高超声速飞行器新型攻角约束反演控制

doi:10.12305/j.issn.1001-506X.2022.04.29

摘要/Abstract

摘要：

针对考虑攻角约束的高超声速飞行器控制问题, 提出一种受限指令滤波器与预设性能方法相结合的反演控制方案。首先, 从高超声速飞行器运动模型中划分出高度子系统并基于反演控制方法设计控制器。为了解决攻角约束问题, 构造受限指令滤波器对攻角虚拟指令限幅并保证指令的可导性。然后，利用预设性能方法预先设定约束范围, 保证攻角跟踪误差始终满足约束条件的同时, 提高其瞬态和稳态性能。另外, 针对系统参数不确定与外界干扰, 采用线性扩张状态观测器(linear extended state observer, LESO)进行观测并补偿。基于Lyapunov稳定理论证明了系统的跟踪误差最终一致有界, 最后通过仿真验证了该方法的有效性。

关键词: 高超声速飞行器, 攻角约束, 指令滤波器, 预设性能, 线性扩张状态观测器

Abstract:

For the control problem of hypersonic vehicle with angle of attack (AOA) constraint, a backstepping control scheme combining constrained command filter and prescribed performance method is proposed. Firstly, the altitude subsystem is divided from the hypersonic vehicle motion model and the controller is designed based on the backstepping control method. In order to solve the problem of AOA constraint, a constrained command filter is constructed to limit the virtual command of AOA and ensure the virtual command's differentiability. Then, the constraint range is set in advance by using the prescribed performance method to ensure that the tracking error of AOA meets the constraint condition and to improve its transient and steady performance. In addition, linear extended state observer (LESO) is used to observe and compensate the parameter uncertainties of the system and external disturbances. Based on Lyapunov stability theory, it is proved that the tracking error of the system is uniformly bounded. Finally, the simulation results show that the proposed method is effectiveness.

Key words: hypersonic vehicle, angle of attack (AOA) constraint, command filter, prescribed performance, linear extended state observer

中图分类号:

V249.1

韦俊宝, 李海燕, 李静. 高超声速飞行器新型攻角约束反演控制[J]. 系统工程与电子技术, 2022, 44(4): 1310-1317.

Junbao WEI, Haiyan LI, Jing LI. Novel backstepping control for hypersonic vehicle with angle of attack constraint[J]. Systems Engineering and Electronics, 2022, 44(4): 1310-1317.

图/表 9

表1

表2

图1

图2

图3

图4

图5

图6

图7

参考文献 23

1	YU C J , JIANG J , ZHEN Z Y , et al. Adaptive backstepping control for air-breathing hypersonic vehicle subject to mismatched uncertainties[J]. Aerospace Science and Technology, 2020, 107, 106244. doi: 10.1016/j.ast.2020.106244
2	AN H , WU Q Q . Disturbance rejection dynamic inverse control of air-breathing hypersonic vehicles[J]. Acta Astronautica, 2018, 151, 348- 356. doi: 10.1016/j.actaastro.2018.06.022
3	DING Y B , WANG X G , BAI Y L , et al. Robust fixed-time sliding mode controller for flexible air-breathing hypersonic vehicle[J]. ISA Transactions, 2019, 90, 1- 18. doi: 10.1016/j.isatra.2018.12.043
4	SHAO X L , WANG H L , ZHANG H P . Enhanced trajectory linearization control based advanced guidance and control for hypersonic reentry vehicle with multiple disturbances[J]. Aerospace Science and Technology, 2015, 46, 523- 536. doi: 10.1016/j.ast.2015.09.003
5	SHI Y , SHAO X L , ZHANG W D . Quantized learning control for flexible air-breathing hypersonic vehicle with limited actuator bandwidth and prescribed performance[J]. Aerospace Science and Technology, 2020, 97, 105629. doi: 10.1016/j.ast.2019.105629
6	JIAO X L , CHANG J T , WANG Z Q , et al. Mechanism study on local unstart of hypersonic inlet at high mach number[J]. AIAA Journal, 2015, 53 (10): 3102- 3112. doi: 10.2514/1.J053913
7	QIAO H Y , MENG H , WANG M J , et al. Adaptive control for hypersonic vehicle with input saturation and state constraints[J]. Aerospace Science and Technology, 2019, 84, 107- 119. doi: 10.1016/j.ast.2018.10.018
8	TANG X N , ZHAI D , LI X J . Adaptive fault-tolerance control based flnite-time backstepping for hypersonic flight vehicle with full state constrains[J]. Information Sciences, 2020, 507, 53- 66. doi: 10.1016/j.ins.2019.08.012
9	SUN J G , LI C M , GUO Y , et al. Adaptive fault tolerant control for hypersonic vehicle with input saturation and state constraints[J]. Acta Astronautica, 2020, 167, 302- 313. doi: 10.1016/j.actaastro.2019.07.041
10	XU B , SHI Z K , SUN F C , et al. Barrier Lyapunov function based learning control of hypersonic flight vehicle with AOA constraint and actuator faults[J]. IEEE Trans.on Cybernetics, 2019, 49 (3): 1047- 1057. doi: 10.1109/TCYB.2018.2794972
11	DONG C Y , LIU Y , WANG Q . Barrier Lyapunov function based adaptive finite-time control for hypersonic flight vehicles with state constraints[J]. ISA Transactions, 2020, 96, 163- 176. doi: 10.1016/j.isatra.2019.06.011
12	董朝阳, 刘扬, 王青. 带攻角约束的高超声速飞行器自适应反步控制器设计[J]. 宇航学报, 2020, 41 (2): 174- 181.
	DONG C Y , LIU Y , WANG Q . Adaptive backstepping controller design for hypersonic vehicle with limited angle-of-attack[J]. Journal of Astronautics, 2020, 41 (2): 174- 181.
13	GUO Y Y , XU B , HAN W X , et al. Robust adaptive control of hypersonic flight vehicle with asymmetric AOA constraint[J]. Science China: Information Sciences, 2020, 63 (11): 180- 192.
14	PARKER J T , SERRANI A , YURKOVICH S , et al. Control-oriented modeling of an air-breathing hypersonic vehicle[J]. Journal of Guidance, Control, and Dynamics, 2007, 30 (3): 856- 869. doi: 10.2514/1.27830
15	AN H , XIA H W , WANG C B . Barrier Lyapunov function-based adaptive control for hypersonic flight vehicles[J]. Nonli-near Dynamics, 2017, 88 (3): 1833- 1853. doi: 10.1007/s11071-017-3347-y
16	LI Y , WANG C L , HU Q L . Adaptive control with prescribed tracking performance for hypersonic flight vehicles in the pre-sence of unknown elevator faults[J]. International Journal of Control, 2019, 92 (7): 1682- 1691. doi: 10.1080/00207179.2017.1406152
17	AN H , LIU J X , WANG C H , et al. Approximate back-stepping fault-tolerant control of the flexible air-breathing hypersonic vehicle[J]. IEEE/ASME Trans.on Mechatronics, 2016, 21 (3): 1680- 1691. doi: 10.1109/TMECH.2015.2507186
18	WANG X , GUO J , TANG S J , et al. Fixed-time disturbance observer based fixed-time backstepping control for an air-breathing hypersonic vehicle[J]. ISA Transactions, 2019, 88, 233- 245. doi: 10.1016/j.isatra.2018.12.013
19	BCHLIOULIS C P, ROVITHAKIS G A. Prescribed perfor-mance adaptive control of SISO feedback linearizable systems with disturbances[C]//Proc. of the 16th Mediterranean Confe-rence on Control and Automation, 2008.
20	GAO Z Q. Active disturbance rejection control: a paradigm shift in feedback control system design[C]//Proc. of the Ame-rican Control Conference, 2006.
21	邵星灵, 王宏伦. 线性扩张状态观测器及其高阶形式的性能分析[J]. 控制与决策, 2015, 30 (5): 815- 822.
	SHAO X L , WANG H L . Performance analysis on linear extended state observer and its extension case with higher extended order[J]. Control and Decision, 2015, 30 (5): 815- 822.
22	FARRELL J A , POLYCARPOU M , SHARMA M , et al. Command filtered backstepping[J]. IEEE Trans.on Automatic Control, 2009, 54 (6): 1391- 1395. doi: 10.1109/TAC.2009.2015562
23	WU Z H, LU J C, SHI J P, et al. Tracking error constrained robust adaptive neural prescribed performance control for flexible hypersonic flight vehicle[J]. International Journal of Advanced Robotic Systems, 2017, 14(1): 172988141668270.

符号	取值	符号	取值
m/(lb/ft)	300	C_D^α/rad^-1	-4.531 5
I_yy/(lb·ft)	5×10⁵	C_D⁰	-0.045 315
ρ/(slug/ft³)	6.742 9×10^-5	C_L^α/rad^-1	4.677 3
g/(ft/s²)	32.17	C_L⁰	-0.018 714
S/ft²	17	C_M^α²/rad^-2	6.292 6
$\bar{c}$/ft	17	C_M^α/rad^-1	2.133 56
z_T/ft	17	C_M⁰	-0.189 79
C_D^α²/rad^-2	5.822 4	C_M^δ_g/rad^-1	-1.289 7

参数	取值	参数	取值
k_h	0.5	ω_γ	10
k′_h	0.5	ω_α	10
k_γ	1	ω_q	20
k_α	2	μ	0.5
σ_α	0.001	$\tilde \omega $₀	0.01
k_q	1	$\tilde \omega $_∞	0.005
ξ_γ	0.5	ω_γ0	5
ξ_α	1	ω_q0	5
ξ_q	0.5	—	—

[1]	王冠, 茹海忠, 张大力, 马广程, 夏红伟. 弹性高超声速飞行器智能控制系统设计[J]. 系统工程与电子技术, 2022, 44(7): 2276-2285.
[2]	胥涯杰, 鲜勇, 李邦杰, 任乐亮, 李少朋, 郭玮林. 基于神经网络的高超声速飞行器惯导系统精度提高方法[J]. 系统工程与电子技术, 2022, 44(4): 1301-1309.
[3]	安通, 王鹏, 王建华, 汤国建, 潘玉龙, 陈海山. 弹性高超声速飞行器动态面制导控制一体化设计方法[J]. 系统工程与电子技术, 2022, 44(3): 956-966.
[4]	唐骁, 叶继坤, 李旭. 三维非线性预设性能制导律设计[J]. 系统工程与电子技术, 2022, 44(2): 619-627.
[5]	张君彪, 熊家军, 兰旭辉, 李凡, 刘文俭, 席秋实. 基于自适应滤波的高超声速滑翔目标三维跟踪算法[J]. 系统工程与电子技术, 2022, 44(2): 628-636.
[6]	徐海祥, 胡聪, 余文曌, 姚国全. 输入约束下的浮力调节式UUV变深控制[J]. 系统工程与电子技术, 2022, 44(11): 3496-3504.
[7]	岳彩红, 唐胜景, 郭杰, 王肖, 张浩强. 高超声速伸缩式变形飞行器再入轨迹快速优化[J]. 系统工程与电子技术, 2021, 43(8): 2232-2243.
[8]	郭建国, 苏亚鲁. 高超飞行器自适应动态规划的控制系统设计[J]. 系统工程与电子技术, 2021, 43(6): 1628-1635.
[9]	张毅, 方国伟, 杨秀霞. 具有性能预设的多机编队目标跟踪控制[J]. 系统工程与电子技术, 2021, 43(4): 1069-1079.
[10]	尹依伊, 王晓芳, 田震, 王竹萍. 基于预设性能控制的多导弹编队方法[J]. 系统工程与电子技术, 2020, 42(12): 2847-2858.
[11]	陶佳伟, 张涛. 具有预设性能的近距离星间相对姿轨耦合控制[J]. 系统工程与电子技术, 2019, 41(5): 1103-1109.
[12]	张凯, 熊家军, 兰旭辉, 陈新. 盲区下高超声速飞行器贝叶斯指示交接方法[J]. 系统工程与电子技术, 2019, 41(3): 493-499.
[13]	齐晨, 曹运合, 王宇, 吴春林. 基于高超平台前斜视SAR双通道杂波抑制方法[J]. 系统工程与电子技术, 2019, 41(1): 58-65.
[14]	张登辉, 马萍, 晁涛, 王松艳. 高超声速飞行器制导控制系统性能评估[J]. 系统工程与电子技术, 2018, 40(8): 1811-1816.
[15]	晁涛, 王雨潇, 王松艳, 杨明. 考虑非最小相位特性的高超声速飞行器轨迹跟踪控制[J]. 系统工程与电子技术, 2018, 40(7): 1548-1553.