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Intelligent super-helix strong robustness attitude control method

A technology of attitude control and attitude controller, which is applied in the direction of attitude control, adaptive control, general control system, etc., can solve the problems of uncertain upper bound and unobtainable, etc., to suppress chattering problems, improve convergence speed and disturbance suppression The effect of range, strong robustness

Active Publication Date: 2017-05-31
BEIJING AEROSPACE AUTOMATIC CONTROL RES INST +1
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  • Application Information

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Problems solved by technology

However, the classical superhelix control algorithm relies on uncertainty and disturbance upper bounds, which cannot be obtained in practice

Method used

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  • Intelligent super-helix strong robustness attitude control method
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  • Intelligent super-helix strong robustness attitude control method

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Embodiment

[0065] In order to verify the rationality of the attitude adjustment scheme of the flexible aircraft proposed in this patent and the effectiveness of the designed controller for problems such as uncertainty and disturbance, the numerical simulation is now carried out in the Matlab environment, and the nominal moment of inertia matrix is:

[0066]

[0067] The uncertain part in the inertia matrix is:

[0068] ΔJ=diag[50 120 35]kg·m 2 ;

[0069] Consider external disturbances d ∈ R 3 is a function of time t, which can be expressed as d(t), specifically taken as:

[0070] d(t)=[10*sin(0.1t), 15*sin(0.2t), 20*sin(0.2t)] T ;

[0071] The initial value of the quaternion is selected as q=[0.3,-0.2,-0.3,0.8832] T , the initial angular velocity is Ω=[0,0,0] T , assuming that the initial value of the desired attitude quaternion is q d =[0,0,0,1] T , the desired angular velocity is Ω d =[0,0,0] T .

[0072] Flexible attachment parameters:

[0073] ω n =(1.0973 1.2761 1.65...

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Abstract

The invention provides an intelligent super-helix strong robustness attitude control method. A self-adaptive back propagation (BP) neural network is combined with a super-helix sliding mode control algorithm; an attitude regulation scheme aiming at a flexible aircraft is designed. According to the scheme provided by the invention, the requirements of rapid response, strong robustness and the like of a flexible aircraft system can be met, and a convergence speed, which is rapider than a standard super-helix algorithm, is provided. Meanwhile, by adopting the scheme, parameter self-adaptive adjustment is realized; buffeting caused by high-frequency switching behaviors is effectively inhibited; by self-adaptive grains, the problems of overshooting and control gain selection difficulty are also solved.

Description

technical field [0001] The invention relates to an intelligent super-helix strong robust attitude control method, which belongs to the field of aircraft attitude control. Background technique [0002] With the continuous development of science and technology and the continuous expansion of application fields, the structure and tasks of aircraft are increasingly complex and huge, and the flight environment is harsh and changeable. For the flexible aircraft system with internal uncertainty and external disturbance, how to make it complete the attitude control accurately and quickly has become an important issue in the design of the flight control system. It has important academic value and application prospects to develop a fast, robust and high-precision flight control system to meet high performance requirements. [0003] Sliding mode variable structure control is a special kind of nonlinear discontinuous control method. In the dynamic process, the control structure change...

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Application Information

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IPC IPC(8): G05D1/08G05B13/04
CPCG05B13/027G05B13/042G05D1/0825
Inventor 路坤锋李天涯刘海亮张华明林平高磊王辉柳嘉润张亚婷王宇航
Owner BEIJING AEROSPACE AUTOMATIC CONTROL RES INST