高超声速飞行器的干扰补偿Terminal滑模控制

曾宪法; 王小虎; 张晶; 申功璋

高超声速飞行器的干扰补偿Terminal滑模控制

1.
北京控制与电子技术研究所, 北京 100038
2. 北京航空航天大学自动化科学与电气工程学院, 北京 100191

详细信息

中图分类号: TP273.2
计量
- 文章访问数: 2019
- HTML全文浏览量: 112
- PDF下载量: 587
- 被引次数: 0
出版历程
- 收稿日期: 2011-06-17
- 网络出版日期: 2012-11-30

Disturbance compensated terminal sliding mode control for hypersonic vehicles

1.
Beijing Institute of Control & Electronics Technology, Beijing 100038, China
2. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

摘要: 研究了一种基于干扰补偿Terminal滑模的高超声速飞行器姿态控制方法.针对传统Terminal滑模控制存在的奇异问题,提出了一种简单的改进型Terminal滑模面,通过在平衡点附近从非线性滑模面切换至高增益线性滑模面,避免了控制奇异问题,同时保持了较高的收敛速度,并对改进Terminal滑模控制在干扰作用下的误差收敛特性进行了理论分析.为进一步提高控制的鲁棒性和控制精度,设计了扩张状态观测器对干扰进行估计和补偿.进行了六自由度数学仿真验证,仿真结果表明:该方法可有效提高控制系统的控制性能和鲁棒性.
- 姿态控制 /
- 终端滑模 /
- 扩张状态观测器 /
- 干扰估计 /
- 自适应控制
Abstract: An attitude control approach for hypersonic vehicles based on disturbance compensated terminal sliding mode(TSM) was studied. First, a modified TSM surface which switched to high gain linear sliding mode surface while in the neighborhood of equilibrium point was proposed to overcome the singularity problem of traditional TSM, and maintain the high rate of convergence. Then the error convergence property of the proposed TSM in the presence of disturbances was analyzed theoretically. To improve the robustness and precision of TSM control, extended state observer(ESO) was designed to estimate and compensate for disturbances. Finally, 6-degree of freedom numerical simulation was carried out, and the simulation results demonstrate that the control performance and robustness are improved by the proposed method.
- attitude control /
- terminal sliding mode /
- extended state observer /
- disturbance estimation /
- adaptive control

HTML全文

参考文献(9)

[1]	Wu Yuqiang,Yu Xinghuo,Man Zhihong.Terminal sliding mode control design for uncertain dynamic systems[J].Systems & Control Letters,1998,34(5):281-287
[2]	李升波,李克强,王建强,等.非奇异快速的终端滑模控制方法[J].信息与控制,2009,38(1):1-8 Li Shengbo,Li Keqiang,Wang Jianqiang,et al.Nonsingular and fast terminal sliding mode control method[J].Information and Control,2009,38(1):1-8 (in Chinese)
[3]	蒲明,吴庆宪,姜长生,等.自适应二阶动态Terminal滑模在近空间飞行器控制中的应用[J].航空动力学报,2010,25(5):1169-1176 Pu Ming,Wu Qingxian,Jiang Changsheng,et al.Application of adaptive second-order dynamic terminal sliding mode control to near space vehicle[J].Journal of Aerospace Power,2010,25(5):1169-1176 (in Chinese)
[4]	Yang Liang,Yang Jianying.Robust finite-time convergence of chaotic systems via adaptive terminal sliding mode scheme[J].Communications in Nonlinear Science and Numerical Simulation,2011,16(6):2405-2413
[5]	赵汉元.飞行器再入动力学与制导[M].长沙:国防科技大学出版社,1997:56-64 Zhao Hanyuan.Spacecraft reentry dynamics & guidance[M].Changsha:Press of National University of Defense Technology,1997:56-64 (in Chinese)
[6]	Yu Shuanghe,Yu Xinghuo,Shirinzadeh Bijan,et al.Continuous finite-time control for robotic manipulator with terminal sliding mode[J].Automatica,2005,41(11):1957-1964
[7]	韩京清.一类不确定对象的扩张状态观测器[J].控制与决策,1995,10(1):85-88 Han Jingqing.The extended state observer of a class of uncertain systems[J].Control and Decision,1995,10(1):85-88 (in Chinese)
[8]	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 Jing,Shen Gongzhang,Yang Lingyu.Design of flight control system based on inversion dynamics and center of gravity estimation[J].Journal of Beijing University of Aeronautics and Astronautics,2009,35(11):1315-1319 (in Chinese)
[9]	Shaughnessy J D,Pinckney S Z,McMinn J D.Hypersonic vehicle simulation model:winged-cone configuration [R].NASA TM2102610,1991