高超声速飞行器全局有限时间姿态控制方法

刘海东; 包为民; 李惠峰; 龚春叶; 廖宇新

doi:10.13700/j.bh.1001-5965.2015.0547

高超声速飞行器全局有限时间姿态控制方法

doi: 10.13700/j.bh.1001-5965.2015.0547

刘海东^1,2,
包为民^1,2,
李惠峰^1, ,,
龚春叶^2,3,
廖宇新¹

1.
北京航空航天大学宇航学院, 北京 100083
2. 空间物理重点实验室, 北京 100076
3. 国防科学技术大学航空科学与工程学院, 长沙 410073

详细信息

作者简介:
刘海东,男,博士研究生,工程师。主要研究方向:导航、制导与控制。Tel.:010-68752726,E-mail:liuhaidong84@126.com;李惠峰女,博士,教授,博士生导师。主要研究方向:导航、制导与控制。Tel.:010-82339276,E-mail:lihuifeng@buaa.edu.cn

通讯作者:
李惠峰,Tel.:010-82339276,E-mail:lihuifeng@buaa.edu.cn

中图分类号: V448.22⁺2
计量
- 文章访问数: 995
- HTML全文浏览量: 69
- PDF下载量: 644
- 被引次数: 0
出版历程
- 收稿日期: 2015-08-26
- 网络出版日期: 2016-09-20

Attitude control method within finite time globally for hypersonic vehicles

1.
School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2. Science and Technology on Space Physics Laboratory, Beijng 100076, China
3. College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China

摘要

摘要: 以高超声速飞行器6自由度模型为研究对象，设计了一种基于终端滑模的全局有限时间姿态控制方法。在控制器设计中，通过动态逆实现对俯仰、偏航和滚转通道的解耦处理。在考虑模型不确定性和外部干扰的情况下，终端滑模变结构控制方法用于保证系统的鲁棒性。同时，通过改进指数趋近律，实现闭环系统在滑模面趋近阶段和沿滑模面滑动阶段均是有限时间收敛的。基于李雅普诺夫稳定性理论，控制器的全局有限时间收敛特性得到证明。仿真实验结果验证了高超声速飞行器全局有限时间姿态控制方法的有效性。
- 高超声速 /
- 动态逆 /
- 终端滑模 /
- 全局有限时间 /
- 姿态控制
Abstract: Taking six degrees of freedom model of a generic hypersonic vehicle as the research object, this paper proposes a terminal sliding mode attitude control method which can converge to the equilibrium point within finite time globally. In the design of the controller, dynamic inversion is applied to deal with strong couplings among pitch angle, yaw angle and roll angle. In the case of considering the model uncertainties and external disturbances, the terminal sliding mode variable structure control method is used to guarantee the robustness of the system. In addition, by improving the traditional exponential approach law, the control command can be tracked within finite time globally. Based on the Lyapunov stability theory, it is proved that the finite time convergence in both reaching and sliding phases can be achieved. Finally, simulation results demonstrate that the proposed attitude control method is efficient.
- hypersonic /
- dynamic inversion /
- terminal sliding mode /
- global finite time /
- attitude control

HTML全文

参考文献(31)

[1]	吴宏鑫,孟斌.高超声速飞行器控制研究综述[J].力学进展,2009,39(6):756-765.WU H X,MENG B.Review on the control of hypersonic flight vehicles[J].Advances in Mechanics,2009,39(6):756-765(in Chinese).
[2]	XU H,MIRMIRANI M D,IOANNOU P A.Adaptive sliding mode control design for a hypersonic flight vehicle[J].Journal of Guidance,Control,and Dynamics,2004,27(5):829-838.
[3]	LI H F,SUN W C,LI Z Y,et al.Index approach law based sliding control for a hypersonic aircraft:AIAA-2009-1734 [R].Reston:AIAA,2009.
[4]	王鹏.高超声速巡航飞行器姿态控制方法研究[D].长沙:国防科学技术大学,2013.WANG P.Research on attitude control method for hypersonic cruise vehicle[D].Changsha:National University of Defense Technology,2013(in Chinese).
[5]	刘金琨,孙富春.滑模变结构控制理论及其算法研究与进展[J].控制理论与应用,2007,24(3):407-418.LIU J K,SUN F C.Research and development on theory and algorithms of sliding mode control[J].Control Theory & Applications,2007,24(3):407-418(in Chinese).
[6]	FIORENTINI L,SERRANI A,BOLENDER M A,et al.Nonlinear robust adaptive control of flexible air-breathing hypersonic vehicles[J].Journal of Guidance,Control,and Dynamics,2009,32(2):404-416.
[7]	WU H N,LIU Z Y,GUO L.Robust L_∞-gain fuzzy disturbance observer-based control design with adaptive bounding for a hypersonic vehicle[J].IEEE Transactions on Fuzzy Systems,2014,22(6):1401-1412.
[8]	YANG J,LI S H,SUN C Y,et al.Nonlinear-disturbance-observer-based robust flight control for airbreathing hypersonic vehicles[J].IEEE Transactions on Fuzzy Systems,2013,49(2)：1263-1275.
[9]	黄喜元,王青,董朝阳.基于Backstepping的高超声速飞行器鲁棒自适应控制[J].系统工程与电子技术,2011,33(6):1321-1326.HUANG X Y,WANG Q,DONG C Y.Robust adaptive control of hypersonic vehicles via backstepping method[J].Systems Engineering and Electronics,2011,33(6):1321-1326(in Chinese).
[10]	SLOTINE J J,SASTRY S S.Tracking control of nonlinear sysytems using sliding surfaces with application to robot manipulator[J].International Journal of Control,1983,38(2):465-492.
[11]	高为炳.变结构控制的理论及设计方法[M].北京:科学出版社,1996：35-36.GAO W B.Theory and design method of variable structure control[M].Beijing:Science Press,1996：35-36(in Chinese).
[12]	YU X H,MAN Z H.Model reference adaptive control systems with terminal sliding modes[J].International Journal of Control,1996,64(6):1165-1176.
[13]	MAN Z H,YU X H.Terminal sliding mode control of mimo linear system[C]//Proceedings of the 25th Conference on Decision and Control.Piscataway,NJ:IEEE Press,1996:4619-4624.
[14]	WANG X H,WANG J Z.Partial integrated missile guidance and control with finite time convergence[J].Journal of Guidance,Control,and Dynamics,2013,36(5):1399-1409.
[15]	WANG Y Y,CHEN J W,GU L Y.Output feedback fractional-order nonsingular terminal sliding mode control of underwater remotely operated vehicles[J].The Scientific World Journal,2014,2014:838019.
[16]	YU S H,YU X H.Robust global terminal sliding model control of SISO nonlinear uncertain systems[C]//39th IEEE Conference on Decision and Control.Piscataway,NJ:IEEE Press,2000:2198-2203.
[17]	WANG F,ZONG Q,TIAN B L.Adaptive backstepping finite time attitude control of reentry RLV with input constraint[J].Mathematical Problems in Engineering,2014,2014:801747.
[18]	FENG Y,YU X H,MAN Z H.Non-singular terminal sliding mode control of rigid manipulators[J].Automatica,2002,38(12):2159-2167.
[19]	LEE K W,SINGH S N.Multi-input higher-order sliding mode control of aeroelastic systems with uncertainties and gust load[C]//AIAA Guidance,Navigation,and Control Conference.Reston:AIAA,2014:1-16.
[20]	WANG J Y,SUN C W.6-DOF robust adaptive terminal sliding mode control for spacecraft formation flying[J].Acta Astronautica,2012,73:76-87.
[21]	熊少锋,王卫红,王森.带攻击角度约束的非奇异快速终端滑模制导律[J].控制理论与应用,2014,31(3):269-278.XIONG S F,WANG W H,WANG S.Nonsingular fast terminal sliding-mode guidance with intercept angle constraint[J].Control Theory & Application,2014,31(3):269-278(in Chinese).
[22]	NEILA M B,TARAK D.Adaptive terminal sliding mode control for rigid robotic manipulators[J].International Journal of Automation and Computing,2011,8(2):215-220.
[23]	CHEN S Y,LIN,F J.Robust nonsingular terminal sliding-mode control for nonlinear magnetic bearing system[J].IEEE Transactions on Control Systems Technology,2011,19(3):636-643.
[24]	ZHU Z,XIA Y,FU M.Adaptive sliding mode control for attitude stabilization with actuator saturation[J].IEEE Transactions on Industrial Electronics,2011,58(10):4898-4907.
[25]	SHAUGHNESSY J D,PINCKNEY S Z,MCMINN J D,et al.Hypersonic vehicle simulation model:Winged-cone configuration:NASA-TM-102610[R].Washington，D.C.:NASA,1990.
[26]	KESHMIRI S,COLGREN R,MIRMIRANI M.Development of an aerodynamic database for a generic hypersonic air vehicle:AIAA-2005-6257[R].Reston:AIAA,2005.
[27]	KESHMIRI S,COLGREN R，MIRMIRANI M.Six DoF nonlinear equations of motion for a generic hypersonic vehicle:AIAA-2007-6626[R].Reston:AIAA,2007.
[28]	戴先中.多变量非线性系统的神经网络逆控制方法[M].北京:科学出版社,2005：27-32.DAI X Z.A neural network inverse control method for multivariable nonlinear systems[M].Beijing:Science Press,2005：27-32(in Chinese).
[29]	HUANG X Q,LIN W,YANG B.Global finite-time stabilization of a class of uncertain nonlinear systems[J].Automatica,2005,41(5):881-888.
[30]	HONG Y G,HUANG J,XU Y S.On an output feedback finite-time stabilization problem[J].IEEE Transactions on Automatic Control,2001,46(2):305-309.
[31]	GRUYITCH L T,KOKOSY A.Robot control for robust stability with finite reachability time in the whole[J].Journal of Robotic Systems,1999,16(5):263-283.