升力式再入飞行器体襟翼姿态控制方法

doi:10.13700/j.bh.1001-5965.2015.0192

北京航空航天大学学报 ›› 2016, Vol. 42 ›› Issue (3): 532-541.doi: 10.13700/j.bh.1001-5965.2015.0192

升力式再入飞行器体襟翼姿态控制方法

王之¹, 李惠峰¹, 包为民^1,2

1. 北京航空航天大学宇航学院, 北京 100083;
2. 中国航天科技集团公司, 北京 100048

收稿日期:2015-04-02 出版日期:2016-03-20 发布日期:2015-09-17
通讯作者: 李惠峰,Tel.:010-82339276 E-mail:lihuifeng@buaa.edu.cn E-mail:lihuifeng@buaa.edu.cn
作者简介:王之男,博士研究生。主要研究方向:高超声速飞行器动力学与控制技术。Tel.:010-82339527 E-mail:bjwangz@buaa.edu.cn;李惠峰女,博士,教授,博士生导师。主要研究方向:高超声速飞行器制导与控制技术。Tel.:010-82339276 E-mail:lihuifeng@buaa.edu.cn
基金资助:
国家自然科学基金(61174221,11272062)

Body-flap attitude control method for lifting re-entry vehicle

WANG Zhi¹, LI Huifeng¹, BAO Weimin^1,2

1. School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
2. China Aerospace Science and Technology Corporation, Beijing 100048, China

Received:2015-04-02 Online:2016-03-20 Published:2015-09-17
Supported by:
National Natural Science Foundation of China (61174221, 11272062)

摘要/Abstract

摘要： 针对升力式再入飞行器体襟翼控制三通道时的非最小相位问题,设计了一种姿态输出跟踪控制方法。选择合理的局部微分同胚,将姿态输入-输出模型转换为正则形式并得到内动态。通过对内动态进行稳定性分析并提出系统非最小相位特性的判据,采用此判据可判定当存在副翼反效时该输出跟踪控制问题为非最小相位控制问题。针对该问题,首先依据内动态与外部动态的线性相关度将正则模型分解为最小相位子系统(纵向通道)和非最小相位子系统(横侧向通道),然后运用动态逆控制技术对2个子系统分别设计状态反馈控制器,最后基于Lyapunov方程和最小范数控制策略在非最小相位子系统中引入非线性辅助控制项以镇定整个姿态控制回路。仿真结果表明了在仅有体襟翼控制的情况下该控制方法能够精确跟踪控制指令并镇定内动态。

关键词: 升力式再入飞行器, 体襟翼姿态控制, 非最小相位特性判据, 副翼反效, 最小范数控制策略

Abstract: An attitude output tracking control method is proposed for a lifting re-entry vehicle with a non-minimum phase property. Such problem is caused by body flaps which are the only actuators to be used for controlling three-channel. By using local differential homeomorphism, the attitude input-output model is transformed into normal form, and internal dynamics are obtained. A criterion of non-minimum phase is developed by analyzing the internal dynamics' stability, and this criterion is used to predict the non-minimum phase phenomena when aileron reversal exists. To solve this problem, the normal form is decomposed into a minimum phase subsystem (longitudinal channel) and a non-minimum phase subsystem (lateral-directional channel). And then, dynamics inversion is used to design the state-feedback controllers for these two subsystems.Moreover, a nonlinear auxiliary control input is introduced to stabilize the overall attitude control loop by both Lyapunov function and a minimum-norm control strategy. Simulation results demonstrate that in the case where body flap actuators are employed for attitude control, the control commands can be tracked and internal dynamics can be stabilized by the proposed method.

Key words: lifting re-entry vehicle, body-flap attitude control, criterion of non-minimum phase, aileron reversal, minimum-norm control strategy

中图分类号:

V448.2

王之, 李惠峰, 包为民. 升力式再入飞行器体襟翼姿态控制方法[J]. 北京航空航天大学学报, 2016, 42(3): 532-541.

WANG Zhi, LI Huifeng, BAO Weimin. Body-flap attitude control method for lifting re-entry vehicle[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2016, 42(3): 532-541.

参考文献

[1] 包为民. 航天飞行器控制技术研究现状与发展趋势[J].自动化学报,2013,39(6):697-702. BAO W M.Present situation and development tendency of aerospace control techniques[J].Acta Automatica Sinica,2013,39(6):697-702(in Chinese).
[2] 李惠峰. 高超声速飞行器制导与控制技术[M].北京:中国宇航出版社,2012:518-536. LI H F.Hypersonic aircraft guidance and control technology[M].Beijing:China Astronautic Publishing House,2012:518-536(in Chinese).
[3] ISIDORI A. Nonlinear control systems[M].Beijing:Publish House of Electronics Industry,2006:127-135.
[4] SLOTINE J E. Applied nonlinear control[M].Beijing:China Machine Press,2006:144-152.
[5] 苏善伟,朱波, 向锦武,等.非线性非最小相位系统的控制研究综述[J].自动化学报,2015,41(1):9-21. SU S W,ZHU B,XIANG J W,et al.A survey on the control of nonlinear non-minimum phase systems[J].Acta Automatica Sinica,2015,41(1):9-21(in Chinese).
[6] BENVENUTI L, DI BENEDETTO M D,GRIZZLE J W.Approximate output tracking for nonlinear non-minimum phase systems with an application to flight control[J].International Journal of Robust and Nonlinear Control,1994,4(3):397-414.
[7] MARTIN P, DEVASIA S,PADEN B.A different look at output tracking:Control of a VTOL aircraft[J].Automatica,1996,32(1):101-107.
[8] SIRA-RAMIREZ H. A dynamical variable structure control strategy in asymptotic output tracking problems[J].IEEE Transactions on Automatic Control,1993,38(4):615-620.
[9] SHTESSEL Y B. Nonlinear output tracking in conventional and dynamic sliding manifolds[J].IEEE Transactions on Automatic Control,1997,42(9):1282-1286.
[10] AL-HIDDABI S A, MCCLAMROCH N H.Tracking and maneuver regulation control for nonlinear nonminimum phase systems:Application to flight control[J].IEEE Transactions on Control Systems Technology,2002,10(6):780-792.
[11] ZHU B, WANG X H,CAI K Y.Approximate trajectory tracking of input-disturbed PVTOL aircraft with delayed attitude measurements[J].International Journal of Robust and Nonlinear Control,2010,20(14):1610-1621.
[12] TALEBI H A, PATEL R V,KHORASANI K.A neural network controller for a class of nonlinear non-minimum phase systems with application to a flexible-link manipulator[J].Journal of Dynamic Systems,Measurement,and Control,2005,127(2):289-294.
[13] BABAEI A R, MORTAZAVI M,MORADI M H.Fuzzy sliding mode autopilot design for nonminimum phase and nonlinear UAV[J].Journal of Intelligent & Fuzzy Systems,2013,24(3):499-509.
[14] 刘山,吴铁军. 基于稳定逆的非最小相位系统的迭代学习控制[J].控制理论与应用,2003,20(6):831-837. LIU S,WU T J.Stable-inversion based iterative learning control for non-minimum phase plants[J].Control Theory and Applications,2003,20(6):831-837(in Chinese).
[15] 史丽楠,张冉, 李昭莹,等.基于输出重定义的再入飞行器动态逆姿态控制[J].北京航空航天大学学报,2014,40(9):1291-1298. SHI L N,ZHANG R,LI Z Y,et al.Inverse dynamic attitude control for re-entry vehicle based on output redefinition[J].Journal of Beijing University of Aeronautics and Astronautics,2014,40(9):1291-1298(in Chinese).
[16] WALLNER E M, WELL K H.Attitude control of a reentry vehicle with internal dynamics[J].Journal of Guidance,Control,and Dynamics,2003,26(6):846-854.
[17] LUTZE F H, DURHAM W C,MASON W H.Unified development of lateral-directional departure criteria[J].Journal of Guidance,Control,and Dynamics,1996,19(2):489-493.
[18] SU S W, LIN Y.Robust output tracking control for a velocity-sensorless vertical take-off and landing aircraft with input disturbances and unmatched uncertainties[J].International Journal of Robust and Nonlinear Control,2013,23(11):1198-1213.
[19] HUANG C S, YUAN K.Output tracking of a nonlinear non-minimum phase PVTOL aircraft based on nonlinear state feedback control[J].International Journal of Control,2002,75(6):466-473.

升力式再入飞行器体襟翼姿态控制方法

Body-flap attitude control method for lifting re-entry vehicle

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 1

编辑推荐

Metrics

本文评价