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An Intelligent Super Helix Strong Robust 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. It can solve the problems of unobtainable and uncertain upper bounds, so as to improve the convergence speed and disturbance suppression range, and suppress chattering Problems, effects of overcoming selection difficulties

Active Publication Date: 2020-02-14
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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  • An Intelligent Super Helix Strong Robust Attitude Control Method
  • An Intelligent Super Helix Strong Robust Attitude Control Method
  • An Intelligent Super Helix Strong Robust Attitude Control Method

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Embodiment

[0065] In order to verify the rationality of the flexible aircraft attitude adjustment scheme proposed in this patent and the effectiveness of the designed controller for problems such as uncertainty and disturbance, numerical simulations are now carried out under the Matlab environment. 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] Considering the external disturbance 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 selected quaternion is 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 1.6538 2.28...

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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 becoming more and more complex and large, and the flight environment is harsh and changeable. For the flexible aircraft system with internal uncertainties and external disturbances of the aircraft, how to make it accurately and quickly complete the attitude control has become an important issue in the design of the flight control system. It is of great academic value and application prospect 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, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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