高超声速飞行器连续终端滑模姿态控制方法

发布时间：2018-03-01 21:12

本文关键词： 高超声速飞行器姿态控制终端滑模连续控制器有限时间鲁棒性　出处：《哈尔滨工程大学学报》2016年02期 　论文类型：期刊论文

【摘要】：针对高超声速飞行器的姿态控制问题,考虑系统模型不确定性以及外界干扰的影响,基于快速终端滑模设计了连续的姿态跟踪控制器。将飞行器姿态控制系统模型按时间尺度划分为快回路和慢回路,其中慢回路的控制器设计目标是给出期望角速度作为快回路的制导指令,快回路控制器的设计目标是给出系统需求的控制力矩。基于有限时间控制理论分别针对各回路设计了连续的快速终端滑模姿态控制器,通过严格的数学证明,该控制器可以在系统模型存在不确定性以及外界干扰的情况下,使得姿态跟踪误差在有限时间内收敛。仿真结果表明本文的控制算法可以在短时间内使飞行器的姿态角均以较高的精度收敛至期望状态,且三个方向的控制力矩曲线均变化平滑,无抖振现象产生。
[Abstract]:In view of the attitude control problem of hypersonic vehicle, the uncertainty of system model and the influence of external disturbance are considered. A continuous attitude tracking controller based on fast terminal sliding mode is designed. The attitude control system model of aircraft is divided into fast loop and slow loop according to time scale. The design goal of the controller of the slow loop is to give the desired angular velocity as the guidance instruction of the fast loop. The design goal of the fast loop controller is to give the control torque required by the system. Based on the finite time control theory, a continuous fast terminal sliding mode attitude controller is designed for each loop, which is proved by strict mathematics. The controller can be used in the presence of uncertainties and external disturbances in the system model. The simulation results show that the control algorithm in this paper can make the attitude angle of the aircraft converge to the desired state with higher precision in a short time. The control torque curves of the three directions change smoothly and have no chattering phenomenon.
【作者单位】：空间物理重点实验室;北京航天长征飞行器研究所;哈尔滨工程大学航天与建筑工程学院;
【基金】：国家863计划资助项目(2013AA122904) 国家自然科学基金资助项目(61304237) 黑龙江省自然科学基金资助项目(F2015032) 哈尔滨市青年科技创新人才基金资助项目(RC2013QN001007) 黑龙江省博士后科研启动金资助项目(LBH-Q13042) 中央高校基本科研业务费资助项目(HEUCFD1406)
【分类号】：V249

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