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Nonsingular terminal sliding mode flight path control method for airships

A non-singular terminal, control method technology, applied in the field of automatic control, can solve problems such as convergence

Active Publication Date: 2015-02-18
NAT UNIV OF DEFENSE TECH
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  • Abstract
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  • Application Information

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Problems solved by technology

However, sliding mode control usually adopts linear sliding mode. After the system reaches the sliding mode surface, the state tracking error asymptotically converges to zero and cannot converge in a limited time.

Method used

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  • Nonsingular terminal sliding mode flight path control method for airships
  • Nonsingular terminal sliding mode flight path control method for airships
  • Nonsingular terminal sliding mode flight path control method for airships

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Embodiment Construction

[0095] With reference to accompanying drawing, a kind of airship non-singular terminal sliding mode track control method of the present invention is introduced in detail, and its specific steps are as follows:

[0096] Step 1: Given command track

[0097] The given command track is:

[0098] n d =[x d ,y d ,z d ,θ d ,ψ d ,φ d ] T =[(1.5t)m,200sin(0.005t)m,10m,0rad,0.02rad,0rad] T , x d 、y d ,z d , θ d 、ψ d and φ d They are command x coordinate, command y coordinate, command z coordinate, command pitch angle, command yaw angle and command roll angle;

[0099] Step 2: Calculate the amount of error

[0100] Calculate the amount of error between the commanded track and the actual track:

[0101] e=η-η d =[x-x d ,y-y d ,z-z d ,θ-θ d ,ψ-ψ d ,φ-φ d ] T ,

[0102] where, η=[x,y,z,θ,ψ,φ] T is the actual track, x, y, z, θ, ψ, φ are the x coordinate, y coordinate, z coordinate, pitch angle, yaw angle and roll angle of the actual track respectively, which are co...

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Abstract

A nonsingular terminal sliding mode flight path control method for airships includes: calculating error amount according to a given command flight path and an actual flight path, selecting a terminal sliding mode function to design a flight path control law according to a nonsingular terminal sliding mode control method, and applying the Lyapunov stability theory to prove stability of a control system. In practical application, an airship flight path is measured by a combined navigation system, and a flight path control function can be realized by transmitting control quantity obtained by calculation according to the method to an execution mechanism. A mathematical model of spatial motion of unmanned airships is built aiming at the problem of tracking flight paths of the unmanned airships; the flight path control law is designed according to the nonsingular terminal sliding mode control method by taking the model as a controlled object, attitude control errors are converged to zero in finite time by selection of the terminal sliding mode function, and system response speed and control precision are improved.

Description

technical field [0001] The invention relates to a flight control method in the aerospace field, which provides a non-singular terminal sliding mode control method for airship space motion, and belongs to the technical field of automatic control. Background technique [0002] An airship is a kind of aircraft that relies on a gas that is lighter than air (such as helium, hydrogen, etc.) With the advantages of low power consumption and high cost-effectiveness, it is widely used in environmental monitoring, land surveying and mapping, disaster awareness, reconnaissance and surveillance, and other fields. It has important application value and broad application prospects, and has become a research hotspot in the aviation field. Track control refers to manipulating the airship to fly according to the command track to complete the scheduled flight mission. The space motion of the airship has the characteristics of nonlinearity, channel coupling, uncertainty, and susceptibility to ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 杨跃能闫野朱正龙黄煦温生林
Owner NAT UNIV OF DEFENSE TECH
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