高速变形飞行器制导控制一体化设计方法

doi:10.7527/S1000-6893.2024.30692

Abstract

Abstract:

The guidance and attitude loops of high-speed morphing wing aircraft has strong coupling characteristics， and are difficult to separate and design. In this paper， an Integrated Guidance and Control （IGC） method considering morphing characteristics is designed based on the Backstepping Method and the Fixed-Time Sliding Mode Control （FTSMC） method. Firstly， a six-degree-of-freedom complete kinematic model of the aircraft under morphing conditions is established， and a strict feedback form of the IGC model with additional deformation terms is derived. Secondly， a novel integrated design method for guidance and control is proposed using the Backstepping Method （BM） combined with FTSMC， and the stability of the system is proved by the Lyapunov theory. Finally， comparison between the traditional method and the new integrated design method is carried out in the case without morphing， which verifies the rapidity and effectiveness of the new method. Comparison of the new method with and without morphing is carried out， which verifies the superiority of the new method in the case with morphing.

Key words: high-speed morphing wing aircraft, integrated guidance and control, backstepping control, fixed-time sliding mode control, standard trajectory tracking

CLC Number:

V249.1

Hao HE, Peng WANG. Integrated guidance and control method for high-speed morphing wing aircraft[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(S1): 730692.

Figures/Tables 20

Fig.1

Table 1

Initial state of flight simulation

状态量	数值
初始速度 $V 0 / (m · s - 1)$	200
初始速度倾角 $θ 0 / (°)$	-43
初始航迹偏航角 $σ 0 / (°)$	133
初始攻角 $α 0 / (°)$	0
初始侧滑角 $β 0 / (°)$	0
初始倾侧角 $γ V 0 / (°)$	0
初始高度 $H 0 / k m$	5.45
初始滚转角速度- $ω x 0 / ((°) · s - 1)$	0
初始偏航角速度 $ω y 0 / ((°) · s - 1)$	0
初始俯仰角速度 $ω z 0 / ((°) · s - 1)$	0
初始纬度 $ϕ 0 / (°)$	0
初始经度 $λ 0 / (°)$	0

Table 1

Table 2

Parameters of IGC design of morphing aircraft

参数	取值
$τ 1$	$d i a g (0.1,0, 0.1)$
$τ 2$	$d i a g (0.1,0.1,0.1)$
$c 0, c 1, c 2$	$d i a g (0.8,0.8,0.8)$
$k 0, k 1, k 2$	$d i a g (1,1, 1)$
$ε 0, ε 1, ε 2$	$d i a g (0.8,0.8,0.8)$
$d 0, d 1, d 2$	$d i a g (1,1, 1)$
$n 0$	$d i a g (1,4, 1.5)$
$q 0 / p 0, q 0 + / p 0 +, q 0 - / p 0 -$	$1 / 2$
$p 1 / q 1, p 1 + / q 1 +, p 1 - / q 1 -$	$5 / 3$
$q 2 / p 2, q 2 + / p 2 +, q 2 - / p 2 -$	$3 / 5$
$p 3 / q 3, p 3 + / q 3 +, p 3 - / q 3 -$	$5 / 3$
$q 4 / p 4, q 6 / p 6$	$3 / 5$
$p 5 / q 5, p 7 / q 7$	$5 / 3$
$n 1, n 2$	$d i a g (6,8, 8)$

Table 2

Fig.2

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Integrated guidance and control method for high-speed morphing wing aircraft

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