随机参数摄动下的高超声速飞行器姿态控制

doi:10.12305/j.issn.1001-506X.2024.02.34

摘要/Abstract

摘要：

针对高超声速飞行器随机参数摄动的姿态控制问题, 提出一种基于轨迹线性化和扩展卡尔曼滤波(extended Kalman filter, EKF)的预测滑模控制方法。首先, 针对随机参数摄动的高超声速飞行器非线性模型, 采用轨迹线性化方法建立线性时变误差调节模型。通过分析参数误差的统计特性, 将统计信息以参数协方差矩阵的形式进行表示, 并设计EKF对受扰误差状态进行滤波。然后, 采用预测滑模控制方法设计误差稳定调节器, 使系统快速趋于稳定。所提方法对随机参数摄动和非线性干扰都具有强鲁棒性。仿真验证了所提方法的有效性。

关键词: 高超声速飞行器, 随机参数摄动, 轨迹线性化, 扩展卡尔曼滤波, 预测滑模

Abstract:

In view of the attitude control problem of a hypersonic vehicle with range of random parameter perturbations a predictive sliding mode control method based on trajectory linearization and extended Kalman filter (EKF) is proposed. Using trajectory linearization method, a linear time-varying error adjustment model is established from the nonlinear model of hypersonic vehicle. The statistical information in the linearized model caused by parameter perturbations is expressed in the form of parameter covariance matrix by analysis of the statistical characteristics of parameter errors, then the EKF is designed to filter the disturbed error state. Finally, the predictive sliding mode control method is used to design the error stabilization regulator to realize the rapid stabilization of the system. The proposed method is robust to both nonlinear disturbances and random parameter perturbations. Simulation results verify the effectiveness of the proposed method.

Key words: hypersonic aircraft, random parameter perturbation, trajectory linearization control, extended Kalman filter (EKF), predicted sliding mode

中图分类号:

TP13

刘正洋, 周丽, 张瑞. 随机参数摄动下的高超声速飞行器姿态控制[J]. 系统工程与电子技术, 2024, 46(2): 703-714.

Zhengyang LIU, Li ZHOU, Rui ZHANG. Attitude control of hypersonic vehicle with random parameter perturbations[J]. Systems Engineering and Electronics, 2024, 46(2): 703-714.

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飞行器参数	取值
飞行器质量M/kg	136 820
重力加速度g/(m/s²)	9.8
飞行速度V/(m/s)	2 400
倾斜角γ/(°)	0
推力T/N	208 000
翼面参考面积S/m²	334.73
动压$\hat{q}$/Pa	82 877
惯性矩I_xx/(kg·m²)	915 300
惯性矩I_yy/(kg·m²)	903 600
惯性矩I_zz/(kg·m²)	903 600
参考力矩中心X_cg/m	4.466 8
翼展b/m	18.288
平均气动弦长c/m	24.384

控制器参数	控制回路
控制器参数	慢回路	快回路
C_e	$\left[\begin{array}{ccc}10 & 0 & 5 \\5 & 10 & 0 \\0 & 5 & 10\end{array}\right]$	$\left[\begin{array}{lll}1 & 1 & 5 \\5 & 1 & 1 \\1 & 5 & 1\end{array}\right]$
p_m	5	5
q_m	150	60
ε	0.8	0.3
T_r/s	0.02	0.02
T_s/s	0.001	0.001
ω_diff/(rad/s)	5	15

参数	MPSMC	TLC	MPSMC-TLC
姿态角α/(°)	0.086	0.698	0.093
姿态角β/(°)	0.005	0.005	0.004
姿态角μ/(°)	0.082	0.901	0.094
角速率p/(°/s)	0.084	0.100	0.089
角速率q/(°/s)	0.118	0.158	0.126
角速率r/(°/s)	0.013	0.006	0.005

舵面/(°)	MPSMC	TLC	MPSMC-TLC
δ_e	[-7.365, 8.484]	[-2.506, 1.522]	[-4.865, 2.117]
δ_a	[-8.197, 7.214]	[-2.089, 2.931]	[-2.039, 3.462]
δ_r	[-2.543, 2.576]	[-0.080, 0.420]	[-0.081, 0.034]
δ_x	[-0.116, 0.126]	[-0.046, 0.020]	[-0.066, 0.014]
δ_z	[-0.035, 0.037]	[-0.009, 0.004]	[-0.013, 0.003]
δ_z	[-0.003, 0.002]	[-0.002, 0.002]	[-0.003, 0.002]

参数	MPSMC-TLC	MPSMC-EKTLC
姿态角α/(°)	0.093	0.004
姿态角β/(°)	0.004	0.001
姿态角μ/(°)	0.094	0.060
角速率p/(°/s)	0.089	0.051
角速率q/(°/s)	0.126	0.006
角速率r/(°/s)	0.005	0.001