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

Abstract

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

CLC Number:

TP13

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.

Figures/Tables 14

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References 30

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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

Attitude control of hypersonic vehicle with random parameter perturbations

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