A Stratospheric Airship Pitch Angle Tracking Method Based on Integral Terminal Sliding Mode
A stratospheric airship and terminal sliding mode technology, applied in the field of aircraft control, can solve the problems of slow control response, slow response of airship pitch angle tracking, large delay, etc., and achieve the effect of speeding up the attitude response speed
Active Publication Date: 2019-04-05
YANTAI NANSHAN UNIV +1
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Problems solved by technology
[0003] The purpose of the present invention is to provide a method for tracking the pitch angle of a stratospheric airship based on the integral type terminal sliding mode, which solves the problem that the controlled object such as the stratospheric airship has a large delay and slow control response, so the traditional PID control will make the The problem of slow response to airship pitch angle tracking
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[0055] The present invention will be described in detail below in combination with specific embodiments.
[0056] Technical scheme of the present invention comprises following five steps:
[0057]Step 1: Use the angle-measuring gyroscope to measure the pitch angle signal of the pitch channel of the stratospheric airship, and compare it with the expected pitch angle command to form the pitch angle error signal e q
[0058] Such as figure 1 As shown, the pitch angle θ of the airship is measured by the angle measuring gyroscope, and the expected pitch angle is θ d , using the control computer on the airship to carry out subtraction and comparison, and obtain the pitch angle error variable e q , namely e q = θ - θ d .
[0059] Step 2: Construct the integral terminal sliding mode surface s by using the pitch angle error information
[0060] Operations such as multiplication and addition, integration and differentiation are performed in the control computer on the airship to ...
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The invention discloses an integral-type-terminal-sliding-form-based method for tracking a pitching angle of a stratospheric airship. A pitching angle signal of a pitching channel of a stratospheric airship is measured by using an angle measurement gyro and is compared with an expected pitching angle instruction to form a pitching angel error signal eq, where the eq is expressed by a formula 1: eq=theta-theta <d>; on the basis of the pitching angel error information, an integral type terminal sliding-form surface S expressed by a formula 2 is constructed; and a pitching channel attitude angle stability control law u1 expressed by a formula 3, thereby realizing tracking of a given pitching angel by the stratospheric airship. The method has the following beneficial effects: the attitude response speed of the pitching channel of the airship increases and precision of attitude angle tracking is improved.
Description
technical field [0001] The invention belongs to the technical field of aircraft control, and relates to a method for tracking the pitch angle of a stratospheric airship based on an integral terminal sliding model. Background technique [0002] Air and space early warning capabilities are directly related to national security and the outcome of future wars. The choice of air platform not only determines the detection distance of the target, but also directly affects the guidance accuracy of ship-to-air missiles. Early warning aircraft, helicopters and aerostats can all be used as aerial platforms to detect targets and transmit target detection information. The stratospheric airship is an aerostat with low cost, long stay in the air at a fixed point, and large load capacity, and has unique advantages as an aerial platform. Because the controlled object such as the stratospheric airship has the characteristics of large delay and slow control response, the traditional PID cont...
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IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 张友安雷军委刘震霆孙玉梅苏凤乔玉新吴华丽
Owner YANTAI NANSHAN UNIV