高超声速飞行器耦合控制及安全控制研究
发布时间：2018-07-31 17:05
【摘要】：高超声速飞行器具有突防能力强、打击范围广、投送能力大的特点,因此已成为目前飞行器设计领域内的研究热点。本文以高超声速再入滑翔飞行器为研究对象,围绕与其控制品质与安全特性方面密切相关的关键控制技术深入开展相应的耦合协调控制与安全控制研究。初步建立了一些相关的探索性、基础性的理论。(1)文中首先建立了高超声速再入飞行器姿态运动系统的全量耦合模型并面向控制对模型进行了仔细分析。其中设计了一种耦合特性分析方法,并采用此方法研究了模型中的耦合特性,为后续的控制策略和控制方法的设计打下了基础。(2)针对再入飞行器的偏航通道控制能力弱的特点,文中设计了可利用通道间耦合增强对侧滑角控制能力的策略,并基于该策略设计了常规滑模控制方法,为了避免滑模切换控制律参数选取过大引起控制性能下降,文中还采用了自适应滑模控制方法,并对两者进行了对比和分析。经仿真验证,两种方法结合耦合利用策略,都能够保证对侧滑通道控制能力的增强。(3)当充分考虑再入飞行器气动中的非线性耦合特性时,其姿态系统模型是输入为非线性的非仿射系统。由于其中的输入是非线性的,因此不像仿射型的模型那样存在着明确的逆控制。对此本文针对非仿射系统设计了较为通用的控制策略和控制方法。在充分考虑再入飞行器舵效与状态间耦合的基础上,将以上控制策略应用于再入飞行器姿态控制中,实现了对于再入飞行器非仿射模型的精确控制。(4)弹道与姿态间的耦合特性常会引起姿态角的稳态误差,此外由于这种耦合中含有系统的输入,因此其会降低系统输入输出的相对阶,使得设计非线性系统控制常用的输入输出反馈线性化方法变得难以适用,给控制的设计带来了困难。为了解决这个问题,本文基于考虑弹道与姿态间耦合的非线性模型,设计了一种转换策略,该策略能够有效地将原非线性系统转换成积分链式系统。然后在此基础上设计了一种可变阻尼的新型滑模控制方法,而且给出了相应的参数寻优方法。经过仿真验证,以上策略和方法能够基本消除弹道与姿态间的耦合对于姿态控制系统的影响,提高了姿态角的控制精度。(5)为了增强再入飞行器的鲁棒性,以提高其控制系统的安全性,文中设计了一种通用的基于变结构控制的鲁棒性增强策略,其中在变结构控制方法设计中,对超扭曲滑模趋近律进行改进,设计了一种新型的快速超扭曲滑模趋近律。以上策略和方法相结合可以针对现有的控制方法进行鲁棒性改进,从而避免了重新设计控制器,因此不但降低了控制器设计的时间成本,而且可以提高鲁棒性,增强飞行器的安全特性。(6)再入飞行器大攻角飞行时,会导致偏航形式的舵偏角失效,此外,大攻角情况下,耦合特性加重,还很容易引起另外两个通道的输入饱和。因此为了保证其在大攻角飞行时的安全特性,本文设计了能够保证其在偏航舵失效情况下的控制方法,并在设计控制器时充分考虑了系统输入的幅值约束特性。在控制器的设计过程中,基于时标分离假设将姿态系统分为快回路和慢回路子系统,然后针对慢回路子系统,采用新型的高阶滑模控制方法设计了一种连续、可导且有限时间收敛的控制器。在快回路中,设计了一种自适应分层滑模控制方法,并证明了其存在输入幅值约束时的稳定性。(7)文中最后将各章节提出的耦合控制策略和方法综合应用于再入飞行器的控制中,实现了对再入飞行器的安全控制。论文主要是围绕高超声速再入飞行器的姿态控制技术展开研究,根据不同的耦合特性设计了相应的耦合协调控制策略和方法;此外文中还研究了高超声速再入飞行器大攻角飞行中的控制器安全设计问题和旨在增强安全特性的鲁棒性增强策略和方法。以上策略和方法主要是基于再入飞行器在实际过程中所出现的实际理论问题而研究的,因此不但具有一定的理论价值,而且在中具有一定的工程应用价值。
[Abstract]:Hypersonic vehicle has the characteristics of strong penetration ability, wide range and high delivery capability, so it has become the research hotspot in the field of aircraft design. This paper takes hypersonic reentry glider as the research object, and develops the corresponding key control technology closely related to its control quality and safety characteristics. The research on the coupling coordination control and safety control. Some relevant exploratory and basic theories are initially established. (1) the full coupling model of the attitude motion system of hypersonic reentry vehicle is first established and the model is carefully analyzed. A coupling characteristic analysis method is set up, and this method is adopted. The coupling characteristics in the model are studied in this paper, which lays the foundation for the subsequent control strategy and the design of control methods. (2) in view of the weak control ability of the yaw channel of the reentry vehicle, the strategy of using the coupling enhancement to control the sideslip angle is designed in this paper, and a conventional sliding mode control method is designed based on this strategy. In order to avoid the oversize of the sliding mode switching control law, the adaptive sliding mode control method is used, and the two methods are compared and analyzed. The simulation shows that the two methods can guarantee the enhancement of the control ability of the sideslip channel with the coupling strategy. (3) when the reentry vehicle gas is taken into full consideration The model of the attitude system is a non affine system whose input is nonlinear. Because the input is nonlinear, it does not have a clear inverse control like the affine model. In this paper, a more general control strategy and control method for non affine system is designed. On the basis of the coupling between the steering effect and the state of the aircraft, the above control strategy is applied to the attitude control of the reentry vehicle, and the precise control of the non affine model of the reentry vehicle is realized. (4) the coupling characteristic between the ballistic and the attitude often causes the steady-state error of the attitude angle. In addition, the coupling contains the input of the system. It will reduce the relative order of the input and output of the system, which makes it difficult to apply the input output feedback linearization method commonly used in the design of nonlinear system control, and brings difficulties to the design of the control. The original nonlinear system is effectively converted into an integral chain system. On this basis, a new sliding mode control method with variable damping is designed, and the corresponding parameter optimization method is given. The simulation results show that the above strategy and method can basically eliminate the influence of the coupling between the trajectory and attitude on the attitude control system. The control accuracy of the attitude angle is improved. (5) in order to enhance the robustness of the reentry vehicle and improve the security of its control system, a universal robust enhancement strategy based on variable structure control is designed. In the design of variable structure control, a new type of fast speed sliding mode approach law is improved and a new type of fast algorithm is designed. The combination of the above strategy and the method can improve the robustness of the existing control methods, thus avoiding the redesign of the controller, thus not only reducing the time cost of the controller design, but also improving the robustness and enhancing the safety characteristics of the aircraft. (6) the flight of the large attack angle of the reentry vehicle, In addition, in the case of large angle of attack, the coupling characteristic is aggravated and the input saturation of the other two channels is easily caused by the large angle of attack. Therefore, in order to ensure its safety characteristics at large angle of attack, this paper designs a control method which can guarantee the failure of the yaw rudder, and is sufficient in the design of the controller. In the design process of the controller, the attitude system is divided into fast loop and slow loop subsystem based on the time scale separation hypothesis. Then a new high order sliding mode control method is used to design a continuous, guided and finite time convergent controller. In the fast loop, the controller is designed for the slow circuit subsystem. An adaptive layered sliding mode control method is designed and the stability of the input amplitude constraint is proved. (7) finally, the coupling control strategy and method proposed by each chapter should be used in the control of reentry vehicle to realize the safety control of reentry vehicle. The attitude control technology of the device is studied, and the corresponding coupling coordination control strategy and method are designed according to the different coupling characteristics. In addition, the controller security design problem and the robust enhancement strategy and method to enhance the security characteristics are also studied. It is mainly based on the actual theoretical problems arising from the reentry vehicle in the actual process. Therefore, it not only has a certain theoretical value, but also has a certain value in engineering application.
【学位授予单位】：西北工业大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：V249.1
[Abstract]:Hypersonic vehicle has the characteristics of strong penetration ability, wide range and high delivery capability, so it has become the research hotspot in the field of aircraft design. This paper takes hypersonic reentry glider as the research object, and develops the corresponding key control technology closely related to its control quality and safety characteristics. The research on the coupling coordination control and safety control. Some relevant exploratory and basic theories are initially established. (1) the full coupling model of the attitude motion system of hypersonic reentry vehicle is first established and the model is carefully analyzed. A coupling characteristic analysis method is set up, and this method is adopted. The coupling characteristics in the model are studied in this paper, which lays the foundation for the subsequent control strategy and the design of control methods. (2) in view of the weak control ability of the yaw channel of the reentry vehicle, the strategy of using the coupling enhancement to control the sideslip angle is designed in this paper, and a conventional sliding mode control method is designed based on this strategy. In order to avoid the oversize of the sliding mode switching control law, the adaptive sliding mode control method is used, and the two methods are compared and analyzed. The simulation shows that the two methods can guarantee the enhancement of the control ability of the sideslip channel with the coupling strategy. (3) when the reentry vehicle gas is taken into full consideration The model of the attitude system is a non affine system whose input is nonlinear. Because the input is nonlinear, it does not have a clear inverse control like the affine model. In this paper, a more general control strategy and control method for non affine system is designed. On the basis of the coupling between the steering effect and the state of the aircraft, the above control strategy is applied to the attitude control of the reentry vehicle, and the precise control of the non affine model of the reentry vehicle is realized. (4) the coupling characteristic between the ballistic and the attitude often causes the steady-state error of the attitude angle. In addition, the coupling contains the input of the system. It will reduce the relative order of the input and output of the system, which makes it difficult to apply the input output feedback linearization method commonly used in the design of nonlinear system control, and brings difficulties to the design of the control. The original nonlinear system is effectively converted into an integral chain system. On this basis, a new sliding mode control method with variable damping is designed, and the corresponding parameter optimization method is given. The simulation results show that the above strategy and method can basically eliminate the influence of the coupling between the trajectory and attitude on the attitude control system. The control accuracy of the attitude angle is improved. (5) in order to enhance the robustness of the reentry vehicle and improve the security of its control system, a universal robust enhancement strategy based on variable structure control is designed. In the design of variable structure control, a new type of fast speed sliding mode approach law is improved and a new type of fast algorithm is designed. The combination of the above strategy and the method can improve the robustness of the existing control methods, thus avoiding the redesign of the controller, thus not only reducing the time cost of the controller design, but also improving the robustness and enhancing the safety characteristics of the aircraft. (6) the flight of the large attack angle of the reentry vehicle, In addition, in the case of large angle of attack, the coupling characteristic is aggravated and the input saturation of the other two channels is easily caused by the large angle of attack. Therefore, in order to ensure its safety characteristics at large angle of attack, this paper designs a control method which can guarantee the failure of the yaw rudder, and is sufficient in the design of the controller. In the design process of the controller, the attitude system is divided into fast loop and slow loop subsystem based on the time scale separation hypothesis. Then a new high order sliding mode control method is used to design a continuous, guided and finite time convergent controller. In the fast loop, the controller is designed for the slow circuit subsystem. An adaptive layered sliding mode control method is designed and the stability of the input amplitude constraint is proved. (7) finally, the coupling control strategy and method proposed by each chapter should be used in the control of reentry vehicle to realize the safety control of reentry vehicle. The attitude control technology of the device is studied, and the corresponding coupling coordination control strategy and method are designed according to the different coupling characteristics. In addition, the controller security design problem and the robust enhancement strategy and method to enhance the security characteristics are also studied. It is mainly based on the actual theoretical problems arising from the reentry vehicle in the actual process. Therefore, it not only has a certain theoretical value, but also has a certain value in engineering application.
【学位授予单位】：西北工业大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：V249.1
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