基于DM-DSC的舰载机着舰自动复飞控制算法

崔凯凯; 韩维; 刘玉杰; 刘洁; 褚达文; 崔荣伟

doi:10.13700/j.bh.1001-5965.2021.0362

基于DM-DSC的舰载机着舰自动复飞控制算法

doi: 10.13700/j.bh.1001-5965.2021.0362

1.
海军航空大学航空基础学院，烟台 264001
2.
军事科学院战争研究院，北京 100850
3.
解放军 75833部队，广州 510000

基金项目: 国家自然科学基金(62003366)

详细信息

通讯作者:
E-mail：liuyexiaobao@163.com

中图分类号: V249.12
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- 被引次数: 0
出版历程
- 收稿日期: 2021-06-30
- 录用日期: 2021-09-30
- 网络出版日期: 2021-11-02
- 整期出版日期: 2023-04-30

Automatic wave-off control algorithm for carrier aircraft based on DM-DSC

1.
School of Basic Sciences for Aviation，Naval Aviation University，Yantai 264001，China
2.
War Research Institute，Academy of Military Sciences，Beijing 100850，China
3.
75833 of the PLA，Guangzhou 510000，China

Funds: National Natural Science Foundation of China (62003366)

More Information

Corresponding author: E-mail：liuyexiaobao@163.com

摘要

摘要:
针对理想复飞轨迹已知条件下的舰载机自动复飞控制问题，提出一种基于偏差模型的动态面控制（DM-DSC）算法。基于Radau伪谱法给出了舰载机着舰的最优复飞轨迹；根据得到的最优复飞轨迹及其所对应的控制方案，分别给出了速度子系统和高度子系统的偏差控制模型和反演（Backstepping）控制器，并通过引入动态面结构来获得虚拟控制量的微分信号，避免了Backstepping控制律求解过程中的“微分膨胀”问题；考虑到气动参数的不确定性及舰尾流场的干扰，采用线性扩张状态观测器（LESO）对控制模型中的干扰项进行估计和补偿，并设计抗饱和辅助系统来抑制控制饱和的不利影响；最后，基于Lyapunov方法证明闭环系统信号的有界性。仿真结果表明：所提算法具有良好的控制性能。
- 舰载机 /
- 着舰复飞 /
- 反演 /
- 动态面控制 /
- 干扰观测器 /
- 抗饱和控制
Abstract:
In this paper, a deviation model dynamic surface control algorithm (DM-DSC) is designed for automatic wave-off control of carrier aircraft when the optimal wave-off trajectory is available. Firstly, the optimal wave-off trajectory is given based on Radau pseudospectral method. Furthermore, according to the optimal wave-off trajectory and the corresponding control scheme, the deviation control models and Backstepping controllers of the velocity subsystem and altitude subsystem are given respectively. Then the dynamic surface structure is introduced to obtain the differential signal of the virtual control variable, and at the same time, the “differential expansion” problem in Backstepping control is avoided. Then, in order to acquire the differential signal of the virtual control variable and simultaneously avoid the "differential expansion" problem in Backstepping control, the dynamic surface structure is introduced. Considering the uncertainty of aerodynamic parameters and the disturbance of carrier air wake, the linear extended state observer (LESO) is used to estimate and compensate for the disturbance in the control model, and the anti-saturation auxiliary structure is introduced to suppress the influence of control saturation on the controller performance. Finally, the boundedness of the closed-loop system is proved based on the Lyapunov method. The comparative simulation results demonstrate that the DM-DSC algorithm has good control performance.
- carrier aircraft /
- wave-off /
- Backstepping /
- dynamic surface control /
- disturbance observer /
- anti-saturation control

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图 1 舰载机着舰复飞示意图

Figure 1. Wave-off diagram of carrier aircraft

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图 2 自动复飞控制系统结构示意图

Figure 2. Diagram of automatic wave-off control system

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图 3 水平和垂直方向舰尾流强度

Figure 3. Horizontal and vertical intensity of carrier air wake

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图 4 速度子系统跟踪控制误差

Figure 4. Tracking control errors of speed subsystem

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图 5 高度子系统跟踪控制结果

Figure 5. Tracking control results of altitude subsystem

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图 6 高度子系统跟踪控制误差

Figure 6. Tracking control errors of altitude subsystem

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图 7 控制系统油门输入

Figure 7. Throttle input of control system

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图 8 发动机油门输出响应

Figure 8. Output response of engine thrust

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图 9 控制系统舵偏角输入

Figure 9. Elevator deflection input of control system

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图 10 舵偏角输入变化率

Figure 10. Rate of change of elevator deflection input

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图 11 抗饱和系统的补偿信号

Figure 11. Compensation signal of anti-saturation system

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图 12 未知干扰的估计结果

Figure 12. Estimation results of unknown disturbances

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图 13 LESO的估计误差

Figure 13. Estimation errors of LESO

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图 14 速度子系统跟踪控制结果

Figure 14. Tracking control results of speed subsystem

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表 1 舰载机状态/控制变量的容许范围

Table 1. Admissible ranges of state and control variables

状态/控制变量	$\alpha $/(°)	$q$	${\delta _{{P} } }$	$ {\delta _{\text{e}}} $/(°)	$ {\dot \delta _{\text{e}}} $/((°)·s⁻¹)
容许取值范围	[1, 20]	[−1, 1]	[0, 1]	[−24, 10.5]	[−40, 40]

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