临近空间动能拦截器神经反演姿态控制器设计

doi:10.7527/S1000-6893.2018.21953

Abstract

Abstract: To meet the requirement for fast, accurate and robust attitude control of near space kinetic kill vehicles, an adaptive neural network backstepping attitude controller is designed. First, a model for lateral jet interaction is established, and a three-channel strong coupling model including centroid drift, parameter perturbation and external disturbance is developed. Second, an adaptive neural backstepping attitude controller is designed. Then, to improve control precision, the RBF neural network is adopted to estimate and compensate the uncertainties in each channel, and the neural network learning parameter is fitted as a parameter based on the theory of minimum learning parameters to improve Radial Basis Function (RBF) calculation efficiency and estimation instantaneity. Finally, a PSeudo Rate (PSR) modulator is designed to convert the continuous control law into the pulse control law, so as to realize control of KKV digital variable thrust. The simulation shows that the controller has fast convergence speed, high control precision and robustness to strong disturbance.

Key words: Radial Basis Function (RBF) neural network, lateral jet interaction model, near space kinetic kill vehicle, PSR modulator, backstepping control

CLC Number:

V448

ZHANG Tao, LI Jiong, Wang Huaji, LEI Humin, YE Jikun. Attitude control of near space kinetic kill vehicle based on neural network backtepping control[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018, 39(8): 321953-321953.

References

[1] 翟岱亮, 雷虎民, 李炯,等. 基于自适应IMM的高超声速飞行器轨迹预测[J]. 航空学报, 2016, 37(11):3467-3567. ZHAI D L, LEI H M, LI J, et al. Trajectory prediction of hypersonic vehicle based on adaptive IMM[J]. Acta Aeronautica et Astronautica Sinica, 2016, 37(11):3467-3567(in Chinese).
[2] 周黎妮,朱启超,李坡.美军常规快速全球打击计划发展现状与趋势[J].现代防御技术,2015,43(2):1-5. ZHOU L N, ZHU Q C, LI P. Current development and trend of conventional prompt global strike of U.S.[J].Modern Defence Technology, 2015,43(2):1-5(in Chinese).
[3] LIU X, LIU W, ZHAO Y. Navier-Stokes predictions of dynamic stability derivatives for air-breathing hypersonic vehicle[J]. Acta Astronautica, 2016, 118:262-285.
[4] GUO J, ZHANG T, ZHOU J, et al. The three dimensional guidance system design of terminal attack phase for exo-atmospheric kill vehicle[J]. Optik-International Journal for Light and Electron Optics, 2017, 130(18):1158-1167.
[5] 杨旭. 动能拦截器姿控发动机机器姿态控制研究[D]. 北京:北京理工大学,2016. YANG X. Research on attitude control thruster and attitude tracking control of kinetic kill vehicle[D].Beijing:Beijing Institute of Technology,2016(in Chinese).
[6] 朱战霞, 韩沛, 陈鹏. 基于非线性终端滑模的动能拦截器末制导律设计[J]. 西北工业大学学报, 2013, 31(2):233-238. ZHU Z X, HAN P, CHEN P. Design of nomlinear terminal SMGL(Sliding-Mode Guidance law) for KKV (Kinetic Kill Vehicle)[J]. Journal of Northwestern Polytechnical University, 2013, 31(2):233-238(in Chinese).
[7] 张大元, 雷虎民, 邵雷, 等. 临近空间高超声速目标拦截弹弹道规划[J]. 国防科技大学学报,2015,37(3):91-97. ZHANG D Y, LEI H M, SHAO L, et al. Interceptor trajectory programming foe near space hypersonic target[J]. Journal of National University of Defense Technology, 2015,37(3):91-97(in Chinese).
[8] 梁海燕. 反临近空间高超声速飞行器导引头及关键技术分析[J]. 飞航导弹,2013,34(10):61-63. LIANG H Y. Analysis on the seeker and key Technologies of Anti-Near-Space Hypersonic vehicle[J]. Aerodynamic Missile Journal, 2013,3(10):61-63(in Chinese).
[9] 余英,侯明善,张斯哲,等. 侧窗探测自适应制导研究[J].西北工业大学学报,2016,34(2):287-293. YU Y, HOU M S, ZHANG S Z, et al. A new adaptive proportional navigation based on side windows detection[J]. Journal of Northwestern Polytechnical University. 2016,34(2):287-293(in Chinese).
[10] 王洋, 周军, 赵斌, 等. 侧窗探测动能拦截器末端轨控方案[J]. 固体火箭技术,2016,39(4):588-593. WANG Y, ZHOU J, ZHAO B, et al. Orbit control scheme of the terminal course of side window detection kinetic kill vehicle[J]. Journal of Solid Rocket Technology, 2016, 39(4):588-593(in Chinese).
[11] PHILIP C C,ERIC M Q. Entry vehicle control system design for the Mars science laboratory[J]. Journal of Spacecraft and Rockets,2006,43(2):324-329
[12] TOBIN C A,BONG W. Pulse-modulate control synthesis for a flexible spacecraft[J]. Guidance,1989,13(6):1014-1022.
[13] 支强, 蔡远利.动能杀伤器侧窗定向机制分析及建模[J]. 西安交通大学学报,2012,46(1):91-96 ZHI Q, CAI Y L. On side window orientation of kinetic kill vehicle[J]. Journal of Xi'an Jiaotong University, 2012,46(1):91-96(in Chinese).
[14] 王庆超, 李达. 基于反馈线性化的动能拦截器姿态控制研究[J]. 宇航学报,2005,26(3):358-362. WANG Q C, LI D. A study of interceptor attitude control system based on feedback linearization[J].Journal of Astronautics,2005,26(3):358-362(in Chinese).
[15] YAO Y, YANG B Q, HE F H, et al. Attitude control of missile via fliess expansion[J]. IEEE Transactions on Control Systems Technology, 2008, 16(5):959-970
[16] 杨宝庆, 姚郁, 贺风华.大气层外拦截器开关式姿态控制律设计[J]. 哈尔滨工业大学学报,2010,42(1):5-8. YANG B Q, YAO Y, HE F H. Design of on-off attitude control law based on model predictive control[J]. Journal of Harbin Institute of Technology, 2010,42(1):5-8(in Chinese).
[17] ZHU Z, XIA Y, FU M. Attitude stabilization of rigid spacecraft with finite-time convergence[J]. International Journal of Robust and Nonlinear Control,2011,21(6):686-702.
[18] 王肖, 郭杰, 唐胜景, 等. 吸气式高超声速飞行器鲁棒非奇异Terminal滑模反步控制[J]. 航空学报,2017, 38(3):189-201. WANG X, GUO J, TANG S J, et al. Robust nonsingular terminal sliding mode backstepping control for air breathing hypersonic vehicles[J]. Acta Aeronautica et Astronautica Sinica, 2017, 38(3):189-201(in Chinese).
[19] 杨旭, 姚晓先, 张皎, 等. 基于自适应鲁棒反演的固体动能拦截器姿态跟踪控制[J]. 固体火箭技术,2016,39(5):715-723. YANG X, YAO X X, ZHANG J, et al. Attitude tracking of KKV based on adaptive backstepping sliding mode control[J]. Journal of Solid Rocket Technology, 2016,39(5):715-723(in Chinese).
[20] 张天平,施袅锨,沈启坤,等. 具有未建模动态的自适应神经网络动态面控制[J]. 控制理论与应用, 2013,30(4):475-482. ZHANG T P, SHI X C, SHEN Q K. Adaptive neural network dynamic surface control with unmodeled dynamics[J]. Control Theory & Application, 2013,30(4):475-482(in Chinese).
[21] 叶东,屠园园,孙兆伟. 面向非沿轨迹成像的切比雪夫神经网络滑模姿态控制[J]. 航空学报,2015, 36(9):3092-3104. YE D, TU Y Y, SUN Z W. Sliding mode control for nonparallel-ground-track imaging using Chebyshev neural network[J]. Acta Aeronautica et Astronautica Sinica, 2015,36(9):3092-3104(in Chinese).
[22] RAN M, WANG Q, HOU D, et al. Backstepping design of missile guidance and control based on adaptive fuzzy sliding mode control[J]. Chinese Journal of Aeronautics, 2014, 27(3):634-642.
[23] MING Y, WANG L J, TENG M. Neural network based terminal sliding mode control for WMRs affected by an augmented ground friction with slippage effect[J]. IEEE/CAA Journal of Automatica Sinica, 2017,4(3):498-506.
[24] WANG H Q, LIU X P, LIU K F, et al. Adaptive neural control for a general class of pure-feedback stochastic nonlinear systems[J]. Neurocomputing, 2014, 135:348-356.
[25] NAVABI M,RANGRAZ H. Comparing optimum operation of pulse width-pulse frequency and pseudo-rate modulators in spacecraft attitude control subsystem employing thruster[C]//Proceedings of 6th International Conference on Recent Advances in Space Technologies,2013:625-630.
[26] 王清, 杨宝庆, 马克茂. 一种优化PWPF调节器在动能拦截器末制导中的应用研究[J]. 宇航学报, 2005, 26(5):576-580. WANG Q, YANG B Q, MA K M. PWPF optimizing design and its application research to terminal guidance of kinetic killing vehicle[J]. Journal of Astronautics, 2005, 26(5):576-580(in Chinese).
[27] 段美君, 周荻, 程达林. 基于有限时间理论的临近空间拦截器末制导律PWPF调节器研究[J]. 航空学报,2018,39(1):321481. DUAN M J, ZHOU D, CHENG D L. Research of terminal guidance law and PWPF modulator for near space interceptor based on finite time theory[J].Acta Aeronauitica et Astronautica Sinica, 2018, 39(1):321481(in Chinese).
[28] 雷虎民. 导弹制导与控制原理[M].北京:国防工业出版社,2009. LEI H M. Theory of guidance and control for missile[M]. Beijing:National Defense Industry Press, 2009(in Chinese).
[29] 杨宝庆. 基于预测控制的大气层外KKV制导控制规律研究[D]. 哈尔滨:哈尔滨工业大学,2009. YANG B Q. Research on guidance and control law for exo-atmospheric KKV based on predictive control[D]. Harbin:Harbin Institute of Technology,2009(in Chinese).
[30] 易涛. 超低轨道挠性卫星非线性姿态跟踪控制方法研究[D]. 哈尔滨:哈尔滨工业大学,2014. YI T. Research on Nonlinear attitude tracking control methods of ultra-low-orbit flexible satellite[J]. Harbin:Harbin Institute of Technology,2013(in Chinese).
[31] BU X W, WU X Y, CHEN Y X, et al. Design of a class of new nonlinear disturbance observers based on tracking differentiators for uncertain dynamic systems[J]. International Journal of Control, Automation, and Systems, 2015, 13(3):595-602.

Attitude control of near space kinetic kill vehicle based on neural network backtepping control

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 12

Recommended Articles

Metrics

Comments

[1]	LUO Shibin, WU Xia, WEI Caisheng. A novel attitude tracking control with guaranteed performance for reusable launch vehicle [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(11): 524660-524660.
[2]	SHAO Shuyi, CHEN Mou, ZHAO Qijun. Discrete-time fault-tolerant control for quadrotor UAV based on disturbance observer [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S2): 724283-724283.
[3]	CHEN Yicheng, QI Ruiyun, ZHANG Jiarui, WANG Huanjie. High-performance sliding mode control for orbit keeping of spacecraft using hybrid low-thrust propulsion [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(7): 322827-322827.
[4]	ZHANG Kuanqiao, YANG Suochang, LI Baochen, LIU Chang. Fixed-time convergent guidance law considering autopilot dynamics [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(11): 323227-323227.
[5]	LUO Changxin, ZHANG Dongyang, LEI Humin, BU Xiangwei, YE Jikun. Robust backstepping control of input-constrained hypersonic vehicle [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018, 39(4): 321801-321801.
[6]	WANG Qian, LI Qing, CHENG Nong, SONG Jingyan. A nonlinear fault tolerant flight control method against structural damage [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(2): 637-647.
[7]	YI Ke, CHEN Jian, LIANG Zixuan, REN Zhang, LI Qingdong. Integration control of semi-strapdown coordinator stable tracking and missile body attitude [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(12): 3752-3763.
[8]	ZHANG Bo, ZHOU Zhou, ZHU Xiaoping. Attitude control of fly wing UAV with multi-boundary state constraints [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(9): 3105-3115.
[9]	LIU Min, XU Shijie, HAN Chao. Direct Adaptive Attitude Tracking Control of Flexible Spacecraft Based on Backstepping Method [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2012, 33(9): 1697-1705.
[10]	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.
[11]	WANG Xiangyu, DING Shihong, LI Shihua. Stabilization of Flexible Spacecraft Attitude Based on Backstepping Control [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2011, 32(8): 1512-1523.
[12]	LIU Yan-bin;LU Yu-ping. Application of Nonlinear Self-adaptive Control in the Flight Control Systems of the Tailless Aircrafts [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2006, 27(5): 903-907.