针对吸气式高超声速飞行器的纵向运动模型,研究了输入受限时控制系统的设计问题,提出了一种内外环相结合的自适应Terminal滑模控制方法.以迎角和俯仰角速度作为内环控制对象,考虑到气动弹性模态和外部干扰,采用反步设计方法,设计出升降舵的自适应Terminal滑模控制律;以飞行速度作为外环控制对象,采用动态逆设计方法,设计出输入燃料当量比的动态逆自适应控制律,同时利用多层神经网络逼近控制律的饱和特性.基于Lyapunov稳定性理论,证明了采用此控制策略可以保证闭环控制系统的所有信号都是指数收敛至系统原点的一个有界邻域内,同时飞行器的气动弹性模态都是渐近稳定的.仿真结果表明,此控制策略能有效地处理吸气式高超声速飞行器在纵向运动过程中控制输入饱和受限的约束,在完成控制目标的同时,具有良好的过渡过程品质.
An adaptive terminal sliding mode control method based on the inner-loop and outer-loop systems is designed and analyzed for the longitudinal dynamics of air-breathing hypersonic vehicles under control input constraints. Considering the angle of attack and the pitch rate as the states of the inner-loop system with aeroelastic modes and disturbances, an adaptive terminal sliding mode control law of the elevator deflection is proposed based on backstepping design. Considering the velocity as the state of the outer-loop system, a dynamic inversion adaptive control law of the equivalence ratio is also obtained based on dynamic inversion design. Moreover, two multilayer neural networks are used for the approximation of the saturation property of two control inputs, respectively. Based on Lyapunov stability theorem, all signals of the closed-loop system are bounded and exponentially converge to the neighborhood of the origin globally. Furthermore, aeroelastic modes of air-breathing hypersonic vehicles are asymptotically stable. Simulation results demonstrate the effectiveness of the proposed control method in saturation alleviation of the longitudinal dynamics of air-breathing hypersonic vehicles. In additional, the control method not only realizes the control aim, but also improves transient performance of the controlled system.
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