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A Tracking Control Method for Hypersonic Vehicle with Disturbance Observer

A disturbance observer, hypersonic technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as bounded, unproven observer, etc., to reduce system chattering, fast convergence rate, The effect of reducing the gain

Active Publication Date: 2019-06-11
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention is to solve the problem that the prior art does not prove that the observer is bounded during the interference process of the observation system, and proposes a hypersonic vehicle tracking control method with an interference observer

Method used

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  • A Tracking Control Method for Hypersonic Vehicle with Disturbance Observer
  • A Tracking Control Method for Hypersonic Vehicle with Disturbance Observer
  • A Tracking Control Method for Hypersonic Vehicle with Disturbance Observer

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specific Embodiment approach 1

[0024] Specific embodiment one: a hypersonic vehicle tracking control method including disturbance observer comprises the following steps:

[0025] Firstly, the longitudinal input and output linearization model of the hypersonic vehicle is given, and on this basis, the second-order system model with system disturbance is established. Secondly, based on the proposed fast non-singular terminal sliding mode, based on NHDO to effectively estimate the system disturbance, a finite-time terminal sliding mode controller is designed to realize the fast and stable tracking control of the hypersonic vehicle. Finally, the theoretical proof of the stability of the entire closed-loop system is given by using the Lyapunov stability theory to ensure that the system state is bounded in the NHDO convergence stage, and a digital simulation of the hypersonic longitudinal nonlinear model is carried out to further verify the designed The effectiveness of the controller.

[0026] Step 1: According to...

specific Embodiment approach 2

[0029] Embodiment 2: The difference between this embodiment and Embodiment 1 is that the specific process of establishing a second-order system model with system disturbance in Step 1 is as follows:

[0030] Select the National Aeronautics and Space Administration blueprint given in the literature (Bolender M A, Doman D B. Nonlinear longitudinal dynamical model of an air-breathing hypersonic vehicle [J]. Journal of Spacecraft and Rockets, 2007, 44(2): 374-387). The rigid hypersonic vehicle model proposed by the Lee Research Center is as follows:

[0031]

[0032]

[0033]

[0034]

[0035]

[0036] Where V is the flight speed, h is the flight altitude, α is the flight angle of attack, θ is the flight pitch angle, q is the pitch angle rate, φ is the engine throttle and is the first derivative of the throttle valve; μ is the gravitational constant of the earth, r=h+R E , R E is the radius of the earth, γ=θ-α is the track angle, M is the control moment, I yy is...

specific Embodiment approach 3

[0065] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that the specific process of designing a limited-time terminal sliding mode controller in step 2 is as follows:

[0066] NHDO is used to effectively estimate the compound disturbances caused by external disturbances and uncertainties in the system. On this basis, the controller is designed based on the finite-time sliding mode control theory. It can ensure that the sliding mode surface of the system is stable in a finite time, and the output tracking error signal is asymptotically stable.

[0067] Nonhomogeneous Disturbance Observer (NHDO)

[0068] Consider a first-order single-input single-output (SISO) nonlinear system

[0069]

[0070] Among them, x represents the state of the system, and its solution is the solution in the sense of Filippov, u∈R is the continuous control input, d is the fully smooth uncertain function and m-1 differentiable, d m-1 has a known Lipschitz constant L. De...

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Abstract

The invention relates to a hypersonic aerocraft tracking control method with an interference observer. The problem that the fact that the observer is bounded in the interference process of an observing system cannot be proved in the prior art is solved. The method provided by the invention comprises the steps that 1 a second-order system model with system interference is established according to the longitudinal input and output linearization model of a hypersonic aerocraft; 2 according to the second-order system model with system interference in the step 1, a finite time terminal sliding mode controller is designed based on a sliding mode control theory; and 3 system stability proving is carried out on the finite time terminal sliding mode controller designed in the Step 2. According to the method provided by the invention, the finite time of the sliding surface of the system is stable, and the system state is asymptotically convergent. The method provided by the invention is applied to the field of hypersonic aerocraft control.

Description

technical field [0001] The invention relates to a tracking control method for a hypersonic aircraft with a disturbance observer. Background technique [0002] Hypersonic aircraft refers to aircraft with a flight speed greater than Mach 5. It has high speed and strong penetration capability, and has great military and economic value (Dydek Z T, Annaswamy A M, Lavretsky E. Adaptive control the NASA X-15-3flight revisited [J]. Control Systems, IEEE, 2010, 30(3): 32-48). However, due to the integrated design of the engine / airframe, the strong coupling between the airframe structure and the propulsion system and the complex nonlinear characteristics of the dynamic system (Bolender M A, Doman D B.Nonlinearlongitudinal dynamical model of an air-breathing hypersonic vehicle [J]. Journal of Spacecraft and Rockets, 2007, 44(2): 374-387). In addition, factors such as fuel consumption and airframe deformation caused by aerodynamic heat during aircraft cruise will cause greater uncerta...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 宋申民孙经广李学辉郭永
Owner HARBIN INST OF TECH
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