航空学报 > 2015, Vol. 36 Issue (7): 2372-2380   doi: 10.7527/S1000-6893.2014.0290

基于新型快速Terminal滑模的高超声速飞行器姿态控制

刘宇超1, 郭建国1, 周军1, 王国庆2   

  1. 1. 西北工业大学 精确制导与控制研究所, 西安 710072;
    2. 中国运载火箭技术研究院 研发中心, 北京 100076
  • 收稿日期:2014-08-18 修回日期:2014-10-16 出版日期:2015-07-15 发布日期:2014-10-27
  • 通讯作者: 郭建国 男, 博士, 教授, 博士生导师。主要研究方向: 飞行器制导、控制与仿真, 先进控制理论及应用。 Tel: 029-88493113 E-mail: guojianguo@nwpu.edu.cn E-mail:guojianguo@nwpu.edu.cn
  • 作者简介:刘宇超 男, 硕士研究生。主要研究方向: 飞行器制导控制。 Tel: 029-88493113 E-mail: lyc-me@qq.com;周军 男, 博士, 教授, 博士生导师。主要研究方向: 飞行器制导、控制与仿真, 先进控制理论及应用。 Tel: 029-88492787 E-mail: zhoujun@nwpu.edu.cn;王国庆 男, 硕士, 工程师。主要研究方向: 飞行器制导、控制与仿真。 Tel: 010-88531323 E-mail: 15094098060@126.com
  • 基金资助:

    国家自然科学基金(61473226); 航天科技创新基金 (N14XW0001)

Hypersonic vehicle attitude control based on new fast terminal sliding mode

LIU Yuchao1, GUO Jianguo1, ZHOU Jun1, WANG Guoqing2   

  1. 1. Institute for Precise Guidance and Control, Northwestern Polytechnical University, Xi'an 710072, China;
    2. Research and Development Center, China Academy of Launch Vehicle Technology, Beijing 100076, China
  • Received:2014-08-18 Revised:2014-10-16 Online:2015-07-15 Published:2014-10-27
  • Supported by:

    National Natural Science Foundation of China (61473226); Astronautics Science and Technology Innovation Foundation (N14XW0001)

摘要:

为了提高Terminal滑模的收敛速度,避免滑模控制器奇异,首先分析Terminal滑模控制器出现奇异的原因,提出了一种新型非奇异快速Terminal滑模,其收敛速度在任意点均快于双幂次形式的Terminal滑模,并给出收敛时间公式。基于此,又改进了一种结构更为简单的非奇异快速Terminal滑模。针对高超声速飞行器姿态模型,利用新型快速Terminal滑模,采用干扰观测器逼近姿态的复合干扰,设计了高超声速飞行器内、外回路Terminal滑模控制器。采用一阶滤波器,消除了由Terminal滑模所导致最终控制器的奇异问题;基于Lyapunov稳定性理论,严格证明了飞行器姿态内、外回路系统的有限时间稳定。最后,通过飞行器在气动参数标称与拉偏情况下的数字仿真,验证了设计方案的有效性。

关键词: Terminal滑模控制, 高超声速飞行器, 观测器, 鲁棒控制, Lyapunov稳定性

Abstract:

To accelerate the convergence of a terminal sliding mode and avoid the singularity of the sliding mode controller, a new nonsingular fast terminal sliding mode, whose convergence speed is faster than that of the terminal sliding mode with double power functions at any point, is proposed according to an analysis of the cause of the singularity of the designed controller. The formula of convergence time is drived. Thereafter, a simpler nonsingular terminal sliding mode is designed. The nonsingular sliding mode controller is designed for the inner loop and outer loop of a hypersonic vehicle with an order filter by applying the new terminal sliding mode. In order to improve the control effect, two nonlinear observers are used to approximate the compound disturbances. The system including the inner loop and outer loop is proven to be stable in the finite time by means of the Lyapunov stability theorem. Finally, the performances and robustness are assessed through a hypersonic vehicle with model parameter perturbations.

Key words: terminal sliding mode, hypersonic vehicle, observer, robust control, Lyapunov stability

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