北京航空航天大学学报 ›› 2020, Vol. 46 ›› Issue (4): 781-790.doi: 10.13700/j.bh.1001-5965.2019.04741

• 论文 • 上一篇    下一篇

可重复使用飞行器再入姿态的区间二型自适应模糊滑模控制设计

杨珍书1, 毛奇2, 窦立谦2   

  1. 1. 江苏航空职业技术学院 航空工程学院 镇江市无人机应用创新重点实验室, 镇江 212134;
    2. 天津大学 电气自动化与信息工程学院, 天津 300072
  • 收稿日期:2019-09-02 发布日期:2020-04-21
  • 通讯作者: 杨珍书 E-mail:zsyang@tju.edu.cn
  • 作者简介:杨珍书,女,硕士,助教。主要研究方向:飞控系统非线性建模及控制、故障检测及控制;毛奇,男,博士研究生。主要研究方向:鲁棒控制、非线性控制、飞行器建模与控制;窦立谦,男,博士,副教授,硕士生导师。主要研究方向:复杂系统建模与控制、飞行器建模与控制、多无人机协调优化控制。
  • 基金资助:
    国家自然科学基金(61773279,61877340);江苏航空职业技术学院院级课题(JATC19010109)

Interval type-2 adaptive fuzzy sliding mode control design of reentry attitude for reusable launch vehicles

YANG Zhenshu1, MAO Qi2, DOU Liqian2   

  1. 1. Zhenjiang Key Laboratory of UAV Application Technology, Aeronautical Engineering Institute, Jiangsu Aviation Technical College, Zhenjiang 212134, China;
    2. School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China
  • Received:2019-09-02 Published:2020-04-21
  • Supported by:
    National Natural Science Foundation of China (61773279,61877340); Project of Jiangsu Aviation Technical College (JATC19010109)

摘要: 针对具有强非线性、多变量耦合特性的可重复使用飞行器(RLV),同时考虑模型参数不确定性和外界干扰对飞行器再入姿态跟踪的影响,提出了一种基于区间二型自适应模糊滑模的姿态控制方法。首先,建立飞行器再入动态模型,并基于反步思想将控制模型转化为姿态角和角速率相关子系统。其次,将模型参数不确定性和外界干扰视作子系统非线性项的一部分。再次,采用区间二型模糊系统逼近子系统非线性项,并结合自适应技术和滑模控制方法分别设计虚拟控制量和实际控制量。此外,引入一阶低通滤波器用以处理子系统虚拟控制律。通过Lyapunov方法的分析证明了闭环控制系统的稳定性,且飞行器姿态跟踪误差可收敛于原点附近的小邻域。最后,利用飞行器的数值仿真验证了所设计控制方法能有效跟踪飞行器参考指令,且对外界干扰有较强的鲁棒性。

关键词: 可重复使用飞行器(RLV), 姿态控制, 再入段, 区间二型自适应模糊系统, 滑模控制

Abstract: Considering the attitude tracking problem for reusable launch vehicles (RLVs) during reentry phase with high nonlinear and multi-variable coupling characteristics in the presence of parameter uncertainties and external disturbances, an interval type-2 adaptive fuzzy sliding mode based attitude control method is proposed in this paper. Firstly, the dynamic model for the RLV is developed, which is further transformed into attitude angle and angular rate subsystems using backstepping method. Secondly, the parameter uncertainties and external disturbances of the RLV model are regarded as part of the nonlinear terms of the subsystems. Thirdly, the nonlinear terms of the subsystems are approximated by the interval type-2 fuzzy system, while the virtual control signal and the actual control signal can be obtained respectively by combining the adaptive technique and sliding mode control method. Besides, the first-order low-pass filter is used to deal with the virtual control law of subsystem. The stability of the closed-loop control system is guaranteed via Lyapunov theory and the attitude tracking error can converge to a small neighborhood around the origin. Finally, the numerical simulation on the reentry vehicle is conducted to verify that the developed control method can track the reference commands effectively and have strong robustness again external disturbances.

Key words: reusable launch vehicle (RLV), attitude control, reentry phase, interval type-2 adaptive fuzzy system, sliding mode control

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