高超声速飞行器舵面故障的容错控制技术研究

发布时间：2018-02-25 23:22

本文关键词： 高超声速飞行器舵面故障容错控制反馈线性化输出反馈控制分配 RCS　出处：《南京航空航天大学》2015年硕士论文　论文类型：学位论文

【摘要】：本文以高超声速飞行器为研究对象,考虑舵面发生故障的情况,进行巡航纵向容错控制研究和再入姿态容错控制研究。首先,介绍了高超声速飞行器以及再入段的特点,综述了课题的背景和研究意义。简要概述了高超声速飞行器控制技术和执行器故障容错控制技术研究现状。其次,针对高超声速飞行器的纵向模型,考虑舵面故障和系统存在未知参数的情况,设计基于反馈线性化技术的自适应容错控制器。通过对系统输出进行多次求导,得到系统相对阶。然后采用反馈线性化的方法设计标称控制器,使得高度输出能够跟踪参考指令。当舵面发生故障时,在标称控制器的基础上设计容错控制策略,并给出了容错控制器参数的匹配条件。当模型参数和舵面故障信息都未知时,利用Lyapunov稳定性定理来设计参数自适应律,在线更新容错控制器的参数。再次,在实际飞行过程中,速度V、高度h和俯仰角速率q是可以测量到的。而由于攻角?和飞行航迹角?的值比较小,一般是很难测量到的。因此,在状态反馈控制器的基础上,采用高增益观测器技术来实现输出反馈控制器设计。最后,针对高超声速飞行器再入姿态模型,研究舵面故障时的再入姿态容错控制。根据高超声速飞行器再入初期的特点,通常需要反作用控制系统(RCS)来协助气动舵面完成姿态控制。首先,针对高超声速飞行器再入姿态模型,采用Backstepping方法获得期望力矩。然后将气动舵面看作首要执行机构,将期望的力矩在气动舵面之间进行控制分配。如果气动舵面不能达到期望力矩,则开启RCS。由RCS来提供气动舵面不能提供的这部分力矩。当舵面发生故障时,针对执行器动态设计观测器,估计出故障信息。根据估计得到的故障信息,设计基于控制分配算法的容错控制策略,使得系统在故障情况下仍旧保持稳定并恢复追踪性能。
[Abstract]:This paper takes hypersonic vehicle as the research object, considers the fault of rudder surface, studies the cruise longitudinal fault-tolerant control and re-entry attitude fault-tolerant control. Firstly, the characteristics of hypersonic vehicle and its reentry section are introduced. In this paper, the background and significance of the research are summarized. The research status of hypersonic vehicle control technology and actuator fault tolerant control technology is briefly summarized. Secondly, aiming at the longitudinal model of hypersonic vehicle, An adaptive fault-tolerant controller based on feedback linearization is designed considering the rudder fault and the unknown parameters of the system. The relative order of the system is obtained. Then the feedback linearization method is used to design the nominal controller so that the height output can track the reference instructions. When the rudder surface fails, the fault-tolerant control strategy is designed on the basis of the nominal controller. When the model parameters and rudder fault information are unknown, the parameter adaptive law is designed by using the Lyapunov stability theorem, and the parameters of the fault-tolerant controller are updated online. Thirdly, in the actual flight process, the parameters of the fault-tolerant controller are updated. Velocity V, height h and pitch rate Q can be measured. And because of the angle of attack? And flight path angle? Therefore, based on the state feedback controller, high gain observer is used to design the output feedback controller. Finally, for the reentry attitude model of hypersonic vehicle, According to the characteristics of the initial reentry of hypersonic vehicle, the reaction control system (RCSs) is usually required to assist the aerodynamic rudder to complete the attitude control. According to the reentry attitude model of hypersonic vehicle, the desired moment is obtained by Backstepping method, and then the aerodynamic rudder surface is regarded as the primary actuator. The desired torque is controlled and distributed between the aerodynamic rudder surfaces. If the aerodynamic rudder surface fails to achieve the desired torque, open the RCS. The RCS provides this part of the torque that the pneumatic rudder surface cannot provide. When the rudder surface fails, According to the estimated fault information, a fault tolerant control strategy based on the control assignment algorithm is designed to keep the system stable and recover the tracking performance.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V249.1

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