基于滑模干扰观测器的高超声速飞行器滑模控制

doi:10.7527/S1000-6893.2014.0218

电子与控制

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基于滑模干扰观测器的高超声速飞行器滑模控制

王建敏^1,2, 吴云洁^1,3, 董小萌⁴

1. 北京航空航天大学自动化科学与电气工程学院, 北京 100191;
2. 飞行器控制一体化技术重点实验室, 北京 100191;
3. 北京航空航天大学虚拟现实技术与系统国家重点实验室, 北京 100191;
4. 中国空间技术研究院钱学森空间技术实验室, 北京 100094

收稿日期:2014-07-07 修回日期:2014-07-29 出版日期:2015-06-15 发布日期:2014-09-11
通讯作者: 吴云洁 Tel.: 010-82338716 E-mail: wyjmip@buaa.edu.cn E-mail:wyjmip@buaa.edu.cn
作者简介:王建敏男, 博士研究生。主要研究方向: 伺服控制, 导弹制导控制, 高超声速飞行器制导控制。 Tel: 010-82338564 E-mail: wjm123121@126.com;吴云洁女, 博士, 教授, 博士生导师。主要研究方向: 智能控制理论、半实物仿真设备及工业过程控制。 Tel: 010-82338716 E-mail: wyjmip@buaa.edu.cn;董小萌男, 博士, 高级工程师。主要研究方向: 目标跟踪、飞行器控制与建模。 E-mail: dxm711@163.com
基金资助:
国家自然科学基金 (91216304)

Sliding mode control for hypersonic flight vehicle with sliding mode disturbance observer

WANG Jianmin^1,2, WU Yunjie^1,3, DONG Xiaomeng⁴

1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China;
2. Science and Technology on Aircraft Control Laboratory, Beijing 100191, China;
3. State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing 100191, China;
4. Qian Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing 100094, China

Received:2014-07-07 Revised:2014-07-29 Online:2015-06-15 Published:2014-09-11
Supported by:
National Natural Science Foundation of China (91216304)

摘要/Abstract

摘要：

首先,针对存在外部干扰和输入饱和的通用式高超声速飞行器的纵向动态模型,提出一种基于滑模干扰观测器的抗饱和滑模控制器。该滑模控制器采用非线性趋近律,在保证系统快速、稳定跟踪指令的同时,能够消除传统滑模控制中的抖振现象,并针对执行器饱和问题,加入抗饱和补偿器,以提高系统的稳定性。其次,对于系统中存在的干扰和不确定性,提出一种滑模干扰观测器,用以准确估计系统中存在的等效干扰,并将该观测器对干扰的估计值应用于滑模控制器中进行补偿,以消除干扰。再次,利用Lyapunov理论对所提出的基于滑模干扰观测器的抗饱和滑模控制器进行稳定性分析。最后,对高超声速飞行器的巡航状态进行仿真。仿真结果表明,所提方法能够有效提高系统的稳定性和抗干扰性,具有一定的实际应用价值。

关键词: 高超声速飞行器, 干扰观测器, 趋近律, 饱和, 滑模控制, 干扰抑制

Abstract:

Firstly, aimed at the longitudinal dynamics model of generic hypersonic flight vehicle in the presence of external disturbances and input saturation, an anti-windup sliding mode controller based on sliding mode disturbance observer is proposed. The sliding mode controller employs nonlinear reaching law, which makes the system track reference command fast and steadily; at the same time it eliminates the chattering phenomenon existing in the traditional sliding mode control, adds saturation compensator according to the problem of actuator saturation to improve the stability for the system. Secondly, a sliding mode disturbance observer is proposed to overcome the disturbances and uncertainties of the system, which can exactly estimate the equivalent disturbances added in the system. The estimated value evaluated by the observer is applied to the sliding mode controller as compensation to achieve the goal of eliminating disturbance. Thirdly, the stability of the proposed anti-windup sliding mode controller based on sliding mode disturbance observer is analyzed by means of Lyapunov theory. Finally, the simulation is conducted for cruise flight condition of hypersonic flight vehicle. Simulation results show that the suggested method can improve the stability and disturbance rejection performance for the system effectively, which has certain actual application value.

Key words: hypersonic flight vehicle, disturbance observer, reaching law, saturation, sliding mode control, disturbance rejection

中图分类号:

V448.2

王建敏, 吴云洁, 董小萌. 基于滑模干扰观测器的高超声速飞行器滑模控制[J]. 航空学报, 2015, 36(6): 2027-2036.

WANG Jianmin, WU Yunjie, DONG Xiaomeng. Sliding mode control for hypersonic flight vehicle with sliding mode disturbance observer[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(6): 2027-2036.

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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

基于滑模干扰观测器的高超声速飞行器滑模控制

Sliding mode control for hypersonic flight vehicle with sliding mode disturbance observer

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