高超声速变外形飞行器建模与有限时间控制

张远; 黄万伟; 路坤锋; 白文艳; 于江龙

doi:10.13700/j.bh.1001-5965.2021.0701

高超声速变外形飞行器建模与有限时间控制

doi: 10.13700/j.bh.1001-5965.2021.0701

张远^{1, 2},
黄万伟^{1, 2, ,},
路坤锋^{1, 2},
白文艳¹,
于江龙³

1.
北京航天自动控制研究所, 北京 100854
2.
宇航智能控制技术国家级重点实验室, 北京 100854
3.
北京航空航天大学自动化科学与电气工程学院, 北京 100083

基金项目:

国家自然科学基金 61803357

国家自然科学基金 61773341

详细信息

通讯作者:
黄万伟, E-mail: yuanbuaa@buaa.edu.cn

中图分类号: V448
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- 文章访问数: 577
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- PDF下载量: 110
- 被引次数: 0
出版历程
- 收稿日期: 2021-11-19
- 录用日期: 2022-03-04
- 网络出版日期: 2022-03-09
- 整期出版日期: 2022-10-20

Modeling and finite-time control for hypersonic morphing flight vehicle

ZHANG Yuan^{1, 2},
HUANG Wanwei^{1, 2
, ,},
LU Kunfeng^{1, 2},
BAI Wenyan¹,
YU Jianglong³

1.
Beijing Aerospace Automatic Control Institute, Beijing 100854, China
2.
National Key Laboratory of Science and Technology on Aerospace Intelligent Control, Beijing 100854, China
3.
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China

Funds:

National Natural Science Foundation of China 61803357

National Natural Science Foundation of China 61773341

More Information

Corresponding author: HUANG Wanwei, E-mail: yuanbuaa@buaa.edu.cn

摘要

摘要:
针对高超声速变外形飞行器变形带来的参数摄动大、变形过程建模难、外界干扰复杂等大不确定问题，研究了一类可变后掠飞行器建模与姿态控制问题，设计了一种有限时间控制方案。针对变外形飞行器建立了带有变形量的面向姿态控制的三自由度模型，该模型能够反映出变外形飞行器的内在影响。分析了变外形飞行器在典型状态下的气动特征，并给出了连续变形关键气动数据可行处理方案。针对可连续变形的飞行器设计了一套有限时间控制方案，并证明了系统稳定性。进一步考虑控制律中用到的指令微分项，设计了有限时间指令收敛滤波器。利用扩张状态观测器，估计不易测量状态和“综合扰动”。以考虑复杂干扰下的高超声速变外形飞行器为对象进行仿真，结果表明：所设计的控制方案可解决不同变形速率下、存在复合干扰的飞行器姿态控制问题。
- 高超声速变外形飞行器 /
- 气动特性分析 /
- 有限时间控制 /
- 有限时间滤波器 /
- 扩张状态观测器
Abstract:
The attitude control of hypersonic morphing flight vehicles cause problems of large uncertainties, such as time-varying parameter perturbation, difficulty in modeling deformation process, and complex "lumped disturbances". To address these problems, a control-oriented model for variable-sweep wing hypersonic flight vehicles is established, and a finite-time control scheme is proposed. Firstly, a three-degree-of-freedom model is established for attitude control, which can reflect the influence caused by deformation. Secondly, the aerodynamic characteristics of the hypersonic morphing flight vehicle in some typical states are analyzed, and a feasible method for the key aerodynamic data of continuous deformation is developed. Thirdly, a finite-time control scheme is designed for the continuously deformable vehicle, and the system stability is demonstrated. Further, the finite-time convergence filter is designed, considering the command differentiation term used in the control law. An extended state observer is also used to estimate the unmeasurable states and the "lumped disturbances". Finally, numerical simulations are performed with complex disturbances, and the results show that the proposed control scheme can solve the attitude control problem for the vehicle with complex disturbances at different deformation rates.
- hypersonic morphing flight vehicle /
- aerodynamic characteristic analysis /
- finite-time control /
- finite-time filter /
- extended state observer

HTML全文

图 1 变外形飞行器简易构型

Figure 1. Schematic diagram of HMFV

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图 2 不同马赫数下升力系数C_Y随迎角变化

Figure 2. Variation trend of lift coefficient C_Y with angle of attack change at different Mach numbers

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图 3 不同马赫数下阻力系数C_D随迎角变化

Figure 3. Variation trend of drag coefficient C_D with angle of attack change at different Mach numbers

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图 4 不同马赫数下升阻比Y/D随迎角变化

Figure 4. Variation trend of lift-drag ratio Y/D with angle of attack change at different Mach numbers

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图 5 不同构型下升阻比Y/D随迎角变化(Ma=8)

Figure 5. Variation trend of lift-drag ratio Y/D with angle of attack change with different configurations (Ma=8)

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图 6 不同构型下俯仰力矩系数C_mz随迎角变化(Ma=7, 12)

Figure 6. Variation trend of pitching moment coefficient C_mz with angle of attack change with different configurations (Ma=7, 12)

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图 7 HMFV的有限时间收敛控制器方案框图

Figure 7. Schematic diagram of finite-time convergence controller for HMFV

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图 8 FTCF滤波器定值指令()跟踪响应

Figure 8. Tracking response of FTCF with constant command ()

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图 9 FTCF滤波器变化指令()跟踪响应

Figure 9. Tracking response of FTCF with varying command ()

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图 10 FTCF和TSTD()跟踪误差

Figure 10. Tracking error of FTCF and TSTD ()

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图 11 迎角跟踪性能

Figure 11. Tracking performance of angle of attack

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图 12 侧滑角跟踪性能

Figure 12. Tracking performance of sideslip angle

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图 13 倾侧角跟踪性能

Figure 13. Tracking performance of bank angle

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图 14 倾侧角指令跟踪误差

Figure 14. Tracking error of bank angle

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图 15 不同变形速率下的迎角跟踪误差

Figure 15. Tracking error of angle of attack with different morphing velocities

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图 16 不同变形速率下的侧滑角跟踪误差

Figure 16. Tracking error of sideslip angle with different morphing velocities

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图 17 不同变形速率下的倾侧角跟踪误差

Figure 17. Tracking error of bank angle with different morphing velocities

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图 18 不同变形速率下的滚转通道舵偏δ_x响应

Figure 18. Response of deflection angle δ_x with different morphing velocities

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图 19 不同变形速率下的俯仰通道舵偏δ_z响应

Figure 19. Response of deflection angle δ_z with different morphing velocities

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图 20 不同变形速率下的偏航通道舵偏δ_y响应

Figure 20. Response of deflection angle δ_y with different morphing velocities

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表 1 气动插值表状态范围

Table 1. State range of aerodynamic interpolation

状态量	数值范围
速度Ma	2~15
迎角α/(°)	0~+15
侧滑角β/(°)	－3~+3
升降舵δ_z/(°)	－30~+30
偏航舵δ_y/(°)	－30~+30
滚转舵δ_x/(°)	－30~+30

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表 2 变外形飞行器初始状态参数

Table 2. Initial state parameters of HMFV

参数	数值
迎角α/(°)	6
侧滑角β/(°)	0
倾侧角μ/(°)	0
弹道倾角γ/(°)	0
弹道偏角χ/(°)	0
角速率ω_{x, y, z}/((°)·s^-1)	0
高度h/km	35
速度Ma	8
舵偏δ_{x, y, z}/(°)	0

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表 3 变外形飞行器本体参数

Table 3. Body parameters of HMFV

参数	数值
机体质量m_b/kg	1 200
机翼质量m_w/kg	110
转动惯量J_bx/(kg·m²)	120
转动惯量J_by/(kg·m²)	1 080
参考面积/m²	1.76
转动惯量J_bz/(kg·m²)	1 230
惯量积J_bxy/(kg·m²)	30
惯量J_{wx, y, z}^min/(kg·m²)	[5, 50, 48]
惯量J_{wx, y, z}^max/(kg·m²)	[8, 46, 42]
参考长度/m	4.23

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表 4 变外形飞行器不确定模型

Table 4. Uncertainty model of HMFV %

参数	数值
阻力系数项ΔC_D	±20
升力系数项ΔC_Y	±20
侧向力系数项ΔC_C	±20
大气密度项Δρ	±15
滚转力矩系数项ΔC_mx	±30
偏航力矩系数项ΔC_my	±30
俯仰力矩系数项ΔC_mz	±30

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表 5 有限时间收敛控制器设计参数

Table 5. Design parameters of FTCC

参数	数值
外环控制律	κ_1Ω=0.6，κ_2Ω=0.5，κ_3Ω=2 κ_4Ω=1，η=0.7, r_Ω=2
外环扩张状态观测器	β_Ω1=[100, 150, 150]^T, δ_Ω=10^－3 β_Ω2=[300, 450, 350]^T, θ_Ω=0.8
内环控制律	κ_1ω=0.6，κ_2ω=0.5，κ_3ω=2 κ_4ω=1，η=0.7，r_ω=2
内环扩张状态观测器	β_ω1=[120, 100, 90]^T, δ_ω=10^－3 β_ω2=[450, 350, 350]^T, θ_ω=0.8
有限时间收敛指令滤波器	r_z=2，κ_z1=10 κ_z2=10，τ=0.5

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