ] T θ represents the pitch angle of the airship under the boat system; psi represents the yaw angle of the airship under the system of boats; phi represents the roll angle of the airship under the boat system; f (F) ω Moment vector, τ, representing control of airship angular velocity ω An input control amount representing control of the angular velocity of the airship,representing the attitude angle vector derivative, delta, of the airship ω Representing interference due to channel coupling, τ υ An input control amount for controlling the speed of the airship is represented, and K represents a rotation matrix;
s12, modeling a control matrix by considering a dynamic model under the movement of the center of gravity, wherein the specific modeling is as follows:
wherein the method comprises the steps ofAnd->Control matrix, Δf, representing actual force and actual moment, respectively w And DeltaB 22 Representing a control matrix due to a change in center of gravity affected by the disturbance or operation.
Step two, calculating the expected angular velocity inner ring control quantity, and performing preliminary calculation by an incremental backstepping method according to the sensor value to obtain an attitude inner ring control expected value; the specific expression for calculating the desired angular velocity inner ring control amount is as follows:
wherein e θ ＝Θ-Θ d Is the attitude angle error Θ d In order to input the desired angle of the input,K 1 for the input of the control matrix,is the derivative of the desired attitude angle.
Estimating an angular acceleration value according to an adaptive operator method; the specific calculation method is as follows:
wherein e Ω ＝Ω-Ω d As an angular velocity error of posture Ω d For the desired angular velocity value calculated in step two,for intra-system interference estimation, < >>Is the derivative of the intra-system interference estimate, +.>Disturbance estimation for system control matrix>Derivative of disturbance estimation for system control matrix, +.>Representing the input value at the current time, eye (3) represents a 3 rd order diagonal matrix, Γ 1 Representing interference estimation parameters Γ 2 Representing control matrix estimation parameters, wherein the adaptive projection operator Proj (α, β) is defined as follows:
wherein alpha and beta respectively represent input values,and->Respectively represent the maximum and minimum values of alpha, beta i A component representing the input value, ε being a given threshold;
the design angular acceleration self-adaptive estimation is as follows:
in the method, in the process of the invention,indicating the current moment control force->Representing control matrix estimate +.>Representing the current interference estimate.
Calculating the control quantity of the expected angular velocity channel, and calculating the actual control quantity of the control channel according to a designed control law, wherein the specific calculation method of the control quantity of the expected angular velocity channel is as follows:
s41, correcting the control matrix:
wherein,for the post-correction control matrix +.>For the design matrix, for estimating a revised control matrix;
s42, designing an angular velocity channel control quantity update law:
wherein K is 2 Inputting a vector for a control parameter;
s43, obtaining the control quantity of actual distribution:
wherein,representing the current control quantity input value.
Therefore, the invention adopts the stratospheric airship increment back-step control method based on time delay estimation, and a linear time-invariant system related to attitude angle tracking errors is obtained by integrating increment control and time delay estimation, wherein the time delay estimation errors are regarded as disturbance of the system. Meanwhile, an adaptive technology is adopted to reduce the influence of noise and gravity center change on the robustness of the system.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (5)
1. The stratospheric airship increment back-step control method based on time delay estimation is characterized by comprising the following steps of:
firstly, establishing a stratospheric airship attitude control model;
step two, calculating the expected angular velocity inner ring control quantity, and performing preliminary calculation by an incremental backstepping method according to the sensor value to obtain an attitude inner ring control expected value;
estimating an angular acceleration value according to an adaptive operator method;
and step four, calculating the control quantity of the expected angular velocity channel, and calculating the actual control quantity of the control channel according to the designed control law.
2. The method for incremental backstepping control of a stratospheric airship based on time delay estimation according to claim 1, wherein the specific process of establishing a stratospheric airship attitude control model in the first step is as follows:
s11, obtaining an angular velocity control equation of the stratospheric airship through the airship kinematics and the dynamics equation
Wherein the angular velocity vector Ω= [ p, q, r ]] T The component of the airship angular velocity on the engine system is p represents the airship rolling angular velocity, q represents the airship pitch angle velocity, and r represents the airship yaw angular velocity; b (B) 22 Representing the attitude control matrix, euler angles Θ= [ θ, ψ, φ] T θ represents the pitch angle of the airship under the boat system; psi represents the yaw angle of the airship under the system of boats; phi represents the roll angle of the airship under the boat system; f (F) ω Moment vector, τ, representing control of airship angular velocity ω An input control amount representing control of the angular velocity of the airship,representing attitude angle vectors of airshipDerivative, delta ω Representing interference due to channel coupling, τ υ An input control amount for controlling the speed of the airship is represented, and K represents a rotation matrix;
s12, modeling a control matrix by considering a dynamic model under the movement of the center of gravity, wherein the specific modeling is as follows:
wherein the method comprises the steps ofAnd->Control matrix, Δf, representing actual force and actual moment, respectively w And DeltaB 22 Representing a control matrix due to a change in center of gravity affected by the disturbance or operation.
3. The method for incremental backstepping control of a stratospheric airship based on time delay estimation according to claim 1, wherein the specific expression for calculating the desired angular velocity inner ring control amount in the second step is as follows:
wherein e θ ＝Θ-Θ d Is the attitude angle error Θ d K is the desired angle of input 1 For the input of the control matrix,is the derivative of the desired attitude angle.
4. The stratospheric airship increment backstepping control method based on time delay estimation according to claim 1, wherein the specific calculation method for estimating the angular acceleration value according to the adaptive operator method in the third step is as follows:
wherein e Ω ＝Ω-Ω d As an angular velocity error of posture Ω d For the desired angular velocity value calculated in step two,for intra-system interference estimation, < >>Is the derivative of the intra-system interference estimate, +.>Disturbance estimation for system control matrix>Derivative of disturbance estimation for system control matrix, +.>Representing the input value at the current time, eye (3) represents a 3 rd order diagonal matrix, Γ 1 Representing interference estimation parameters Γ 2 Representing control matrix estimation parameters, wherein the adaptive projection operator Proj (α, β) is defined as follows:
wherein alpha and beta respectively represent input values,and->Respectively represent the maximum and minimum values of alpha, beta i A component representing the input value, ε being a given threshold;
the design angular acceleration self-adaptive estimation is as follows:
in the method, in the process of the invention,indicating the current moment control force->Representing control matrix estimate +.>Representing the current interference estimate.
5. The method for controlling the increment backstepping of the stratospheric airship based on time delay estimation according to claim 1, wherein the specific calculation method of the expected angular velocity channel control quantity in the fourth step is as follows:
s41, correcting the control matrix:
wherein,for the post-correction control matrix +.>For the design matrix, for estimating a revised control matrix;
s42, designing an angular velocity channel control quantity update law:
wherein K is 2 Inputting a vector for a control parameter;
s43, obtaining the control quantity of actual distribution:
wherein,representing the current control quantity input value.
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