平流层飞艇航迹跟踪鲁棒控制方法

doi:10.12305/j.issn.1001-506X.2025.06.28

摘要/Abstract

摘要：

针对具有大惯性、低动态、飞行速度与环境风场在同一量级等特点的平流层飞艇航迹跟踪问题, 提出一种平流层飞艇航迹跟踪鲁棒控制方法。通过引入风干扰力和力矩模型, 建立精细化风场干扰影响的平流层飞艇动力学模型。针对平流层飞艇制导回路中的风干扰, 提出一种融合扩张状态观测器与模糊逻辑的视线制导律, 利用扩张状态观测器实时估计地速侧滑角, 消除观测误差对系统造成的干扰, 基于模糊逻辑自适应调整前视距离, 在不改变远离期望航迹时跟踪误差收敛速度的前提下, 进一步减小靠近期望航迹时的振荡。针对平流层飞艇姿态控制回路中的风干扰和气动参数摄动, 基于非奇异终端滑模面与模糊变系数双幂次趋近律设计偏航角跟踪控制律, 利用扩张状态观测器消除内外扰动对姿态控制回路造成的负面影响, 抑制抖振。基于李雅普诺夫理论证明制导律与姿态控制律的稳定性, 通过仿真验证所提方法的合理性与有效性, 并与传统方法进行仿真对比, 验证所提方法有利于提高航迹跟踪的鲁棒性。

关键词: 平流层飞艇, 航迹跟踪, 视线制导, 扩张状态观测器, 滑模控制

Abstract:

A flight path following robust control method for stratospheric airship is proposed to solve the problem of how to design the flight path following for stratospheric airship with large inertia, low dynamic, and the flight speed being on the same level as the environmental wind field. A stratospheric airship dynamics model with the refinement of the impact of wind disturbance is established by introducing wind disturbance force and torque models. For the wind disturbance in the guidance loop of the stratospheric airship, a line of sight guidance law with combination of the extended state observer and the fuzzy logic is presented. The extended state observer is used to estimate the ground speed side slip angle in real time, which eliminates the disturbance caused by observation error. The lock-ahead distance is adaptively adjusted based on the fuzzy logic, which reduces the oscillation when near the desired flight path, without changing the convergence speed of following errors when far away from the desired flight path. For the wind disturbance and aerodynamic parameter perturbation in the attitude control loop of the stratospheric airship, a yaw angle tracking control law is designed based on a non-singular terminal sliding mode and a fuzzy variable coefficient double power reaching law. The extended state observer is used to eliminate the negative impact of internal and external disturbances on the attitude control loop and suppress chattering. The stability of the guidance law and the attitude control law are proved based on Lyapunov theory. The rationality and effectiveness of the proposed method are verified through simulation, and it is verified that the proposed method is beneficial for improving the robustness of flight path following by comparing with traditional methods.

Key words: stratospheric airship, flight path following, line of sight guidance, extended state observer, sliding mode control

中图分类号:

V274

赵新运, 解春雷. 平流层飞艇航迹跟踪鲁棒控制方法[J]. 系统工程与电子技术, 2025, 47(6): 2002-2014.

Xinyun ZHAO, Chunlei XIE. Flight path following robust control method for stratospheric airship[J]. Systems Engineering and Electronics, 2025, 47(6): 2002-2014.

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\|e_y\|	k_Δ
ZO	PS
PS	PM
PM	PB
PB	PB

前视距离参数	集合元素	数值
\|e_y\|	ZO/m	0
	PS/m	500
	PM/m	1 000
	PB/m	>1 000
k_Δ	PS	0.2
	PM	1
	PB	2
a_Δ	-	0.000 5
Δ_min/m	-	10
Δ_max/m	-	800

\|e_y\|	\|β_a\|
\|e_y\|	ZO	PS	PM	PB
ZO	ZO	ZO	ZO	ZO
PS	PM	PS	ZO	ZO
PM	PB	PB	PM	PM
PB	PB	PB	PM	PM

初始状态	数值	初始状态	数值
u_a/(m/s)	15	x/m	0
v_a/(m/s)	0	y/m	0
r/(°/s)	0	ψ/(°)	50

参数	数值	参数	数值
飞行高度/km	20	表观系数k₁₁	0.11
质量/kg	7 000	表观系数k₂₂	0.83
转动惯量/(kg·m²)	5.1×10⁶	表观系数k₆₆	0.10
体积/m³	7.5×10⁴	-	-