Design of decentralized robust attitude controller for hypersonic sliding vehicles
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摘要: 根据高超声速滑翔飞行器的任务和特点,并考虑一阶执行器动态,建立了面向控制系统设计的飞行器姿态模型.针对模型的结构,结合分散控制和滑模变结构控制的思想设计了再入飞行段的分散鲁棒姿态控制器:采用Tornambe控制方法进行了分散鲁棒滑模面的设计,使得系统能够克服耦合及非匹配不确定性的影响实现性能优良的滑模运动;采用改进的时间次优控制方法实现了二阶滑模变结构控制律的设计,通过在线估计等效控制削弱了抖振.为验证控制器的设计,在Simulink中以某概念高超声速滑翔飞行器为对象,进行了分散鲁棒姿态控制系统和制导系统的联合仿真,仿真结果表明在存在大不确定性的情况下,可以实现对制导指令的鲁棒稳定跟踪.
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关键词:
- 高超声速滑翔飞行器 /
- 分散控制 /
- Tornambe控制 /
- 二阶滑模变结构控制
Abstract: Based on the mission and aerodynamic features of hypersonic sliding vehicles, the control-oriented model was built by taking first-order actuator dynamics into account. The decentralized robust attitude controller for re-entry flight incorporated the idea of decentralized control and sliding mode control was designed. And the decentralized robust sliding surfaces were designed using Tornambe control technique to ensure good tracking performance in sliding mode in the presence of coupling and unmatched uncertainties. The second order sliding mode control law was synthesized using modified sub-optimal control method in which the on-line estimate of equivalent control reduced chattering. Finally, a six-degree-of-freedom simulation in Simulink for a conceptual hypersonic sliding vehicle was performed, the robust tracking of guidance command is guaranteed despite of large parameter perturbations. -
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