Aircraft roll attitude stabilization control method based on predetermined time sliding mode

Abstract

The application belongs to the technical field of aircraft control. The application provides an aircraft roll attitude stability control method based on a predetermined time sliding mode. The disclosed embodiment can converge quickly as expected, the expected sliding mode convergence time and the expected error convergence time are set independently of the initial conditions, the number of control parameters is small and easy to set, and the phenomenon of excessive overshoot and peak oscillation formed by too fast response can be avoided. Through two-stage design of the trigonometric function type predetermined time scale function, combined with the predetermined time sliding mode control law, while ensuring that the system realizes the quick stability of the roll attitude at a predetermined arbitrary time, the overshoot and oscillation are effectively suppressed, the parameter setting is simple, the robustness is strong, and the engineering implementation is easy.

Description

Technical Field

[0001] This disclosure relates to the field of aircraft control technology, and in particular to an aircraft roll attitude stabilization control method based on a predetermined time sliding mode. Background Technology

[0002] Roll attitude stabilization is crucial for flight stability and maneuverability. Especially during cross-domain flight of precision-guided aircraft, roll attitude instability not only disrupts the attitude reference but also exacerbates cross-coupling between channels, reducing the controllability and guidance accuracy of the flight control system, leading to deterioration of flight characteristics and potentially causing flight loss of control. Therefore, stable and robust roll attitude stabilization is the fundamental support for stable and controllable flight.

[0003] Typically, employing sliding mode control theory to design attitude stabilization control methods can effectively improve the robustness of the method while ensuring stability. However, compared to pitch and yaw channels, roll attitude stabilization demands higher speed, requiring the suppression of attitude deviations and elimination of external disturbances within an extremely short time; otherwise, it can easily lead to attitude lag, guidance command mismatch, and even multi-channel coupling instability. However, existing sliding mode control methods lack sufficient speed, requiring repeated tuning of control parameters to achieve the desired tracking effect. Currently, there is an urgent need to further improve the response speed and dynamic performance of roll attitude control to support fast and accurate roll attitude stabilization control.

[0004] Therefore, it is necessary to improve one or more of the problems existing in the above-mentioned related technical solutions.

[0005] It should be noted that this section is intended to provide background or context for the technical solutions of this disclosure as set forth in the claims. The description herein does not constitute an admission that it is prior art simply because it is included in this section. Summary of the Invention

[0006] The purpose of this disclosure is to provide a method for stabilizing the roll attitude of an aircraft based on a predetermined time sliding mode, thereby overcoming, to at least some extent, one or more problems caused by the limitations and defects of related technologies.

[0007] According to a first aspect of the present disclosure, a method for stabilizing the roll attitude of an aircraft based on a predetermined time sliding mode is provided, comprising: Step S1: Construct an aircraft roll attitude model that includes the dynamic relationship between roll angle, roll angular velocity and rudder deflection command; Step S2: Based on the desired sliding mode convergence time and the desired error convergence time, construct a trigonometric function of predetermined time scale that increases in stages; Step S3: Based on the aircraft roll attitude model and the predetermined time scale function, design the predetermined time sliding surface and the predetermined time sliding law, and then derive the expression of the predetermined time sliding controller; Step S4: Connect the predetermined time sliding mode controller to the aircraft roll motion system, measure the feedback roll angle and roll angular velocity through the inertial component, generate the rudder deflection angle command, and control the actuator to adjust the aircraft roll attitude according to the rudder deflection angle command, so as to achieve stable control of the roll attitude according to the expected error convergence time.

[0008] Furthermore, step S1 specifically includes: The dynamic equations of the guided aircraft are constructed, and the pitch, yaw, and roll channels are decoupled by linearizing small disturbances, resulting in the decoupled roll channel dynamic equations:

[0009] in, For roll angle, For the roll angular velocity, This is the rudder deflection command. The aerodynamic damping coefficient of the aircraft. It refers to the aileron efficiency of the aircraft; Based on the decoupled roll channel dynamics equations, a roll attitude model of the aircraft is constructed:

[0010] in, For state variables, State variables The derivative of, where, , For the desired roll angle, ; To control the quantity, For the system matrix, The input matrix is ​​denoted as .

[0011] Furthermore, in step S2, constructing the phased-increasing trigonometric function of the predetermined time scale includes two stages, specifically: The first stage is the sliding mode convergence segment. At the current moment, the expected convergence time is... Startup time is The expected sliding mode convergence time is The first time scale function is:

[0012] The second stage is the error convergence segment, and the second expected convergence time is... The expected error convergence time is The second time scale function is: .

[0013] Furthermore, in step S2, for any

[0014]

[0015] in, When =1, it is the sliding mode convergence segment; When the value is 2, it is the error convergence segment; It is a time-varying positive definite function, i.e., the expression for a Lyapunov function; For this function in The value at time, For the natural base, This is the first control parameter; when hour , and when hour According to the squeeze criterion This is to ensure the scheduled time adjustment for the current stage; among which, In order to be in At the left-hand limit of time, there exists a parameter. Greater than 0.

[0016] Furthermore, in step S3, the predetermined time sliding surface is:

[0017] The sliding mode approach law for the predetermined time is:

[0018] The predetermined time sliding mode controller is:

[0019] in, This is the second control parameter. This is the third control parameter. This is the fourth control parameter. It is a symbolic function.

[0020] Furthermore, step S3 also includes: Constructing the first Lyapunov function Second Lyapunov function ; Stability analysis was performed using the first and second Lyapunov functions to verify that the system state reaches the sliding surface in the expected sliding mode convergence time and that the roll angle error converges to zero in the expected error convergence time.

[0021] According to a second aspect of the present disclosure, a computer-readable storage medium is provided, having a computer program stored thereon that, when executed by a processor, implements the steps of the aircraft roll attitude stabilization control method based on a predetermined time sliding mode as described in any of the above embodiments.

[0022] According to a third aspect of the present disclosure, an electronic device is provided, comprising: Processor; and Memory for storing the executable instructions of the processor; The processor is configured to execute the steps of the aircraft roll attitude stabilization control method based on a predetermined time sliding mode as described in any of the above embodiments by executing the executable instructions.

[0023] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: In the embodiments of this disclosure, the above-described aircraft roll attitude stabilization control method based on predetermined time sliding mode achieves the following advantages: First, it can converge quickly as desired. The desired sliding mode convergence time and the desired error convergence time are set independently of the initial conditions. The number of control parameters is small and easy to tune, avoiding excessive overshoot and peak oscillations caused by excessively fast response. Second, through a two-stage design using a trigonometric function-type predetermined time scale function, combined with a predetermined time sliding mode control law, it ensures that the system achieves rapid and stable roll attitude at any predetermined time while effectively suppressing overshoot and oscillations. The parameters are simple to tune, robust, and easy to implement in engineering. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0025] Figure 1 The diagram illustrates the steps of an aircraft roll attitude stabilization control method based on a predetermined time sliding mode in an exemplary embodiment of this disclosure. Figure 2 A flowchart illustrating the aircraft roll attitude stabilization control method based on a predetermined time sliding mode in an exemplary embodiment of this disclosure is shown. Figure 3 The roll angle variation curve is shown in an exemplary embodiment of this disclosure; Figure 4 The following diagram illustrates the roll angular velocity variation curve in an exemplary embodiment of this disclosure; Figure 5The diagram shows the curve of the rudder deflection command variation in an exemplary embodiment of this disclosure. Detailed Implementation

[0026] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that this disclosure will be more comprehensive and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0027] Furthermore, the accompanying drawings are merely illustrative diagrams of embodiments of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0028] This example implementation provides a method for stabilizing the roll attitude of an aircraft based on a predetermined time sliding mode. (See reference...) Figure 1 As shown, the aircraft roll attitude stabilization control method based on a predetermined time sliding mode may include: Step S1: Construct an aircraft roll attitude model that includes the dynamic relationship between roll angle, roll angular velocity and rudder deflection command; Step S2: Based on the desired sliding mode convergence time and the desired error convergence time, construct a trigonometric function of predetermined time scale that increases in stages; Step S3: Based on the aircraft roll attitude model and the predetermined time scale function, design the predetermined time sliding surface and the predetermined time sliding law, and then derive the expression of the predetermined time sliding controller; Step S4: Connect the predetermined time sliding mode controller to the aircraft roll motion system, measure the feedback roll angle and roll angular velocity through the inertial component, generate the rudder deflection angle command, and control the actuator to adjust the aircraft roll attitude according to the rudder deflection angle command, so as to achieve stable control of the roll attitude according to the expected error convergence time.

[0029] The aforementioned aircraft roll attitude stabilization control method based on predetermined time sliding mode offers several advantages. First, it achieves rapid convergence as desired, with the desired sliding mode convergence time and desired error convergence time set independently of the initial conditions. The number of control parameters is small and easy to tune, avoiding excessive overshoot and peak oscillations caused by rapid response. Second, through a two-stage design using a trigonometric function-based predetermined time scale, combined with a predetermined time sliding mode control law, it ensures rapid roll attitude stabilization at any pre-specified time while effectively suppressing overshoot and oscillations. Parameter tuning is simple, robust, and easy to implement in engineering.

[0030] Below, we will refer to Figures 1 to 5 The steps of the above-described aircraft roll attitude stabilization control method based on a predetermined time sliding mode in this example embodiment will be described in more detail.

[0031] In one embodiment, such as Figure 2 The diagram shown is a flowchart of a method for stabilizing the rolling attitude of an aircraft based on a predetermined time sliding mode.

[0032] In step S1, a roll attitude model of the aircraft is established. The dynamic equations of the guided aircraft are constructed, and the pitch, yaw, and roll channels are decoupled by linearizing small disturbances. The decoupled roll channel dynamic equations are then derived: (1) in, For roll angle, For the roll angular velocity, For rudder deflection, power coefficient The aerodynamic damping coefficient of the aircraft. It refers to the aileron efficiency of the aircraft.

[0033] Let the expected roll angle be Record state variables , Control quantity The linearized dynamic equations for small disturbances in the aircraft's roll channel are decoupled to further establish a second-order roll attitude system model (i.e., the aircraft's roll attitude model): (2) Among them, the system matrix Input matrix .

[0034] In step S2, a trigonometric function of type two-order predetermined time scale is constructed. Phase 1 , For the current moment, To control startup time, The expected convergence time for the sliding mode convergence segment is given. To determine the desired sliding mode convergence time, design a trigonometric function of predetermined time scale: (3) in and .

[0035] The second phase, , The expected convergence time for the error convergence segment. To determine the desired sliding mode convergence time, design a trigonometric function of predetermined time scale: (4) in .

[0036] For a continuously differentiable function If satisfied (5) in .

[0037] For any

[0038] (6) when hour And when hour According to the squeeze criterion Therefore, it is possible to ensure the scheduled adjustment of the current stage.

[0039] In step S3, a predetermined time sliding mode control method is designed. Setting control parameters , , , Design a sliding mode controller that converges within a predetermined time.

[0040] First, establish the sliding surface for the predetermined time: (7) Secondly, design a sliding mode convergence law with a predetermined time: (8) The predetermined time sliding mode controller is represented as follows: (9) Analyze the time-stability of the time-stability sliding mode controller and construct the function. (10) Differentiate, then (11) That is, the system can be scheduled at a predetermined time. At any time, it converges to the sliding surface, at which point it satisfies Right now (12) Constructing the second-stage function (13) Differentiate, then (14) That is, systematic error Can be completed at the scheduled time as expected. Once converged to 0, the aircraft's roll angle can converge as expected, and the aircraft's roll attitude can be stabilized quickly.

[0041] In step S4, the aircraft roll attitude stabilization controller based on the predetermined time sliding mode... By incorporating a pre-designed sliding mode controller into the aircraft's roll motion system, the roll angle and roll angular velocity are measured and fed back by inertial components. Based on this, the pre-designed sliding mode controller generates a rudder deflection angle command. The actuators then act according to the command to adjust the aircraft's roll attitude, ultimately achieving rapid and stable control of the roll attitude within the desired pre-designed time.

[0042] In one specific embodiment, simulation was performed to verify the validity of this application.

[0043] Let the initial roll angle for Initial roll velocity for Aerodynamic damping coefficient in the roll direction of the aircraft aileron efficiency of the aircraft To ensure the stability of the roll system, the desired roll angle is... Set as .

[0044] Figures 3-5 The black dotted line represents the first group. , The simulation results show that the black line represents the second group. , The simulation results show that the black dotted line represents the third group. , The simulation results show that the black dashed line represents the fourth group. , The simulation results.

[0045] Figure 3 The curve shows the roll angle variation. Simulation results show that, under the control of the aircraft roll attitude stabilization based on a predetermined time sliding mode designed in this application, the predetermined time... and Both can be preset, and the roll angle can converge according to the desired predetermined time. Simulations in both the first and third groups were performed... Convergence occurs, and the second and fourth simulations can be performed within the specified time. Time convergence, meaning this method guarantees that the roll angle from Fast convergence to This enables stable control of the aircraft's roll attitude.

[0046] Figure 4 The curve shows the change in roll angular velocity. Simulation results show that, under the aircraft roll attitude stabilization control method based on predetermined time sliding mode designed in this application, the predetermined time... and Both can be preset, and the roll rate can converge according to the desired predetermined time. Simulations in both the first and third groups were performed... Convergence occurs, and the second and fourth simulations can be performed within the specified time. Convergence occurs when the rolling angular velocity is less than 100°C throughout the entire process. This method ensures rapid convergence of the roll angular velocity, thereby supporting stable control of the aircraft's roll attitude.

[0047] Figure 5 The figure shows the rudder deflection angle variation curve. Simulation results show that, under the aircraft roll attitude stabilization control method based on predetermined time sliding mode designed in this application, the roll rudder deflection angle remains constant throughout the entire roll. Within this range, the roll angle can be effectively controlled, achieving stable control of the aircraft's roll motion.

[0048] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, having stored thereon a computer program that, when executed by a processor, can implement the steps of the aircraft roll attitude stabilization control method based on a predetermined time sliding mode as described in any of the above embodiments. In some possible implementations, various aspects of the invention can also be implemented as a program product comprising program code that, when run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the invention described in the section on the aircraft roll attitude stabilization control method based on a predetermined time sliding mode described in this specification.

[0049] In exemplary embodiments of this disclosure, an electronic device is also provided, which may include a processor and a memory for storing executable instructions of the processor. The processor is configured to perform the steps of the aircraft roll attitude stabilization control method based on a predetermined time sliding mode as described in any of the above embodiments by executing the executable instructions.

Claims

1. A method for stabilizing the roll attitude of an aircraft based on a predetermined time sliding mode, characterized in that, include: Step S1: Construct an aircraft roll attitude model that includes the dynamic relationship between roll angle, roll angular velocity and rudder deflection command; Step S2: Based on the desired sliding mode convergence time and the desired error convergence time, construct a trigonometric function of predetermined time scale that increases in stages; Step S3: Based on the aircraft roll attitude model and the predetermined time scale function, design the predetermined time sliding surface and the predetermined time sliding law, and then derive the expression of the predetermined time sliding controller; Step S4: Connect the predetermined time sliding mode controller to the aircraft roll motion system, measure the feedback roll angle and roll angular velocity through the inertial component, generate the rudder deflection angle command, and control the actuator to adjust the aircraft roll attitude according to the rudder deflection angle command, so as to achieve stable control of the roll attitude according to the expected error convergence time.

2. The aircraft roll attitude stabilization control method based on a predetermined time sliding mode according to claim 1, characterized in that, Step S1 specifically includes: The dynamic equations of the guided aircraft are constructed, and the pitch, yaw, and roll channels are decoupled by linearizing small disturbances, resulting in the decoupled roll channel dynamic equations: in, For roll angle, For the roll angular velocity, This is the rudder deflection command. The aerodynamic damping coefficient of the aircraft. It refers to the aileron efficiency of the aircraft; Based on the decoupled roll channel dynamics equations, a roll attitude model of the aircraft is constructed: in, For state variables, State variables The derivative of, where, , For the desired roll angle, ; To control the quantity, For the system matrix, The input matrix is ​​denoted as .

3. The aircraft roll attitude stabilization control method based on a predetermined time sliding mode according to claim 2, characterized in that, In step S2, constructing the phased-increasing trigonometric function of the predetermined time scale includes two stages, specifically: The first stage is the sliding mode convergence segment. At the current moment, the expected convergence time is... Startup time is The expected sliding mode convergence time is The first time scale function is: The second stage is the error convergence segment, and the second expected convergence time is... The expected error convergence time is The second time scale function is: 。 4. The aircraft roll attitude stabilization control method based on a predetermined time sliding mode according to claim 3, characterized in that, In step S2, for any in, When =1, it is the sliding mode convergence segment; When the value is 2, it is the error convergence segment; It is a time-varying positive definite function, i.e., the expression for a Lyapunov function; For this function in The value at time, For the natural base, This is the first control parameter; when hour , and when hour According to the squeeze criterion This is to ensure the scheduled time adjustment for the current stage; among which, In order to be in At the left-hand limit of time, there exists a parameter. Greater than 0.

5. The aircraft roll attitude stabilization control method based on a predetermined time sliding mode according to claim 4, characterized in that, In step S3, the predetermined time sliding surface is: The sliding mode approach law for the predetermined time is: The predetermined time sliding mode controller is: in, This is the second control parameter. This is the third control parameter. This is the fourth control parameter. It is a symbolic function.

6. The aircraft roll attitude stabilization control method based on a predetermined time sliding mode according to claim 5, characterized in that, Step S3 also includes: Constructing the first Lyapunov function Second Lyapunov function ; Stability analysis was performed using the first and second Lyapunov functions to verify that the system state reaches the sliding surface in the expected sliding mode convergence time and that the roll angle error converges to zero in the expected error convergence time.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the aircraft roll attitude stabilization control method based on a predetermined time sliding mode as described in any one of claims 1 to 6.

8. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to perform the steps of the aircraft roll attitude stabilization control method based on a predetermined time sliding mode according to any one of claims 1 to 6 by executing the executable instructions.

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