超低空空投拉平阶段混合迭代滑模控制

刘日; 孙秀霞; 董文瀚

doi:10.13700/j.bh.1001-5965.2014.0020

超低空空投拉平阶段混合迭代滑模控制

doi: 10.13700/j.bh.1001-5965.2014.0020

空军工程大学航空航天工程学院, 西安 710038

基金项目: 国家自然科学基金资助项目(60904038);航空科学基金资助项目(20141396012,20121396008)

详细信息

作者简介:
刘日(1988-),男,吉林长春人,博士生,lr_taiyang@126.com.

通讯作者:
孙秀霞(1962-),女,山东潍坊人,教授,gcxysxx@126.com,主要研究方向为现代鲁棒控制、飞行控制.

中图分类号: V249.1
计量
- 文章访问数: 1113
- HTML全文浏览量: 125
- PDF下载量: 658
- 被引次数: 0
出版历程
- 收稿日期: 2014-01-14
- 网络出版日期: 2015-01-20

Hybrid iteration sliding mode control for ultra-low altitude airdrop level off

Aeronautics and Astronautics Engineering College, Air Force Engineering University, Xi'an 710038, China

摘要

摘要: 针对超低空空投拉平阶段地面效应、传感器测量误差以及低空气流等不确定性因素干扰轨迹精确跟踪,威胁载机的安全性和任务完成性等问题,设计了二级混合迭代滑模变结构飞行控制律.第1级滑模采用全局动态切换函数,消除了滑模运动的到达阶段,保证了系统在响应全程的鲁棒性;第2级滑模采用非线性积分切换函数,将积分项产生的超调转移到第1级滑模,保证轨迹跟踪精度的同时改善了动态性能.应用Lyapunov稳定性理论和Barbalat引理证明了该飞行控制律能完全抑制常值的模型摄动和外界扰动,可以控制动态模型摄动和外界干扰下稳态误差的上界.仿真验证了所提控制方法的良好跟踪性能和强鲁棒性.
- 超低空空投 /
- 飞行控制 /
- 混合迭代滑模 /
- 拉平控制 /
- 地面效应 /
- 鲁棒性
Abstract: For the ultra-low altitude airdrop level off stage, many uncertain factors such as ground effect, sensor measurement errors and low altitude airflow interfere the precision of trajectory tracking, which exert serious threats on the aircraft safety and mission performance, a hybrid iteration sliding mode flight controller was designed. In the first order sliding mode, a global dynamic switching function was adopted, which eliminated the reaching stage of sliding mode and ensured the whole response robustness. In the second order sliding mode, a nonlinear integral switching function was adopted and the overshoot caused by the integral term was brought to the first order sliding mode, so not only the tracking accuracy was guaranteed but also the dynamic performance was improved. Lyapunov stability theory and Barbalat lemma analysis show that the flight control law can completely reject constant model perturbation and disturbances, and can control the upper bounds of the steady errors with dynamic model perturbation and disturbances. Simulation results confirm the robustness and ascendant tracking performance of the proposed approach.
- ultra-low altitude airdrop /
- flight control /
- hybrid iteration sliding mode /
- level off control /
- ground effect /
- robustness

HTML全文

参考文献(16)

[1]	李广义.国外大型军用运输机发展现状与趋势[J].航空制造技术,2005,12(9):36-43.Li G Y.Status and trends of the large foreign military cargo planes[J].Aeronautic Manufacturing Technology,2005,12(9):36-43(in Chinese).
[2]	Jann T.Coupled simulation of cargo airdrop from a generic military transport aircraft[C]//Proceedings of the 21st AIAA Aerodynamic Decelerator Systems Technology Conference.Reston,VA:AIAA,2011：1-20.
[3]	Dillenburger S P,Cochran J K,Cammarano V R.Minimizing supply airdrop collateral damage risk[J].Socio-Economic Planning Sciences,2013,47(1):9-19.
[4]	Henry M,Lafond K,Noetscher G.Development of a 2,000-10,000 lbs improved container delivery system[C]//Proceedings of the 20th AIAA Aerodynamic Decelerator Systems Technology Conference.Reston,VA:AIAA,2009:1-16.
[5]	Lee C.Low-cost high-altitude low-opening cargo airdrop systems[J].Journal of Aircraft,2012,49(1):349-354.
[6]	Qian J L,Dai C. Unsteady flow structure of an airfoil in ground effect[J].Journal of Shanghai University,2010,14(3):228- 234.
[7]	Molina J,Zhang X,Angland D.On the unsteady motion and stability of a heaving airfoil in ground effect[J].Acta Mechanica Sinica,2011,27(2):164-178.
[8]	Geisbauer S,Schade N,Enk S,et al.Experimental and numerical investigation of the flow topology during airdrop operations[C]//Proceedings of 21st AIAA Aerodynamic Decelerator Systems Technology Conference.Reston,VA:AIAA,2011:1-11.
[9]	刘日,孙秀霞,董文瀚,等.大气扰动下运输机空投过程建模与仿真分析[J].飞行力学,2013,31(1):24-28.Liu R,Sun X X,Dong W H,et al.Modeling of flight dynamics and analyzing of simulationfor airdrop in atmospheric disturbance[J].Flight Dynamics,2013,31(1):24-28(in Chinese).
[10]	张晶,申功璋,杨凌宇.基于逆动力学和重心估计的飞行控制系统设计[J].北京航空航天大学学报,2009,35(11):1315-1319.Zhang J,Shen G Z,Yang L Y.Design of flight control system based on inverse dynamics and center of gravity estimation[J].Journal of Beijing University of Aeronautics and Astronautics,2009,35(11):1315-1319(in Chinese).
[11]	杨晓科,杨凌宇,张晶,等.变重量/重心飞机建模及姿态控制律设计[J].北京航空航天大学学报,2011,37(1):54-57.Yang X K,Yang L Y,Zhang J,et al.Modeling and attitude control of aircraft with variations in mass or center of gravity[J].Journal of Beijing University of Aeronautics and Astronautics,2011,37(1):54-57(in Chinese).
[12]	Zhang H Y,Shi Z K.Variable structure control of catastrophic course in airdropping heavy cargo[J].Chinese Journal of Aeronautics,2009,22(2):520-527.
[13]	李大东,孙秀霞,董文瀚,等.基于线性化反馈的滑模变结构重装空投纵向控制律设计[J].控制理论与应用,2013,30(1):54-57.Li D D,Sun X X,Dong W H,et al.Pitch control for flight in heavy-weight airdrop based on feedback linearization theory and variable structure control[J].Control Theory & Applications,2013,30(1):54-57(in Chinese).
[14]	申宇,仇原鹰.增益调度积分型切换项滑模控制器设计[J].系统工程与电子技术,2011,33(9):2079-2083.Shen Y,Qiu Y Y.Design of sliding-mode controller with gain-scheduling integral switched term[J].Systems Engineering and Electronics,2011,33(9):2079-2083(in Chinese).
[15]	李大东,孙秀霞,董文瀚.考虑多种影响因素下的改进重装空投系统建模[J].系统工程与电子技术,2013,35(2):447-451.Li D D,Sun X X,Dong W H.Improved heavy-weight airdrop model considering many influence factors[J].Systems Engineering and Electronics,2013,35(2):447-451(in Chinese).
[16]	Luo Y,Yeh Y H,Ishihara A K. Adaptive backstepping design for a longitudinal UAV model utilizing a fully tuned growing radial basis function network[C]// AIAA Infotech at Aerospace Conference and Exhibit 2011.Reston,VA:American Institute of Aeronautics and Astronautics Inc,2011:1-23