Hypersonic vehicle attitude control methods, systems, electronic equipment and media

Abstract

This invention discloses a method, system, electronic device, and medium for attitude control of a hypersonic vehicle. The method includes: constructing the attitude kinematic equations and dynamic equations of the hypersonic vehicle; constructing a sliding mode function based on sliding mode control theory; determining a sliding mode control algorithm based on the kinematic equations, the dynamic equations, and the sliding mode function; adjusting the fixed gain in the sliding mode control algorithm in real time to obtain an adaptive fuzzy sliding mode attitude control algorithm; and controlling the attitude of the hypersonic vehicle based on the adaptive fuzzy sliding mode attitude control algorithm. The hypersonic vehicle attitude control method provided by this invention uses an adaptive fuzzy sliding mode attitude control algorithm for attitude control. This algorithm combines sliding mode control with fuzzy control, solving the problems of low accuracy and weak robustness in existing hypersonic vehicle control algorithms.

Description

Technical Field

[0001] This invention relates to the field of hypersonic vehicle control technology, and in particular to a hypersonic vehicle attitude control method, system, electronic equipment and medium. Background Technology

[0002] Hypersonic vehicles refer to aircraft with speeds between Mach 5 and Mach 20, typically including missiles and spaceplanes. Unlike conventional missiles, hypersonic vehicles fly in near-space at an altitude of approximately 30 km. While the atmospheric density is much lower than in lower altitudes, it still provides lift, allowing the vehicle to maintain high-speed cruising for extended periods. Due to this characteristic, hypersonic vehicles have broad application prospects in both military and civilian fields.

[0003] In the military field, the main advantages of hypersonic vehicles are twofold: long-range strike capability in a short time and strong penetration capability. In the civilian field, the main advantages of hypersonic vehicles are threefold: globally accessible transportation capability, extremely short flight time, and low-cost space utilization.

[0004] Since hypersonic vehicles cruise at high speeds at an altitude of 30,000 meters, they need to have a high lift-to-drag ratio. The axisymmetric aerodynamic shape of conventional missiles is no longer suitable. Therefore, a surface-symmetric aerodynamic shape is adopted, mainly consisting of waverider and lifting body types.

[0005] The basic principle of a waverider is that the fuselage has a streamlined shape, ensuring that its leading edge generates a large number of shock waves. Under the action of these shock waves, lift is generated, while drag is very small. A lifting body, on the other hand, mainly employs blended wing-body technology. It does not have a specific wing to generate lift; instead, it relies on the special configuration of the entire fuselage to generate lift. This significantly reduces the mutual interference between the wing and fuselage, improving stability and increasing lift.

[0006] However, these aerodynamic shapes also introduce serious nonlinear problems, leading to decreased vehicle stability, severe coupling between various channels, and significant impacts on the vehicle's propulsion system and aerodynamic parameters. Furthermore, due to the high speed and extremely high dynamic pressure of hypersonic vehicles, even small disturbances can significantly affect their attitude. The accumulation of aerodynamic heat from high-speed flight also influences the vehicle's dynamic model. This means that traditional axisymmetric missile control theories are insufficient to meet the stability and robustness requirements of control systems, necessitating the adoption of control theories with higher precision and greater robustness. Summary of the Invention

[0007] The purpose of this invention is to provide a hypersonic vehicle attitude control method, system, electronic device and medium to solve the problems of low accuracy and weak robustness of existing hypersonic vehicle control algorithms.

[0008] To achieve the above objectives, the present invention provides the following solution:

[0009] A method for attitude control of a hypersonic vehicle includes:

[0010] Construct the attitude kinematics and dynamics equations of a hypersonic vehicle;

[0011] Constructing a sliding mode function based on sliding mode control theory;

[0012] Based on the kinematic equations, the dynamic equations, and the sliding mode function, a sliding mode control algorithm is determined.

[0013] The fixed gain in the sliding mode control algorithm is adjusted in real time to obtain an adaptive fuzzy sliding mode attitude control algorithm.

[0014] The attitude of the hypersonic vehicle is controlled based on the adaptive fuzzy sliding mode attitude control algorithm.

[0015] Optionally, the attitude kinematic equations are as follows:

[0016]

[0017] The dynamic equations are as follows:

[0018] F y =Y-mgcosθcosγ v

[0019] F z =Z+mgcosθsinγ v

[0020] Where α is the angle of attack, β is the sideslip angle, and γ is the angle of attack. v For velocity deflection angle, For the derivative of the angle of attack, The derivative of the sideslip angle. Let θ be the derivative of the velocity deflection angle, V be the hypersonic flight velocity, θ be the trajectory inclination angle, and σ be the trajectory deflection angle. x ,ω y ,ω z [ ] represents the roll angular velocity along the x, y, and z axes. F is the angular acceleration about the x, y, and z axes. y For the resultant force acting longitudinally on a hypersonic vehicle, F z For the resultant force acting laterally on a hypersonic vehicle, a i b ic j The coefficients are mixed, i = 1, 2, 3, j = 1, 2, 3, 4, Y is the lift force acting on the hypersonic vehicle, and Z is the lateral force acting on the hypersonic vehicle.

[0021] Optionally, the expression for the sliding mode function is as follows:

[0022]

[0023] Among them, S x S y and S z These are the sliding mode variables for roll, pitch, and yaw channels, respectively, c x c y and c z These are the sliding surface parameters for the roll, pitch, and yaw channels, respectively. x e y and e z These represent the errors between the actual and commanded values ​​for roll, pitch, and yaw channels, respectively.

[0024] Optionally, the expression for the sliding mode control algorithm is as follows:

[0025]

[0026] Where, δ x δ y δ z These represent the deflection of the ailerons, elevators, and rudder, respectively, γ. c , These are the velocity deflection command, the first derivative of the velocity deflection command, and the second derivative of the velocity deflection command, respectively. These are the overload instruction, the first derivative of the overload instruction, and the second derivative of the overload instruction, respectively, β. c , For the sideslip command, the first derivative of the sideslip command, and the second derivative of the sideslip command, a x1 and a x2 All are roll-off channel coefficients, a y1 and a y 2 All are pitch channel coefficients, c z1 k is the yaw channel coefficient. x k y and k z The sliding mode control law parameters for the roll, pitch, and yaw channels are ε, respectively. x ε y ε z These are the sliding mode fixed gains for the roll, pitch, and yaw channels, respectively.

[0027] Optionally, the fixed gain in the sliding mode control algorithm is adjusted in real time to obtain an adaptive fuzzy sliding mode attitude control algorithm, specifically including:

[0028] Design the membership function of the input fuzzy set in the sliding mode control algorithm;

[0029] Design the membership function of the output fuzzy set in the sliding mode control algorithm;

[0030] Design fuzzy rules;

[0031] Based on the membership function of the input fuzzy set, the membership function of the output fuzzy set, and the fuzzy rules, the input fuzzy set is converted into an output fuzzy set;

[0032] The fixed gain in the sliding mode control algorithm is adjusted in real time based on the output fuzzy set.

[0033] The expression for the fixed-gain adaptive fuzzy sliding mode attitude control algorithm is as follows:

[0034]

[0035] in, and This represents the real-time sliding mode control gain of the roll, pitch, and yaw channels obtained through fuzzy control.

[0036] The present invention also provides a hypersonic vehicle attitude control system, comprising:

[0037] A kinematics and dynamics equation building module is used to construct the attitude kinematics and dynamics equations of hypersonic vehicles.

[0038] The sliding mode function construction module is used to construct sliding mode functions based on sliding mode control theory.

[0039] The sliding mode control algorithm acquisition module is used to determine the sliding mode control algorithm based on the kinematic equations, the dynamic equations, and the sliding mode function;

[0040] An adjustment module is used to adjust the fixed gain in the sliding mode control algorithm in real time to obtain an adaptive fuzzy sliding mode attitude control algorithm.

[0041] An attitude control module is used to control the attitude of the hypersonic vehicle based on the adaptive fuzzy sliding mode attitude control algorithm.

[0042] The present invention also provides an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the above-described hypersonic vehicle attitude control method.

[0043] The present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the hypersonic vehicle attitude control method described above.

[0044] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0045] The hypersonic vehicle attitude control method provided by this invention employs an adaptive fuzzy sliding mode attitude control algorithm. This algorithm combines sliding mode control with fuzzy control, addressing the issues of low accuracy and weak robustness in existing hypersonic vehicle control algorithms. The sliding mode control algorithm achieves good control of the hypersonic vehicle with satisfactory accuracy; the fuzzy algorithm adapts to parameters, effectively suppressing chattering while maintaining required control accuracy, thus enabling more precise attitude control of the hypersonic vehicle. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 A flowchart of the hypersonic vehicle attitude control method provided by the present invention;

[0048] Figure 2 The tracking of overload commands under the sliding mode control algorithm.

[0049] Figure 3 This is a schematic diagram illustrating the tracking of roll angle commands under the sliding mode control algorithm.

[0050] Figure 4 This is a schematic diagram illustrating the tracking of the side slip angle command under the sliding mode control algorithm;

[0051] Figure 5 This is a schematic diagram illustrating the change in angle of attack under the sliding mode control algorithm;

[0052] Figure 6 This is a schematic diagram of the overload tracking error under the sliding mode control algorithm;

[0053] Figure 7 This is a schematic diagram of the roll angle tracking error under the sliding mode control algorithm;

[0054] Figure 8 This is a schematic diagram of the sliding angle tracking error under the sliding mode control algorithm;

[0055] Figure 9 This is a schematic diagram showing the changes in sliding mode variables in the pitch channel;

[0056] Figure 10 This is a schematic diagram showing the changes in sliding mode variables in the roll channel under the sliding mode control algorithm;

[0057] Figure 11 This is a schematic diagram showing the changes in sliding mode variables in the yaw channel under the sliding mode control algorithm.

[0058] Figure 12 This is a schematic diagram of the elevator deflection angle under the sliding mode control algorithm;

[0059] Figure 13 This is a schematic diagram of the aileron deflection angle under the sliding mode control algorithm;

[0060] Figure 14 This is a schematic diagram of the rudder deflection angle under the sliding mode control algorithm;

[0061] Figure 15 This is a schematic diagram illustrating the speed variation under the sliding mode control algorithm;

[0062] Figure 16 This is a schematic diagram illustrating the tracking of overload commands under the adaptive fuzzy sliding mode attitude control algorithm.

[0063] Figure 17 A schematic diagram illustrating the tracking of roll angle commands under the adaptive fuzzy sliding mode attitude control algorithm;

[0064] Figure 18 This is a schematic diagram illustrating the tracking of the side slip angle command under the adaptive fuzzy sliding mode attitude control algorithm.

[0065] Figure 19 This is a schematic diagram illustrating the change in angle of attack under the adaptive fuzzy sliding mode attitude control algorithm.

[0066] Figure 20 A schematic diagram of overload tracking error under the adaptive fuzzy sliding mode attitude control algorithm;

[0067] Figure 21 A schematic diagram of the roll angle tracking error under the adaptive fuzzy sliding mode attitude control algorithm;

[0068] Figure 22 A schematic diagram of the lower sliding angle tracking error in the adaptive fuzzy sliding mode attitude control algorithm;

[0069] Figure 23 A schematic diagram of the elevator deflection angle under the adaptive fuzzy sliding mode attitude control algorithm;

[0070] Figure 24 A schematic diagram of aileron deflection angle under adaptive fuzzy sliding mode attitude control algorithm;

[0071] Figure 25 This is a schematic diagram of the rudder deflection angle under the adaptive fuzzy sliding mode attitude control algorithm. Detailed Implementation

[0072] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0073] Sliding mode variable structure control is a commonly used control method in aircraft controller design. It exhibits strong robustness and is well-suited for hypersonic aircraft controller design. By selecting sliding mode variables and sliding surfaces, and obtaining model information, a control signal is generated. Under the action of the control signal, the sliding mode variables rapidly converge to the sliding surface and remain thereafter, thus achieving good control of the controlled object. Sliding mode control is highly robust due to its simple algorithm design and insensitivity to uncertainties and disturbances in the model, leading to its widespread application in practical production and daily life. However, after the sliding mode variables converge to the sliding surface, they frequently cross it, causing severe chattering. Chattering leads to frequent equipment movements, resulting in significant energy waste and potential machine damage due to frequent actuator movements. Therefore, chattering must be suppressed in practical applications. Typically, sliding mode control is combined with other adaptive control methods to design composite control laws that can automatically select control parameters for different environmental conditions, achieving optimal control performance. Adaptive control is suitable for nonlinear models or models with significant uncertainties, exhibiting strong robustness and adaptability to various environments.

[0074] Fuzzy control, a novel nonlinear digital control technology established and gradually matured in the 1970s, is based on fuzzy sets, fuzzy variables, and fuzzy logic. Through fuzzy mathematics, fuzzy control can fuzzify human experience, transforming it into a corresponding mathematical model. After defuzzification, control commands are output, achieving precise control of complex models. Because its control algorithm incorporates more human experience, it exhibits good control over nonlinear models or models with significant uncertainty, and demonstrates strong anti-interference capabilities and robustness. In the 1970s, humans first achieved control of a steam boiler using fuzzy control, which is considered the true beginning of fuzzy control. Fuzzy control integrates human production and life experience with control systems, resulting in enhanced intelligence.

[0075] To address the issues of low accuracy and weak robustness in existing hypersonic vehicle control algorithms, this invention provides a novel adaptive fuzzy sliding mode attitude control method for hypersonic vehicles. This method employs a sliding mode control algorithm, defining a linear sliding surface containing error variables. By designing appropriate sliding mode control variables, the sliding surface can be guaranteed to converge to zero within a finite time. Once the sliding surface converges to zero, the error variables asymptotically converge to zero. The sliding mode control algorithm parameters utilize a fuzzy adaptive method, applying prior human knowledge to the fuzzy algorithm. The fuzzy control algorithm adaptively adjusts the sliding mode algorithm parameters based on the current control situation, with larger parameters when the control error is large and smaller parameters when the control error is small.

[0076] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0077] Example 1

[0078] This embodiment provides a method for attitude control of a hypersonic vehicle, such as... Figure 2 As shown, the method includes the following steps:

[0079] Step 101: Construct the attitude kinematics and dynamics equations of the hypersonic vehicle.

[0080] The constructed kinematic and dynamic equations are as follows:

[0081]

[0082] Where α is the angle of attack, β is the sideslip angle, and γ is the angle of attack. v Let V be the velocity deflection angle, θ be the trajectory inclination angle, and σ be the trajectory deflection angle. x ,ω y ,ω z ] represents the roll angular velocity, F y F is the net force acting longitudinally on the aircraft. z The resultant force acting on the side of the aircraft is denoted by the coefficient α. i b i c j , i = 1, 2, 3, j = 1, 2, 3, 4.

[0083]

[0084] Among them, J x J y J z J xy These represent the moment of inertia and product of inertia of the aircraft about the x-axis, y-axis, and z-axis, respectively. [X,Y,Z] TThe aerodynamic forces acting on a hypersonic vehicle are drag, lift, and lateral force. Their expressions are:

[0085]

[0086] Where q is the dynamic pressure, S is the reference area of ​​the hypersonic vehicle, and C X C Y and C Z These are the drag coefficient, lift coefficient, and lateral force coefficient, respectively, and their values ​​can be calculated using the following formulas:

[0087]

[0088] Where Ma is the Mach number of the aircraft.

[0089] [M x M y M z ] T The aerodynamic moments acting on the aircraft are roll moment, yaw moment, and pitch moment, and their expressions are as follows:

[0090]

[0091] Where b is the horizontal correlation length, L is the vertical correlation length, and C Mx C My and C Mz The formulas for calculating the values ​​of the roll moment coefficient, yaw moment coefficient, and pitch moment coefficient can be written as follows:

[0092]

[0093] Where, δ x For, δ y For δ z For the ailerons, elevators and rudder of an aircraft.

[0094] Step 102: Construct the sliding mode function based on sliding mode control theory.

[0095] To ensure the convergence of the aircraft attitude tracking error, a linear sliding mode function that includes the error and its derivative is designed.

[0096] The sliding mode function is constructed as follows:

[0097]

[0098] Among them, s x s y and s z The sliding surface designed for three channels, c x c y and c ze represents the sliding surface parameter. x e y and e z c is the difference between the actual and expected values ​​of the state variables of each channel. x c y c z All are greater than zero, and we have:

[0099]

[0100] The derivative of equation (7) is:

[0101]

[0102] Step 103: Determine the sliding mode control algorithm based on the kinematic equations, the dynamic equations, and the sliding mode function.

[0103] Substituting equations (1), (2), (4), (5), and (7) into equation (8), the specific algorithm for designing the sliding mode attitude control of the hypersonic vehicle in step S3 is as follows:

[0104]

[0105] Where, δ x δ y and δ z It refers to the deflection of the ailerons, elevators, and rudder of an aircraft, γ. c , and For the velocity deflection angle command and its first and second derivatives, n yc , and For the overload instruction and its first and second derivatives, β c , and For the sideslip angle command and its first and second derivatives, k x k y and k z For the sliding mode control law parameters of roll, pitch, and yaw channels, ε x ε y and ε z For roll, pitch, and yaw channels, the gain is fixed, k x k y k z ε x ε y and ε z All are greater than 0, a x1 a x2 a y1 a y2 and c z1The roll, pitch, and yaw channel coefficients of the model are given, and they satisfy the following conditions: Including rudder deflection δ x The rolling moment coefficient caused by external factors,

[0106] Step 104: Adjust the fixed gain in the sliding mode control algorithm in real time to obtain the adaptive fuzzy sliding mode attitude control algorithm.

[0107] Based on fuzzy control theory, the human experience in adjusting sliding mode algorithm parameters is fuzzified to obtain a fuzzy parameter adaptive law. This law is used to adjust the fixed gain in the sliding mode control algorithm designed in step 103 in real time, resulting in an adaptive fuzzy sliding mode attitude control algorithm.

[0108] Experience with sliding mode control parameter tuning shows that when the sliding mode variable s is far from the sliding surface, the parameter ε should be large so that the sliding mode variable s can converge to the sliding surface in the shortest possible time; when the sliding mode variable s is close to the sliding surface, the smaller the parameter ε, the less obvious the chattering phenomenon.

[0109] The above experience can be simplified to: when the sliding mode variable and the first derivative of the sliding mode variable are multiplied... When the value is large, ε should be large; conversely, it should be small, i.e.:

[0110]

[0111] Based on the above experience, the input and output fuzzy sets of the fuzzy control system are defined as follows:

[0112]

[0113] NB indicates a large negative value, NM indicates a medium negative value, ZO indicates a zero value, PM indicates a medium positive value, and PM indicates a large positive value.

[0114] For equation (11), the sliding mode variable and the first derivative of the sliding mode variable of the fuzzy system are multiplied. The membership function is designed as follows:

[0115]

[0116]

[0117]

[0118]

[0119]

[0120] For equation (11), the membership function to which the output parameter ε of the fuzzy system belongs is designed as follows:

[0121]

[0122]

[0123]

[0124] By using fuzzy set (11) and corresponding membership functions (12) to (19), the product of sliding mode variable and the first derivative of sliding mode variable can be obtained. The value is changed from a clear value to a fuzzy value, which is then adapted to subsequent fuzzy rules.

[0125] Fuzzy rules are the core of the fuzzy controller. This invention employs linguistic fuzzy rules, composed of numerous fuzzy implication relations "if...then...". These F-conditional statements are a summary of human experience in adjusting sliding mode control parameters. The fuzzy rules are as follows:

[0126]

[0127] After fuzzy logic (20) reasoning, the fuzzy system can output a fuzzy set, which is itself a synthesis of the conclusions obtained by fuzzy rule (20). The parameter ε(t) can be obtained through declarative analysis.

[0128] In the sliding mode control law established earlier, the fixed gain ε x ε y and ε z The adaptive sliding mode fuzzy control law can be obtained by transforming the adaptive parameter ε(t) obtained through step S4 into:

[0129]

[0130] Step 105: Control the attitude of the hypersonic vehicle based on the adaptive fuzzy sliding mode attitude control algorithm.

[0131] In this invention, the simulation process of the hypersonic vehicle sliding mode control method is as follows: For the designed control law (9), the control conditions are: the vehicle mass is 1000 kg; the reference area is 0.5 m². 2 The initial velocity is 1800 m / s; the initial position is [0, 3 × 10⁻⁶ m / s]. 4 ,0] T m; the control command is selected as a sinusoidal signal; the simulation step size is 1×10. -4 The simulation time is 40 seconds.

[0132] The simulation results are as follows: Figures 2 to 4 The command and execution status of each channel show that each channel can quickly keep up with the command in a short period of time, demonstrating good dynamic performance. Figure 5As can be seen from the changes in angle of attack, the angle of attack remained within the permissible range of the aircraft. Figures 6 to 8 As can be seen from the execution error of each channel command, the error is almost zero, which meets the control accuracy requirements. Figures 9 to 11 As can be seen from the changes in sliding mode variables for each channel, the sliding mode variables for each channel can converge to near zero. Figures 12 to 14 The rudder deflection angles of each channel show that they are all within the working range, but there is obvious chattering. Figure 15 The graph shows the velocity variation, with values ​​remaining around 5 Ma.

[0133] In this invention, the simulation process of the adaptive fuzzy sliding mode attitude control method for hypersonic vehicles is as follows: For the designed control law (21), the control conditions are: the mass of the vehicle is 1000 kg; the reference area is 0.5 m². 2 The initial velocity is 1800 m / s; the initial position is [0, 3 × 10⁻⁶ m / s]. 4 ,0] T m; the control command is selected as a sinusoidal signal; the simulation step size is 1×10. -4 The simulation time is 40 seconds.

[0134] The simulation results are as follows: Figures 16 to 18 The graph showing the changes in commands and execution status for each channel reveals that the aircraft's various channels can track commands in real time with good dynamic performance and a steady-state error of almost zero. Figure 19 As shown in the graph of angle of attack variation, its value has always been within the permissible range of the aircraft. Figures 20 to 22 The graph shows the error variation for each channel; it can be seen that the error values ​​are all approximately zero. Figures 23 to 25 As can be seen from the rudder deflection angles of each channel, the chattering phenomenon is effectively suppressed.

[0135] Compared with the simple sliding mode algorithm, it can be seen that the adaptive fuzzy sliding mode attitude control method designed in this invention can achieve good control of hypersonic aircraft, meet the control accuracy requirements, and achieve good suppression of chattering.

[0136] Example 2

[0137] In order to implement the method corresponding to Embodiment 1 above and achieve the corresponding functions and technical effects, a hypersonic vehicle attitude control system is provided below.

[0138] A hypersonic vehicle attitude control system includes:

[0139] A kinematics and dynamics equation building module is used to construct the attitude kinematics and dynamics equations of hypersonic vehicles.

[0140] The sliding mode function construction module is used to construct sliding mode functions based on sliding mode control theory.

[0141] The sliding mode control algorithm acquisition module is used to determine the sliding mode control algorithm based on the kinematic equations, the dynamic equations, and the sliding mode function;

[0142] An adjustment module is used to adjust the fixed gain in the sliding mode control algorithm in real time to obtain an adaptive fuzzy sliding mode attitude control algorithm.

[0143] The attitude control module is used to control the attitude of the hypersonic vehicle based on the adaptive fuzzy sliding mode attitude control algorithm.

[0144] Example 3

[0145] Embodiment 3 of the present invention provides an electronic device, including a memory and a processor. The memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the hypersonic vehicle attitude control method of Embodiment 1.

[0146] The aforementioned electronic device may be a server.

[0147] Example 4

[0148] Embodiment 4 of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the hypersonic vehicle attitude control method of Embodiment 1.

[0149] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0150] This article uses specific examples to illustrate the principles and implementation methods of the invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. The described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

Claims

1. A method for attitude control of a hypersonic vehicle, characterized in that, include: Construct the attitude kinematics and dynamics equations of a hypersonic vehicle; Constructing a sliding mode function based on sliding mode control theory; Based on the kinematic equations, the dynamic equations, and the sliding mode function, a sliding mode control algorithm is determined. An adaptive fuzzy sliding mode attitude control algorithm is obtained by real-time adjustment of the fixed gain in the sliding mode control algorithm. Specifically, this includes: designing the membership function of the input fuzzy set in the sliding mode control algorithm; designing the membership function of the output fuzzy set in the sliding mode control algorithm; designing fuzzy rules; converting the input fuzzy set into an output fuzzy set based on the membership functions of the input fuzzy set, the output fuzzy set, and the fuzzy rules; and real-time adjustment of the fixed gain in the sliding mode control algorithm based on the output fuzzy set. The attitude of the hypersonic vehicle is controlled based on the adaptive fuzzy sliding mode attitude control algorithm.

2. The hypersonic vehicle attitude control method according to claim 1, characterized in that, The kinematic equations for the posture are as follows: The dynamic equations are as follows: in, For the angle of attack, Sideslip angle, For velocity deflection angle, For the derivative of the angle of attack, The derivative of the sideslip angle. The derivative of the velocity deflection angle, For hypersonic flight speed, For the trajectory inclination angle, For the ballistic deflection angle, The roll angular velocities are the x, y, and z axes. Let x, y, and z be the angular accelerations about the x, y, and z axes. The resultant force acting longitudinally on the hypersonic vehicle. The resultant force acting laterally on a hypersonic vehicle. , , Mixed coefficients , Y represents the lift force acting on the hypersonic vehicle, and Z represents the lateral force acting on the hypersonic vehicle.

3. The hypersonic vehicle attitude control method according to claim 2, characterized in that, The expression for the sliding mode function is as follows: in, , and These are sliding mode variables for roll, pitch, and yaw channels, respectively. , and These are the sliding surface parameters for the roll, pitch, and yaw channels, respectively. , and These represent the errors between the actual and commanded values ​​for roll, pitch, and yaw channels, respectively.

4. The hypersonic vehicle attitude control method according to claim 3, characterized in that, The expression for the sliding mode control algorithm is as follows: in, , , These refer to the deflection of the ailerons, elevators, and rudder, respectively. , , These are the velocity deflection command, the first derivative of the velocity deflection command, and the second derivative of the velocity deflection command, respectively. , , These are the overload instruction, the first derivative of the overload instruction, and the second derivative of the overload instruction, respectively. , , For the sideslip command, the first derivative of the sideslip command, and the second derivative of the sideslip command. and All are roll-off channel coefficients. and All are pitch channel coefficients. This is the yaw channel coefficient. , and These are the sliding mode control law parameters for the roll, pitch, and yaw channels, respectively. , , These are the sliding mode fixed gains for the roll, pitch, and yaw channels, respectively.

5. The hypersonic vehicle attitude control method according to claim 4, characterized in that, The expression for the adaptive fuzzy sliding mode attitude control algorithm is as follows: in, , and This represents the real-time sliding mode control gain of the roll, pitch, and yaw channels obtained through fuzzy control.

6. A hypersonic vehicle attitude control system, characterized in that, include: A kinematics and dynamics equation building module is used to construct the attitude kinematics and dynamics equations of hypersonic vehicles. The sliding mode function construction module is used to construct sliding mode functions based on sliding mode control theory. The sliding mode control algorithm acquisition module is used to determine the sliding mode control algorithm based on the kinematic equations, the dynamic equations, and the sliding mode function; An adjustment module is used to adjust the fixed gain in the sliding mode control algorithm in real time to obtain an adaptive fuzzy sliding mode attitude control algorithm. Specifically, it includes: designing the membership function of the input fuzzy set in the sliding mode control algorithm; designing the membership function of the output fuzzy set in the sliding mode control algorithm; designing fuzzy rules; converting the input fuzzy set into an output fuzzy set based on the membership functions of the input fuzzy set, the output fuzzy set, and the fuzzy rules; and adjusting the fixed gain in the sliding mode control algorithm in real time based on the output fuzzy set. An attitude control module is used to control the attitude of the hypersonic vehicle based on the adaptive fuzzy sliding mode attitude control algorithm.

7. An electronic device, characterized in that, The device includes a memory and a processor, the memory being used to store a computer program, and the processor running the computer program to cause the electronic device to perform the hypersonic vehicle attitude control method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the hypersonic vehicle attitude control method as described in any one of claims 1-5.

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