北京航空航天大学学报 ›› 2022, Vol. 48 ›› Issue (5): 920-928.doi: 10.13700/j.bh.1001-5965.2021.0454

• 论文 • 上一篇    

导弹增量式自适应容错控制系统设计

方艺忠1, 陆宇婷2, 韩拓2,3, 胡庆雷2,3   

  1. 1. 北京航天长征飞行器研究所 试验物理与计算数学国家重点实验室, 北京 100076;
    2. 北京航空航天大学 自动化科学与电气工程学院, 北京 100083;
    3. 北航杭州创新研究院(余杭), 杭州 310023
  • 收稿日期:2021-08-11 发布日期:2022-05-30
  • 通讯作者: 胡庆雷 E-mail:huql_buaa@buaa.edu.cn
  • 基金资助:
    国家自然科学基金(61960206011);北京市自然科学基金(JQ19017);浙江省自然科学基金(LD22E050004)

Design of missile incremental adaptive fault tolerant control system

FANG Yizhong1, LU Yuting2, HAN Tuo2,3, HU Qinglei2,3   

  1. 1. National Key Laboratory of Science and Technology on Test Physics & Numerical Mathematics, Beijing Institute of Space Long March Vehicle, Beijing 100076, China;
    2. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083;
    3. Beihang Hangzhou Innovation Institute Yuhang, Hangzhou 310023, China
  • Received:2021-08-11 Published:2022-05-30
  • Supported by:
    National Natural Science Foundation of China (61960206011);Beijing Municipal Natural Science Foundation (JQ19017);Zhejiang Provincial Natural Science Foundation (LD22E050004)

摘要: 导弹在实际飞行中存在气动参数不确定、执行机构故障等问题,从而对导弹飞行控制系统稳定性与操控能力造成严重影响。为此,设计一种增量式自适应容错控制方法,在实现导弹安全控制的同时,兼顾姿态控制算法时效性与可靠性。建立面向控制的三通道耦合姿态动力学模型;考虑系统不确定性和执行机构故障,基于增量式动态逆方法设计导弹被动容错控制律;基于自适应滑模控制与增量式动态逆方法,设计增量式动态逆自适应容错控制律,并对系统残差进行分析比较;通过某典型全弹道姿态跟踪任务,验证舵面故障下的姿态跟踪特性。仿真结果表明:所提方法在故障未知的情况下,能够保证飞行控制系统的鲁棒性与容错能力,实现导弹的安全可靠控制。

关键词: 导弹, 容错控制, 增量式动态逆, 鲁棒控制, 执行机构故障

Abstract: Aerodynamic parameter uncertainties and actuator failures in missile flight will severely affect the stability and operation of the flight system. Therefore, we investigate an incremental adaptive passive fault tolerant control method to ensure safe control in missile flight as well as effectiveness and reliability of the control algorithm. A control oriented coupled attitude dynamics model was presented. In order to avoid system uncertainties and actuator failures, a passive fault tolerant control law was designed based on incremental nonlinear dynamic inversion. An incremental nonlinear dynamic inversion-based adaptive fault tolerant control law was established by combining the adaptive sliding mode control method and the incremental nonlinear dynamic inversion approach. Meanwhile, the residual of the system was analyzed and compared. A typical full trajectory attitude tracking mission was conducted to verify the control performance under actuator faults. Simulation results show that the proposed system can ensure robustness and fault tolerance without the fault diagnosis knowledge, which could eventually achieve safe and reliable flight control.

Key words: missile, fault tolerant control, incremental nonlinear dynamic inversion, robust control, actuator fault

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