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Hypersonic aircraft robust tracking control method based on terminal sliding mode

A hypersonic, terminal sliding mode technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of poor robustness, complex control model, and no consideration of the limited input of the controller, etc., to achieve fast The effect of convergence speed

Pending Publication Date: 2018-09-04
HARBIN INST OF TECH
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Problems solved by technology

[0005] The purpose of the present invention is to propose a hypersonic vehicle robust tracking control method based on (fast) terminal sliding mode in order to solve the problem that the control model of the existing aircraft is complex, the robustness is poor, and the controller input is not considered.

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  • Hypersonic aircraft robust tracking control method based on terminal sliding mode
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  • Hypersonic aircraft robust tracking control method based on terminal sliding mode

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specific Embodiment approach 1

[0046] Specific embodiment one: a hypersonic vehicle robust tracking control method based on terminal sliding mode comprises the following steps:

[0047] Hypersonic Vehicle Failure Model

[0048] In order to facilitate the design of the hypersonic vehicle control system and the design of the controller, the input-output linearization method is used to deal with the nonlinear system model, using the literature (Sun H, Li S, Sun C. Finite time integral sliding mode control of hypersonic vehicles[ J].Nonlinear Dynamics,2013,73(1-2):229-244.) System model after feedback linearization.

[0049]

[0050] where φ c and δ e is the control input, f v , f h , b 11 , b 12 , b 21 and b 22 For specific definitions, see literature (Sun H, Li S, Sun C. Finite time integral sliding mode control of hypersonic vehicles [J]. Nonlinear Dynamics, 2013, 73(1-2): 229-244.).

[0051] remember The formula: (1) can be rewritten as:

[0052]

[0053] Among them, Δf v , Δf h , Δb 11...

specific Embodiment approach 2

[0244] Specific embodiment two: the difference between this embodiment and specific embodiment one is: the specific process of using the terminal sliding mode theory and adaptive method to design the terminal sliding mode surface in the step one is:

[0245] Actuator input saturation is an important factor affecting the tracking control effect of a hypersonic vehicle, and may even lead to system instability. In order to deal with the problem of actuator input saturation, hyperbolic tangent function and auxiliary system are introduced to design an adaptive fast terminal sliding mode controller with anti-saturation.

[0246] The design sliding surface s is:

[0247] s = σ 2 +α 1 σ 1 +α 2 f(σ 1 )

[0248] where α 1 and alpha 2 is the design parameter of the sliding surface, f(σ 1 ) for σ 1 is a piecewise function of the independent variable;

[0249]

[0250] where r 1 、r 2 , γ, η are the design parameters of the sliding surface, sign(σ 1 ) is a sign function, si...

specific Embodiment approach 3

[0255] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: in the step two, according to the terminal sliding mode surface designed in step one, the specific process of designing the terminal sliding mode controller u of the hypersonic vehicle is:

[0256] The derivative of the sliding mode surface s is obtained according to the following formula and the sliding mode surface s

[0257]

[0258]

[0259] in for σ 1 derivative of for σ 2 The derivative of , d is the disturbance of the system (80) (formula (80)), B is the control gain matrix, F is the intermediate function, v is the control input, is f(σ 1 ) derivative;

[0260]

[0261]

[0262] B=-b

[0263]

[0264]

[0265] in is the third derivative of the reference speed signal, is the fourth derivative of the reference height, f V is a nonlinear function with the speed of the hypersonic vehicle as an independent variable, f h is a nonli...

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Abstract

The invention relates to a hypersonic aircraft robust tracking control method based on a terminal sliding mode, and solves the problems of complex control model, poor robustness and lack of consideration of controller input limitation of an existing aircraft. A hypersonic aircraft input / output linearization model is provided, and is converted into a second-order system model by introducing an error auxiliary variable; for the conditions that unknown upper bound exists in system interference and an actuator has no input saturation, an adaptive fast terminal sliding mode controller is designed based on a fast non-singular terminal sliding mode surface, thereby ensuring that the sliding mode surface is actually convergent in finite time; and by introducing a hyperbolic tangent function and astructural auxiliary system, an anti-saturation adaptive fast terminal sliding mode controller is designed, thereby meeting requirements of physical constraints of a hypersonic aircraft and meanwhile,ensuring that the system sliding mode surface is convergent in finite time. The method is applied to the aircraft field.

Description

technical field [0001] The invention relates to a robust tracking control method for a hypersonic vehicle based on a terminal sliding model. Background technique [0002] Compared with traditional aircraft, the unique integrated design of hypersonic aircraft results in highly nonlinear and strong coupling between the airframe, propulsion system and structural dynamics (Dydek Z T, Annaswamy A M, Lavretsky E. Adaptive control and the NASA X -15-3flight revisited[J].Control Systems,IEEE,2010,30(3):32-48.Xu B,Shi Z K.An overview on flight dynamics and control approaches for hypersonic vehicles[J].Science China Information Sciences , 2015, 58(7):1-19). In addition, due to the large airspace and high maneuverability flight characteristics of hypersonic vehicles, the aerodynamic characteristics and flight parameters are further exacerbated, and various complex dynamic characteristics are presented during the flight process. The design of hypersonic vehicle control system with com...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 宋申民孙经广王岩谭立国于志刚
Owner HARBIN INST OF TECH
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