基于微分平坦的高超声速飞行器跟踪控制方法

doi:10.12305/j.issn.1001-506X.2024.03.35

摘要/Abstract

摘要：

针对高超声速飞行器跟踪控制存在控制相对阶较高、过程状态约束强等问题，提出基于微分平坦的高超声速飞行器跟踪控制和外环跟踪控制方法, 避免串级自抗扰控制(active disturbance rejection control, ADRC)等控制方法带来的鲁棒性问题, 微分平坦将过程状态和控制输入映射为关于平坦输出的函数, 在模型线性化的同时实现了轨迹规划的约束降维。针对不确定性较强的姿控内环, 搭配ADRC从而避免微分高阶模型推导下的微分爆炸问题, ADRC不依赖于精确模型信息, 提升了控制系统鲁棒性。仿真结果表明, 微分平坦和ADRC互补对方缺陷, 具有良好的控制性能和鲁棒性。

关键词: 自抗扰控制, 微分平坦, 高超声速飞行器, 轨迹跟踪, 姿态控制

Abstract:

To solve the problem that the hypersonic vehicle tracking control has challenges such as high control relative orders and strict process state constraints, the differential flatness-based hypersonic vehicle tracking control and outer loop tracking control method is proposed to avoid the robustness problems caused by control methods such as active disturbance rejection control (ADRC), while differential flattening maps the process state and control input into a function about the flattened output, which reduces the constraints dimensionality of trajectory planning while realizing the linearization of the model. For the attitude control inner loop with strong uncertainty, ADRC is used to avoid the differential explosion problem under the derivation of differential high-order model, and ADRC does not depend on the exact model information, which improves the robustness of the control system. Simulation results show that differential flatness and ADRC complement each other's defects and have good control performance and robustness.

Key words: active disturbance rejection control (ADRC), differential flatness, hypersonic vehicle, trajectory tracking, attitude control

中图分类号:

TP273

赵昱宇, 索超, 王雨潇. 基于微分平坦的高超声速飞行器跟踪控制方法[J]. 系统工程与电子技术, 2024, 46(3): 1084-1092.

Yuyu ZHAO, Chao SUO, Yuxiao WANG. Differential flatness-based tracking control method for hypersonic vehicle[J]. Systems Engineering and Electronics, 2024, 46(3): 1084-1092.

图/表 6

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变量	取值
V/(ft/s)	7 800
h/ft	110 000
ϕ	0.151 7
m/slug	9 375
I_yy/(slug·ft²/rad)	700 000
γ/rad	0
α/rad	0.011 6
S/ft²	3 603
c/ft	80
ρ/(slug/ft³)	0.013 4
μ/(ft³/s²)	1.39×10¹⁶
R/ft	20 903 500

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