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弹性高速飞行器的状态/参数滚动时域估计

陈尔康 荆武兴 高长生

陈尔康, 荆武兴, 高长生等 . 弹性高速飞行器的状态/参数滚动时域估计[J]. 北京航空航天大学学报, 2019, 45(2): 291-298. doi: 10.13700/j.bh.1001-5965.2018.0273
引用本文: 陈尔康, 荆武兴, 高长生等 . 弹性高速飞行器的状态/参数滚动时域估计[J]. 北京航空航天大学学报, 2019, 45(2): 291-298. doi: 10.13700/j.bh.1001-5965.2018.0273
CHEN Erkang, JING Wuxing, GAO Changshenget al. State/parameter moving horizon estimation for elastic hypersonic vehicles[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(2): 291-298. doi: 10.13700/j.bh.1001-5965.2018.0273(in Chinese)
Citation: CHEN Erkang, JING Wuxing, GAO Changshenget al. State/parameter moving horizon estimation for elastic hypersonic vehicles[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(2): 291-298. doi: 10.13700/j.bh.1001-5965.2018.0273(in Chinese)

弹性高速飞行器的状态/参数滚动时域估计

doi: 10.13700/j.bh.1001-5965.2018.0273
基金项目: 

国家自然科学基金 11572097

详细信息
    作者简介:

    陈尔康  男, 博士研究生。主要研究方向:飞行器动力学与控制

    荆武兴  男, 博士, 教授, 博士生导师。主要研究方向:飞行器动力学与控制

    通讯作者:

    荆武兴, E-mail: jingwuxing@hit.edu.cn

  • 中图分类号: V249.3;TN713

State/parameter moving horizon estimation for elastic hypersonic vehicles

Funds: 

National Natural Science Foundation of China 11572097

More Information
  • 摘要:

    针对弹性高速飞行器非线性、不确定性和刚体/弹性耦合的特点,提出了一种基于QR分解和滚动时域估计的状态/参数联合估计方法。首先,通过引入滚动时域策略,将状态/参数估计问题转化为固定变量数目的优化问题,能够较好地处理时变参数的估计问题。然后,利用前向动态规划原理,将到达代价的计算转化为最小二乘问题,并利用QR分解进行求解,从而给出了基于QR分解的到达代价更新方法。这样使得整个滚动时域估计方法都建立在优化的基础上,且引入了反馈机制,提高了估计精度和速度。仿真结果表明:滚动时域估计的精度明显优于扩展卡尔曼滤波,且基于QR分解的到达代价更新方法在速度上优于传统的基于估计误差协方差的到达代价更新方法。

     

  • 图 1  输入信号

    Figure 1.  Input signal

    图 2  EKF、MHE-EKF和MHE-QR方法估计结果的均方根误差

    Figure 2.  RMSE of estimation results of EKF, MHE-EKF and MHE-QR methods

    图 3  不同方案时MHE-QR方法估计结果的均方根误差

    Figure 3.  RMSE of estimation results of different schemes using MHE-QR method

    表  1  不同方法估计结果的均方根误差均值

    Table  1.   Average RMSE mean values of estimation results of different methods

    方法 RMSE
    / (10-3(°)) ωz/(10-3(°)· s-1) η1 1 ω1/ (rad·s-1)
    MHE-QR1 0.536 3.4 0.037 7 0.15 0.87
    MHE-QR2 0.472 3.3 0.029 6 0.097 0.62
    MHE-EKF 0.548 3.4 0.039 0 0.17 0.90
    EKF 1.2 5.2 0.088 3 0.47 2.86
    MHE-S 3.2 5.7 0.39 1.41
    EKF-S 3.5 7.0 0.37 2.47
    下载: 导出CSV

    表  2  不同方法的计算耗时

    Table  2.   Run time of different methods

    方法 平均时间/(10-2 s) 最大时间/(10-2 s)
    MHE-QR1 2.44 4.74
    MHE-QR2 2.35 4.78
    MHE-EKF 2.48 7.56
    EKF 0.66 1.27
    下载: 导出CSV
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出版历程
  • 收稿日期:  2018-05-15
  • 录用日期:  2018-07-28
  • 刊出日期:  2019-02-20

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