高超聲速飛行器指定時(shí)間時(shí)變高增益反饋跟蹤控制
doi: 10.16383/j.aas.c210895
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哈爾濱工業(yè)大學(xué)控制理論與制導技術(shù)研究中心 哈爾濱 150006
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火箭軍工程大學(xué)導彈工程學(xué)院 西安 710025
基金項目: 國家杰出青年科學(xué)基金(62125303), 國家自然科學(xué)基金委基礎科學(xué)中心項目(62188101), 國家自然科學(xué)基金(61773387, 62073096)資助
Prescribed-time Tracking Control of Hypersonic Vehicles by Time-varying High-gain Feedback
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Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150006
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College of Missile Engineering, Rocket Force University of Engineering, Xi＇an 710025
Funds: Supported by National Science Fund for Distinguished Young Scholars (62125303), Science Center Program of National Natural Science Foundation of China (62188101), and National Natural Science Foundation of China (61773387, 62073096)
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摘要: 研究了高超聲速飛行器控制通道存在未知環(huán)境干擾時(shí)的指定時(shí)間跟蹤控制問(wèn)題. 基于高超聲速飛行器的輸入輸出線(xiàn)性化模型, 借助參量 Lyapunov方程的一些性質(zhì), 設計一種光滑、有界的時(shí)變高增益控制律. 相比于現有的高超聲速飛行器有限/固定時(shí)間控制方法, 該算法不會(huì )出現抖振現象, 同時(shí)收斂時(shí)間不依賴(lài)于初始狀態(tài)且可以事先設定. 當高超聲速飛行器存在未知的有界環(huán)境匹配干擾時(shí), 該控制器能使高度和速度在指定時(shí)間跟蹤上參考信號. 仿真結果驗證了方法的有效性.
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關(guān)鍵詞:
- 高超聲速飛行器 /
- 指定時(shí)間控制 /
- 時(shí)變反饋 /
- 高增益反饋 /
- 非線(xiàn)性控制
Abstract: The prescribed-time tracking control problem of hypersonic vehicles in the presence of unknown environmental disturbances in the control channel is studied. Based on the input-output linearization model of hypersonic vehicles and some properties of a parametric Lyapunov equation, a smooth and bounded time-varying high-gain controller is proposed. Compared with the existing finite/fixed time control methods for hypersonic vehicles, the chattering phenomenon does not appear in the algorithm, and the convergence time does not depend on the initial state and can be set in advance. When the hypersonic vehicle has unknown bounded environmental matched disturbance, the proposed controller can ensure that the altitude and velocity track the reference signals in the prescribed time. Finally, simulation results verify the effectiveness of the proposed method. -
圖 1 速度、飛行航跡角、高度和攻角變化曲線(xiàn)
Fig. 1 The curves of changes in velocity, flight path angle, altitude and angle of attack
圖 2 俯仰角速率、發(fā)動(dòng)機節流閥開(kāi)度及其導數變化曲線(xiàn)
Fig. 2 The curves of changes in pitch rate, engine throttle setting and their time-derivative
圖 4 速度誤差及其導數變化曲線(xiàn)
Fig. 4 The curves of changes in velocity errors and their time-derivatives
圖 5 高度誤差及其導數變化曲線(xiàn)
Fig. 5 The curves of changes in altitude errors and their time-derivatives
表 1 高超聲速飛行器參數以及飛行環(huán)境參數
Table 1 The parameters of the hypersonic vehicle and the flight environment
模型參數 符號 值 質(zhì)量 $m$ 136817.841 kg 地球半徑 $R_{{\rm{e}}}$ 6371386.8 m 參考面積 $S$ 334.729653 m2 平均氣動(dòng)弦長(cháng) $\bar{c}$ 80 升降副翼弦長(cháng) $c_{{\rm{e}}}$ 0.029 2 繞$ y $軸的轉動(dòng)慣量 $ I_{yy} $ 9.4907 × 106 kg$\cdot\; {\rm{m} }^2$ 空氣密度 $\rho$ 0.0125 kg/m3 重力常數 $\mu $ 3.9360 × 1014 m3/s2 
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