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

Abstract

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

CLC Number:

V249.1

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.

Figures/Tables 19

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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

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Design of trajectory tracking model predictive control scheme in terrain following

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