运输机超低空重装空投纵向反步滑模控制研究

电子与自动控制

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运输机超低空重装空投纵向反步滑模控制研究

杨雨¹, 陆宇平²

1. 南京航空航天大学自动化学院, 江苏南京 210016;
2. 南京航空航天大学航天学院, 江苏南京 210016

收稿日期:2011-12-26 修回日期:2012-02-10 出版日期:2012-12-25 发布日期:2012-12-24
通讯作者: 陆宇平 E-mail:yplac@nuaa.edu.cn
作者简介:杨雨男, 博士研究生。主要研究方向: 飞行器控制技术。Tel: 025-84892309 E-mail: yangyurain@126.com
基金资助:
国家自然科学基金(91016017);高等学校博士学科点专项科研基金(20093218120035)

Backstepping Sliding Mode Control for Super-low Altitude Heavy Cargo Airdrop from Transport Plane

YANG Yu¹, LU Yuping²

1. College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
2. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received:2011-12-26 Revised:2012-02-10 Online:2012-12-25 Published:2012-12-24
Supported by:
National Natural Science Foundation of China (91016017); Research Fund for the Doctoral Program of Higher Education of China (20093218120035)

摘要/Abstract

摘要：

分析了超低空重装空投的空投流程,针对超低空重装空投飞行高度低、空投对象质量大的特点,把空投对象的位置和移动速度作为状态变量对货物移动时飞机运动的非线性方程进行了研究,该方程能准确描述出牵引伞的拉力、空投对象在货舱内的实时位置和移动速度对飞机姿态和高度的影响。同时,利用反馈线性化方法对模型进行输入输出线性化,并利用反步法与滑模控制相结合的方法,设计纵向滑模自适应控制器,解决了纵向不可参数化的不匹配不确定控制问题,实现了飞机在超低空重装空投时高度的稳定,保证飞机安全地完成超低空空投任务。

关键词: 超低空重装空投, 飞行控制, 反馈线性化, 反步控制, 滑模控制

Abstract:

This paper analyzes the procedures of super-low altitude heavy cargo airdrop. Because of the enormous quantity of the cargo and the super-low altitude of the airdrop, it is necessary to study the nonlinear movement equations of the plane taking the position and velocity of the cargo as the state variables. With this method, the equations can describe accurately the response of the altitude and posture of the plane, which are influenced by the traction of the parachute(s), and the position and velocity of the cargo in real time. Meanwhile, the accurate nonlinear mathematic model is converted into a linear input-output model by means of feedback linearization, and a longitudinal adaptive sliding mode controller is designed based on the backstepping method which is able to solve the mismatching uncertain control problem for super-low altitude heavy cargo airdrop, keep the altitude of the plane steady, and ensure the safety of low altitude heavy cargo airdrop operation.

Key words: super-low altitude heavy cargo airdrop, flight control, feedback linearization, backstepping control, sliding mode control

中图分类号:

V249.1

杨雨, 陆宇平. 运输机超低空重装空投纵向反步滑模控制研究[J]. 航空学报, 2012, 33(12): 2301-2312.

YANG Yu, LU Yuping. Backstepping Sliding Mode Control for Super-low Altitude Heavy Cargo Airdrop from Transport Plane[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2012, 33(12): 2301-2312.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

运输机超低空重装空投纵向反步滑模控制研究

Backstepping Sliding Mode Control for Super-low Altitude Heavy Cargo Airdrop from Transport Plane

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