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针对高超声速飞行器快时变、强耦合以及存在参数不确定和外部干扰情况下的姿态控制问题,同时考虑到执行机构动态和输入受限,提出了基于滑模干扰观测器-轨迹线性化(SMDO-TLC,Sliding-Mode Disturbance Observer-Trajectory Linearization Control)的高超声速姿态控制方法.首先,引入二阶线性微分器(SOLD,Second-Order Linear Differentiator)的概念,通过理论分析指出了当前TLC中采用一阶惯性+伪微分器求取输入指令的微分信号时会存在与SOLD类似的峰值现象,随后利用韩式跟踪微分器求取姿态标称指令及其微分信号,可有效解决过渡过程中执行机构饱和问题;接着,分别在姿态和角速率回路设计二阶滑模干扰观测器,利用符号函数积分来重构内外回路的复合干扰,在此基础上设计补偿控制律,以实现姿态控制器设计.仿真结果表明,所提出的方法能够克服时变干扰及气动参数大范围摄动的影响,同时兼具良好的动态特性与静态品质,能够满足高超声速飞行器的快时变、高精度以及强鲁棒的控制需求.
In order to solve the problem of attitude control of hypersonic vehicles with time-varying and strong coupling, uncertain parameters and external disturbances, and considering the dynamics of actuators and the limited input, a sliding mode interference observer-track linearization (SMDO) TLC (Sliding-Mode Disturbance Observer-Trajectory Linearization Control) .Firstly, the concept of Second-Order Linear Differentiator (SOLD) is introduced. Order inertia + Pseudo-differentiator There is a peak phenomenon similar to SOLD when obtaining the differential signal of the input command, then using the Korean tracking differentiator to obtain the attitude nominal command and its differential signal, which can effectively solve the saturation of the actuator during the transition Secondly, the second-order sliding mode disturbance observers are designed respectively in the attitude and angular rate loops, and the complex interferences of the inner and outer loops are reconstructed by using the integral of the sign function. Based on this, the compensation control law is designed to realize the attitude controller design. The results show that the proposed method can overcome the influence of time-varying disturbance and large-scale perturbation of aerodynamic parameters, When both good dynamic characteristics and static quality, to meet the hypersonic rapid time-varying, high precision and strong robust control needs.