地形跟随中航迹跟踪模型预测控制方案设计

doi:10.12305/j.issn.1001-506X.2024.04.27

摘要/Abstract

摘要：

针对地形跟随飞行中的航迹跟踪问题, 设计了航迹跟踪模型预测控制器, 并讨论了模型预测控制中时域参数切换的自适应方案设计。首先, 结合被控对象的特点, 设计了用于实现全局稳定跟踪参考航迹的模型预测航迹控制器, 并对控制器展开了稳定性分析。然后, 充分发挥模型预测控制的预测能力, 进行了航迹跟踪方法和综合误差评价策略设计。同时, 通过分析不同航迹段的跟踪需求, 设计了自适应调整模型预测控制中时域参数的优化方案。仿真验证结果表明, 自适应方案相比固定时域方案航迹跟踪精度更高、飞行颠簸小、稳定性好, 预设的评价指标函数能有效评估跟踪性能。

关键词: 地形跟随, 模型预测控制, 稳定性分析, 自适应时域, 误差评价

Abstract:

Aiming at the problem of trajectory tracking in terrain following flight, a trajectory tracking model prediction controller is designed, and the adaptive scheme of time horizon parameter switching in the model prediction control is discussed. Firstly, based on the characteristics of the controlled object, a model predictive tracking controller is designed to track the reference trajectory stably, and the stability of the controller is analyzed. Then, the trajectory tracking method and comprehensive error evaluation strategy are designed by giving full play to the predictive ability of model predictive control. Meanwhile, based on the analysis of the tracking requirements of different trajectory segments, the optimization scheme of the time horizon parameters in the adaptive adjustment model predictive control is designed. Simulation results show that the adaptive scheme has higher tracking accuracy, less flight turbulence, and better stability than the fixed time horizon scheme, and the preset evaluation index function can effectively evaluate the tracking performance.

Key words: terrian following, model predictive control, stability analysis, adaptive time horizon, error evaluation

中图分类号:

V249.1

卜瑞宇, 王彪, 李宏成, 唐超颖, 朱日楠. 地形跟随中航迹跟踪模型预测控制方案设计[J]. 系统工程与电子技术, 2024, 46(4): 1383-1392.

Ruiyu BU, Biao WANG, Hongcheng LI, Chaoying TANG, Rinan ZHU. Design of trajectory tracking model predictive control scheme in terrain following[J]. Systems Engineering and Electronics, 2024, 46(4): 1383-1392.

图/表 19

图1

图2

图3

图4

图5

图6

图7

图8

图9

图10

图11

图12

图13

图14

表1

表2

图15

图16

图17

参考文献 30

1	LIVSHITZ A , IDAN M .Preview control approach for laser range finder based terrain following[J].IEEE Trans.on Aerospace and Electronic Systems,2019,56(2):1318-1331.
2	KAZEMIFAR O , BABAEI A R , MORTAZAVI M .Online aircraft velocity and normal acceleration planning for rough terrain following[J].The Aeronautical Journal,2017,121(1244):1561-1577. doi: 10.1017/aer.2017.27
3	LU P , PIERSON B L .Aircraft terrain following based on a nonlinear continuous predictive control approach[J].Journal of Guidance, Control, and Dynamics,1995,18(4):817-823. doi: 10.2514/3.21464
4	LIVSHITZ A , IDAN M .Low-cost laser range-measurement-based terrain-following concept and error analysis[J].Journal of Guidance, Control, and Dynamics,2018,41(4):1006-1014. doi: 10.2514/1.G002565
5	NOORDIN A , MOHD BASRI M A , MOHAMED Z , et al.Adaptive PID controller using sliding mode control approaches for quadrotor UAV attitude and position stabilization[J].Arabian Journal for Science and Engineering,2021,46(2):963-981. doi: 10.1007/s13369-020-04742-w
6	ZHANG S C , XUE X Y , CHEN C , et al.Development of a low-cost quadrotor UAV based on ADRC for agricultural remote sensing[J].International Journal of Agricultural and Biological Engineering,2019,12(4):82-87. doi: 10.25165/j.ijabe.20191204.4641
7	MINH V T , MOEZZI R , DHOSKA K , et al.Model predictive control for autonomous vehicle tracking[J].International Journal of Innovative Technology and Interdisciplinary Sciences,2021,4(1):560-603.
8	郑世钰, 艾晓琳, 杨迪.基于积分反步法的四旋翼滑模轨迹跟踪算法[J].系统工程与电子技术,2019,41(3):643-650.
	ZHENG S Y , AI X L , YANG D .Integral backstepping based sliding mode trajectory tracking algorithm for quadrotor[J].Systems Engineering and Electronics,2019,41(3):643-650.
9	XIAN B , GUO J C , ZHANG Y .Adaptive backstepping tracking control of a 6-DOF unmanned helicopter[J].IEEE/CAA Journal of Automatica Sinica,2015,2(1):19-24. doi: 10.1109/JAS.2015.7032902
10	ZHENG H , NEGENBORN R R , LODEWIJKS G .Trajectory tracking of autonomous vessels using model predictive control[J].IFAC Proceedings Volumes,2014,47(3):8812-8818. doi: 10.3182/20140824-6-ZA-1003.00767
11	LAPP T, SINGH L. Model predictive control based trajectory optimization for nap-of-the-earth (NOE) flight including obstacle avoidance[C]//Proc. of the IEEE American Control Conference, 2004, 1: 891-896.
12	王晓海, 孟秀云, 李传旭.基于MPC的无人机航迹跟踪控制器设计[J].系统工程与电子技术,2021,43(1):191-198.
	WANG X H , MENG X Y , LI C X .Design of trajectory tracking controller for UAV based on MPC[J].Systems Engineering and Electronics,2021,43(1):191-198.
13	MAYNE D Q , RAWLINGS J B , RAO C V , et al.Constrained model predictive control: stability and optimality[J].Automatica,2000,36(6):789-814. doi: 10.1016/S0005-1098(99)00214-9
14	SCOKAERT P O M , MAYNE D Q .Min-max feedback model predictive control for constrained linear systems[J].IEEE Trans.on Automatic Control,1998,43(8):1136-1142. doi: 10.1109/9.704989
15	ZHANG B , ZONG C F , CHEN G Y , et al.An adaptive-prediction-horizon model prediction control for path tracking in a four-wheel independent control electric vehicle[J].Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering,2019,233(12):3246-3262. doi: 10.1177/0954407018821527
16	GRIFFITH D W , BIEGLER L T , PATWARDHAN S C .Robustly stable adaptive horizon nonlinear model predictive control[J].Journal of Process Control,2018,70,109-122. doi: 10.1016/j.jprocont.2018.07.014
17	BØHN E , GROS S , MOE S , et al.Reinforcement learning of the prediction horizon in model predictive control[J].IFAC-PapersOnLine,2021,54(6):314-320. doi: 10.1016/j.ifacol.2021.08.563
18	BHATTACHARYA R , BALAS G J , KAYA M A , et al.Nonlinear receding horizon control of an F-16 aircraft[J].Journal of Guidance, Control, and Dynamics,2002,25(5):924-931. doi: 10.2514/2.4965
19	FU NK , JAMES E .Optimal-path precision terrain-following system[J].Journal of Aircraft,1977,14(2):128-134. doi: 10.2514/3.58755
20	AL-GABALAWY M , HOSNY N S , ABORISHA A S .Model predictive control for a basic adaptive cruise control[J].International Journal of Dynamics and Control,2021,9(3):1132-1143. doi: 10.1007/s40435-020-00732-w
21	YANG H J , GUO M C , XIA Y Q , et al.Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints[J].IET Control Theory & Applications,2017,12(2):206-214.
22	LIU C X , GAO J , XU D M .Lyapunov-based model predictive control for tracking of nonholonomic mobile robots under input constraints[J].International Journal of Control, Automation and Systems,2017,15(5):2313-2319. doi: 10.1007/s12555-016-0350-x
23	孙峻. 非线性模型预测控制理论及应用研究[D]. 西安: 西北工业大学, 2002.
	SUN J. Study on the theories and applications of nonlinear model predictive control[D]. Xi'an: Northwestern Polytechnical University, 2002.
24	LEE J H .Model predictive control: review of the three de-cades of development[J].International Journal of Control, Automation and Systems,2011,9(3):415-424. doi: 10.1007/s12555-011-0300-6
25	CAMPONOGARA E , JIA D , KROGH B H , et al.Distributed model predictive control[J].IEEE Control Systems Magazine,2002,22(1):44-52. doi: 10.1109/37.980246
26	YUAN X F , HUANG G M , SHI K .Improved adaptive path following control system for autonomous vehicle in different velocities[J].IEEE Trans.on Intelligent Transportation Systems,2019,21(8):3247-3256.
27	JI J , KHAJEPOUR A , MELEK W W , et al.Path planning and tracking for vehicle collision avoidance based on model predictive control with multiconstraints[J].IEEE Trans.on Vehicular Technology,2016,66(2):952-964.
28	ZHENG H , NEGENBORN R R , LODEWIJKS G .Trajectory tracking of autonomous vessels using model predictive control[J].IFAC Proceedings Volumes,2014,47(3):8812-8818. doi: 10.3182/20140824-6-ZA-1003.00767
29	YANG K , KANG Y , SUKKARIEH S .Adaptive nonlinear model predictive path-following control for a fixed-wing unmanned aerial vehicle[J].International Journal of Control, Automation and Systems,2013,11(1):65-74. doi: 10.1007/s12555-012-0028-y
30	TOWNSEND J L , BLATT P E .New MIL-F-9490D requirements and implications on future flight control design[J].Journal of Aircraft,1976,13(9):670-675. doi: 10.2514/3.58698

时域参数	坐标系类别	e_dm/m	e_ds/m	e_γm/(×10^-3 rad)	e_dmax/m	e_dmin/m	S_w
N_p=20	惯性系	2.6	2.4	12.7	14.0	12.4	77.7
N_p=20	机体系	2.5	2.2	12.3	13.5	11.7	73.4
N_p=25	惯性系	2.1	1.7	12.5	9.0	9.6	57.9
N_p=25	机体系	2.3	1.8	12.1	9.5	10.3	62.0
N_p=30	惯性系	2.4	1.7	11.0	10.5	7.6	60.2
N_p=30	机体系	2.3	1.7	11.1	10.2	8.2	59.5
自适应方案	惯性系	1.5	1.2	9.3	6.8	6.4	41.1
自适应方案	机体系	1.4	1.2	9.7	6.7	6.6	40.2

时域参数	N_p=20	N_p=25	N_p=30	自适应方案
T_mean	0.79	0.84	0.94	1.60
T_max	12.10	6.50	9.40	14.70

[1]	郝文康, 陈琪锋. 无人机编队模糊约束分布式模型预测节能控制[J]. 系统工程与电子技术, 2024, 46(3): 1021-1030.
[2]	胡树欣, 张安, 孙嫚憶, 李铭浩. 基于一致性理论和S-MPC的四旋翼编队协同避障[J]. 系统工程与电子技术, 2024, 46(2): 658-667.
[3]	张亮, 刘思, 赵康伟, 胡存明. 运载火箭自适应增广控制参数设计及稳定性裕度分析[J]. 系统工程与电子技术, 2024, 46(1): 271-279.
[4]	张宏, 吴云华, 钟胜钧, 郭海波. 基于反步法的空间目标复合指向控制方法研究[J]. 系统工程与电子技术, 2023, 45(9): 2884-2893.
[5]	徐文丰, 李颖晖, 裴彬彬, 禹志龙. 基于多模型MPC的变体飞机协调优化控制[J]. 系统工程与电子技术, 2023, 45(9): 2902-2911.
[6]	陈旭, 肖瑶, 杨凌宇, 张晶. 基于简化模型的天线罩寄生回路稳定性分析[J]. 系统工程与电子技术, 2023, 45(6): 1784-1796.
[7]	宋超, 李波, 马云红, 黄晶益. 基于优化A*和MPC融合算法的三维无人机航迹规划[J]. 系统工程与电子技术, 2023, 45(12): 3995-4004.
[8]	柳子然, 戴梓健, 岳程斐, 王培基, 曹喜滨. 基于高斯混合过程的空间机器人任务空间预测控制方法[J]. 系统工程与电子技术, 2023, 45(11): 3597-3605.
[9]	孙田野, 孙伟, 吴建军. 改进Quatre算法的无人机编队快速集结方法[J]. 系统工程与电子技术, 2022, 44(9): 2840-2848.
[10]	胥彪, 李翔, 李爽, 张金鹏. 基于非线性模型预测控制的火星大气进入智能制导方法[J]. 系统工程与电子技术, 2021, 43(7): 1943-1953.
[11]	王晓海, 孟秀云, 李传旭. 基于MPC的无人机航迹跟踪控制器设计[J]. 系统工程与电子技术, 2021, 43(1): 191-198.
[12]	杨宇, 吴达, 高峰, 邓建军. 适用于超低空拦截的复合制导律设计方法[J]. 系统工程与电子技术, 2021, 43(1): 208-215.
[13]	刘帅, 赵国荣, 曾宾, 高超. 带丢包和量化的参数不确定系统滚动时域估计[J]. 系统工程与电子技术, 2020, 42(4): 912-918.
[14]	朱梦圆, 吕娜, 陈柯帆, 钟赟, 刘创, 高维廷. 航空集群协同搜索马尔可夫运动目标方法[J]. 系统工程与电子技术, 2019, 41(9): 2041-2047.
[15]	宋敏, 戴静, 孔韬. 基于NMPC的无人机自主防撞控制方法[J]. 系统工程与电子技术, 2019, 41(9): 2092-2099.