A stratosphere airship increment backstepping control method, system, device and medium

Abstract

The application discloses a stratosphere airship increment anti-step control method, system, equipment and medium, and relates to the technical field of automatic control; the method comprises the following steps: constructing a stratosphere airship increment control model; the stratosphere airship increment control model is a mathematical model established based on a nonlinear disturbance observer for the stratosphere airship; information data of the stratosphere airship is acquired; expected data is determined according to the information data; the expected data comprises expected speed and expected attitude angular velocity; inner loop control quantity is calculated according to the expected data based on the stratosphere airship increment control model; the inner loop control quantity comprises expected speed inner loop control quantity and expected attitude angular velocity inner loop control quantity; the inner loop control quantity is used for regulating and controlling flight data; the inner loop control quantity is calculated simply and quickly, so that the control precision and robustness are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic control, in particular to a stratosphere airship incremental backstepping control method, system, device and medium. BACKGROUND

[0002] Compared with an aerial vehicle, a stratosphere airship has many advantages such as low cost, wide monitoring range and long flight time. However, due to its internal shape and flight environment, the stratosphere airship will be affected by its own gravity center and external disturbances, which will inevitably cause adverse factors to its control. In addition, in the stratosphere, parameter uncertainty caused by external disturbance will reduce the dynamic control ability of the airship. Therefore, it is of great significance to improve the reliability and robustness of the airship control system under the condition of insufficient accuracy of the mechanism model.

[0003] The accuracy of the feedback value has a great influence on the robustness of the incremental backstepping technology. However, the linear angular velocity and angular acceleration are not easy to obtain directly from the sensor value, and in actual engineering application, they are often obtained by differentiation. This means that this term is sensitive to noise and "term explosion" in backstepping control. However, under the influence of this term, the robustness of the whole control system will be reduced. SUMMARY

[0004] The purpose of the present application is to provide a stratosphere airship incremental backstepping control method, system, device and medium, which can improve the control accuracy and robustness by simply and quickly calculating the inner loop control quantity.

[0005] To achieve the above purpose, the present application provides the following scheme:

[0006] A stratosphere airship incremental backstepping control method, the method comprising:

[0007] Constructing a stratosphere airship incremental control model; the stratosphere airship incremental control model is a mathematical model established for the stratosphere airship based on a nonlinear disturbance observer;

[0008] Obtaining information data of the stratosphere airship; the information data includes flight data and setting data; the flight data includes position coordinates, flight speed and attitude angle; the setting data includes expected position coordinates and expected attitude angle;

[0009] Determining expected data according to the information data; the expected data includes expected speed and expected attitude angular velocity;

[0010] Calculating an inner loop control quantity according to the expected data based on the stratosphere airship incremental control model; the inner loop control quantity includes an expected speed inner loop control quantity and an expected attitude angular velocity inner loop control quantity; the inner loop control quantity is used to regulate and control the flight data.

[0011] Optionally, the desired data is determined according to the information data, specifically comprising:

[0012] A position error is determined according to the position coordinates and the desired position coordinates;

[0013] The desired velocity is determined according to the position error and the flight velocity;

[0014] An attitude angle error is determined according to the attitude angle and the desired attitude angle;

[0015] The desired attitude angular velocity is determined according to the attitude angle error.

[0016] Optionally, the calculation formula of the desired velocity is:

[0017]

[0018]

[0019] wherein v ref is a vector of the desired velocity; is a first adjustment parameter; is a vector first-order derivative of the desired position coordinates; R is a velocity rotation matrix; p e is a vector of the position error; is a vector first-order derivative of the position error; v is a vector of the flight velocity.

[0020] Optionally, the calculation formula of the desired attitude angular velocity is:

[0021]

[0022] wherein Ω ref is a vector of the desired attitude angular velocity; is a second adjustment parameter; Θ e is a vector of the attitude angle error; is a vector first-order derivative of the desired attitude angle; K is an angular velocity rotation matrix.

[0023] Optionally, the calculation formula of the desired velocity inner loop control quantity is:

[0024]

[0025]

[0026] wherein Δτ v is a desired velocity inner loop control quantity; k3 is a first parameter value; k4 is a second parameter value; is a velocity inner loop tracking error; is an estimated value of a channel velocity disturbance value; vref B is the vector of the desired velocity; t is time; τ is the time delay; 11 This is the first control parameter matrix; This is a speed estimate; v0 is the derivative of the current speed estimate; v0 is the current speed value. Let be the vector first derivative of the desired velocity.

[0027] Optionally, the formula for calculating the inner loop control quantity of the desired attitude angular velocity is:

[0028]

[0029]

[0030] Where, Δτ ω k1 is the inner loop control variable for the desired attitude angular velocity; k2 is the third parameter value; k3 is the fourth parameter value. For the inner loop tracking error of angular velocity; Ω ref The vector representing the desired attitude angular velocity; This is an estimate of the channel angular velocity disturbance value; B is the vector first derivative of the desired attitude angular velocity; t is time; τ is the time delay; 22 This is the second control parameter matrix; The vector first derivative of the desired attitude angular velocity; Ω0 is the estimated derivative of the current angular velocity; Ω0 is the current angular velocity. This is an estimated value for angular velocity.

[0031] A stratospheric airship incremental backstepping control system, the system comprising:

[0032] The model building module is used to build an incremental control model for stratospheric airships; the incremental control model for stratospheric airships is a mathematical model established for stratospheric airships based on a nonlinear disturbance observer.

[0033] The data acquisition module is used to acquire information data of the stratospheric airship; the information data includes: flight data and setting data; the flight data includes: position coordinates, flight speed, and attitude angle; the setting data includes: desired position coordinates and desired attitude angle.

[0034] The data determination module is used to determine expected data based on the information data; the expected data includes: expected velocity and expected attitude angular velocity;

[0035] A calculation module is configured to calculate, based on the stratosphere airship increment control model, an inner loop control quantity according to the expected data; the inner loop control quantity includes an expected speed inner loop control quantity and an expected attitude angular velocity inner loop control quantity; and the inner loop control quantity is used to regulate the flight data.

[0036] An electronic device includes a memory for storing a computer program and a processor for running the computer program to enable the electronic device to perform the stratosphere airship increment backstepping control method.

[0037] A computer readable storage medium stores a computer program, which, when executed by a processor, implements the stratosphere airship increment backstepping control method.

[0038] According to the embodiments of the present application, the following technical effects are achieved.

[0039] The present application provides a stratosphere airship increment backstepping control method, system, device and medium, first, a stratosphere airship increment control model is established based on a nonlinear disturbance observer, then expected data is determined according to the information data of the stratosphere airship; and then the inner loop control quantity is calculated according to the expected data by the stratosphere airship increment control model to regulate the flight data; due to the existence of the nonlinear disturbance observer, the uncertain coupling term, noise and error in the stratosphere airship increment control model can be estimated; then the inner loop control quantity is calculated simply and quickly in combination with the expected data, so that the error can tend to zero within a limited time, thereby improving the control accuracy and robustness. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0041] Figure 1 A flow chart of the stratosphere airship increment backstepping control method provided by the embodiments of the present application is provided.

[0042] Figure 2 A schematic diagram of the stratosphere airship in the coordinate system provided by the embodiments of the present application is provided.

[0043] Figure 3 A principle flow chart of the stratosphere airship increment backstepping control method provided by the embodiments of the present application is provided.

[0044] Figure 4This is a structural diagram of the stratospheric airship incremental backstepping control system provided in an embodiment of the present invention.

[0045] Symbol explanation:

[0046] Model building module-1, data acquisition module-2, data determination module-3, calculation module-4. Detailed Implementation

[0047] 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.

[0048] The purpose of this invention is to provide an incremental backstepping control method, system, device, and medium for stratospheric airships, which improves control accuracy and robustness by simply and quickly calculating the inner loop control quantity.

[0049] 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.

[0050] Example 1

[0051] like Figure 1 As shown, this embodiment of the invention provides an incremental backstepping control method for a stratospheric airship, the method comprising:

[0052] Step 100: Construct the incremental control model for the stratospheric airship; the incremental control model for the stratospheric airship is a mathematical model established based on a nonlinear disturbance observer.

[0053] Specifically, such as Figure 2 As shown, a stratospheric airship coordinate system Oxyz is established with the center of buoyancy O of the airship as the origin; an inertial coordinate system O is established with any point on the ground as the origin. g x g y g z g The origin O g Let O be any point on the ground. g x g Pointing north, O g y g Pointing east, O g z g Pointing towards the Earth's center. Figure 2 In this context, ERF stands for inertial coordinate system; BRF stands for hull coordinate system.

[0054] The mathematical expression for the constructed incremental control model of the stratospheric airship is as follows:

[0055]

[0056] wherein X1 and X2 are both state quantities of the state equation; is the derivative corresponding to the state quantity X1; is the derivative corresponding to the state quantity X2; τ is the matrix of the airship actuator input quantity. f1 is the first state equation; f2 is the second state equation; B is the collective matrix of the control parameter matrix.

[0057] X1 = [x, y, z, φ, θ, ψ] T ;

[0058] X2 = [u, v, w, p, q, r] T ;

[0059] τ = [τ u , τ v , τ w , τ p , τ q , τ r ] T ;

[0060]

[0061]

[0062]

[0063]

[0064] f2(X1, X2) = [F v , F ω ] T + [f v , f ω ] T .

[0065] wherein τ u , τ v , τ w , τ p , τ q , τ r are all airship actuator input quantities. p is the position vector; the position vector is determined according to the position coordinates of the airship mass center in the inertial system. 3×3 O is a null matrix with the dimension of 3x3.

[0066] Specifically, p = [x, y, -z] T ; wherein T is the transpose transformation.

[0067] velocity vector υ = [u, v, w]T u is the component of the airship velocity in the x-axis direction of the body frame; v is the component of the airship velocity in the y-axis direction of the body frame; p is the roll angular velocity of the airship; q is the pitch angular velocity of the airship; r is the yaw angular velocity of the airship; w is the component of the airship velocity in the z-axis direction of the body frame; and the angular velocity vector is Ω = [p, q, r] T u is the component of the airship velocity in the x-axis direction of the body frame; v is the component of the airship velocity in the y-axis direction of the body frame; p is the roll angular velocity of the airship; q is the pitch angular velocity of the airship; r is the yaw angular velocity of the airship; w is the component of the airship velocity in the z-axis direction of the body frame; and the angular velocity vector is Ω = [p, q, r] T θ represents the pitch angle of the airship in the body frame; ψ represents the yaw angle of the airship in the body frame; and φ represents the roll angle of the airship in the body frame. 11 12 21 22 B1, B2, B3, and B4 are control parameter matrices of actual control quantities of the airship; wherein B1 is a first control parameter matrix; B2 is a second control parameter matrix; B3 is a third control parameter matrix; and B4 is a fourth control parameter matrix. 11 B1, B2, B3, and B4 are control parameter matrices of actual control quantities of the airship; wherein B1 is a first control parameter matrix; B2 is a second control parameter matrix; B3 is a third control parameter matrix; and B4 is a fourth control parameter matrix. 22 B1, B2, B3, and B4 are control parameter matrices of actual control quantities of the airship; wherein B1 is a first control parameter matrix; B2 is a second control parameter matrix; B3 is a third control parameter matrix; and B4 is a fourth control parameter matrix. 12 B1, B2, B3, and B4 are control parameter matrices of actual control quantities of the airship; wherein B1 is a first control parameter matrix; B2 is a second control parameter matrix; B3 is a third control parameter matrix; and B4 is a fourth control parameter matrix. 21 B1, B2, B3, and B4 are control parameter matrices of actual control quantities of the airship; wherein B1 is a first control parameter matrix; B2 is a second control parameter matrix; B3 is a third control parameter matrix; and B4 is a fourth control parameter matrix. v B1, B2, B3, and B4 are control parameter matrices of actual control quantities of the airship; wherein B1 is a first control parameter matrix; B2 is a second control parameter matrix; B3 is a third control parameter matrix; and B4 is a fourth control parameter matrix. ω B1, B2, B3, and B4 are control parameter matrices of actual control quantities of the airship; wherein B1 is a first control parameter matrix; B2 is a second control parameter matrix; B3 is a third control parameter matrix; and B4 is a fourth control parameter matrix. v B1, B2, B3, and B4 are control parameter matrices of actual control quantities of the airship; wherein B1 is a first control parameter matrix; B2 is a second control parameter matrix; B3 is a third control parameter matrix; and B4 is a fourth control parameter matrix. ω B1, B2, B3, and B4 are control parameter matrices of actual control quantities of the airship; wherein B1 is a first control parameter matrix; B2 is a second control parameter matrix; B3 is a third control parameter matrix; and B4 is a fourth control parameter matrix.

[0068] In addition, the mathematical expression of the nonlinear disturbance observer is:

[0069]

[0070]

[0071] wherein, x is a type of nonlinear system, i.e., a nonlinear function; x o is the state quantity of the system; is the estimated value of the state quantity; u o is the input quantity of the system; F o is the force of the system; G o is the torque of the system; is the disturbance estimation value of the system; and R, a1, a2, l1, and l2 are parameters of the nonlinear disturbance observer.

[0072] According to the controller form, the velocity disturbance observer for the stratosphere airship dynamics model is designed as follows:

[0073]

[0074] wherein,​​​ is an estimated value of the state variable δ du . is an estimated value of the state variable δ dv . is an estimated value of the state variable δ dw ; δ du , δ dv and δ dw are disturbance values of the corresponding three directional components. is a first order derivative of the estimated value . is a first order derivative of the estimated value . is a first order derivative of the estimated value .

[0075] In addition, there are:

[0076] R vr = [R u , R v , R w ];

[0077] a 1v = [a 1u , a 1v , a 1w ];

[0078] a 2v = [a 2u , a 2v , a 2w ];

[0079] l 1v = [l 1u , l 1v , l 1w ];

[0080] l 2v = [l 2u , l 2v , l 2w ];

[0081] wherein R, a1, a2, l1 and l2 are all parameters of the nonlinear disturbance observer; different lower indexes u, v and w represent different channels. R vr , a 1v , a 2v , l 1v and l 2v are all sets of parameters of the nonlinear disturbance observer in different channels.

[0082] The angular velocity disturbance observer is designed for the stratosphere airship dynamic model as follows:

[0083]

[0084] wherein, is an estimated value of the state quantity δ dp ; is an estimated value of the state quantity δ dq ; is an estimated value of the state quantity δ dr ; δ dp , δ dq and δ dr are disturbance values of three different directional components; is a first order derivative of the estimated value ; is a first order derivative of the estimated value ; is a first order derivative of the estimated value .

[0085] Further, there are:

[0086] R ωr = [R p , R q , R r ];

[0087] a 1ω = [a 1p , a 1q , a 1r ];

[0088] a 2ω = [a 2p , a 2q , a 2r ];

[0089] l 1ω = [l 1p , l 1q , l 1r ];

[0090] l 2ω = [l 2p , l 2q , l 2r ];

[0091] wherein, R ωr , a 1ω , a 2ω , l 1ω and l 2w are parameters to be adjusted, wherein different subscripts p, q, r respectively represent different channels.

[0092] Figure 3The principle flow of the incremental backstepping control method for the stratospheric airship. Specifically, according to the sorted airship kinematics and dynamics equations, the angular velocity control equation of the stratospheric airship can be obtained:

[0093]

[0094] Wherein, δ ω = f υ + B 21 τ υ represents the attitude control loop coupling quantity and disturbance, τ ω represents the input control quantity for controlling the angular velocity of the airship, represents the derivative of the attitude angle vector of the airship, τ υ represents the input control quantity for controlling the speed of the airship.

[0095] The speed control equation of the stratospheric airship is:

[0096]

[0097] Wherein, δ υ = f ω + B 22 τ ω represents the speed control loop coupling quantity and disturbance.

[0098] Given a reasonable circling distance and a desired circling speed, that is, a straight-line distance ρ d1 between the desired moving target and the airship, a desired height distance ρ d2 between the desired target and the airship, and a desired circling speed ω c .

[0099] Step 200: Obtain information data of the stratospheric airship; the information data includes flight data and setting data; the flight data includes position coordinates, flight speed and attitude angle; the setting data includes desired position coordinates and desired attitude angle.

[0100] Step 300: Determine desired data according to the information data; the desired data includes desired speed and desired attitude angular velocity.

[0101] Wherein, the desired data is determined according to the information data, specifically including:

[0102] Determine the position error according to the position coordinates and the desired position coordinates; determine the desired speed according to the position error and the flight speed.

[0103] The calculation formula of the position error p e is:

[0104] p e = p-p ref

[0105] p ref = [x d , y d , -z d ] T

[0106] wherein p e is a position error; p ref is a vector corresponding to a desired position coordinate; p is a vector corresponding to a position coordinate.

[0107] The position error p e is differentiated to obtain:

[0108]

[0109] wherein,

[0110]

[0111] Further, the vector of the desired velocity is obtained.

[0112] Specifically, the calculation formula of the desired velocity is:

[0113]

[0114] wherein v ref is the vector of the desired velocity; is a first adjustment parameter; is the first-order derivative of the vector of the desired position coordinate; R is a velocity rotation matrix; p e is the vector of the position error; is the first-order derivative of the vector of the position error; v is the vector of the flight velocity.

[0115]

[0116] wherein K 21 , K 22 , K 23 represent parameters of three velocity channels respectively; i is a channel order.

[0117] The attitude angle error is determined according to the attitude angle and the desired attitude angle; the desired attitude angular velocity is determined according to the attitude angle error.

[0118] The calculation formula of the attitude angle error Θ e is:

[0119]

[0120] wherein Θ e is the attitude angle error; Θ is the attitude angle; Θ ref is the desired attitude angle.

[0121] The attitude angle error Θ e Taking derivative, we get

[0122]

[0123] Wherein,

[0124]

[0125] Further, the expected attitude angular velocity is obtained.

[0126] Specifically, the calculation formula of the expected attitude angular velocity is:

[0127]

[0128] Wherein, Ω ref is the vector of the expected attitude angular velocity; is the second adjustment parameter; Θ e is the vector of the attitude angle error; is the first order derivative of the vector of the expected attitude angle; K is the angular velocity rotation matrix.

[0129]

[0130] Wherein, K 11 , K 12 , K 13 are parameters of three angular velocity channels respectively.

[0131] Step 400: based on the stratosphere airship incremental control model, the inner loop control quantity is calculated according to the expected data; the inner loop control quantity includes: expected speed inner loop control quantity and expected attitude angular velocity inner loop control quantity; the inner loop control quantity is used for regulating and controlling the flight data.

[0132] According to the dynamics theory of the stratosphere airship, the speed inner loop dynamics equation can be obtained:

[0133]

[0134] δ dv = B 12 τ ω + f v = [δ du , δ dv , δ dw ] T

[0135] According to the vector corresponding to the expected speed, the speed inner loop tracking error

[0136]

[0137] The first-order expansion of the inner loop dynamics equation of the velocity is obtained as follows:

[0138]

[0139] Specifically, the calculation formula of the expected inner loop control quantity of the velocity is as follows:

[0140]

[0141] where Δτ v is the expected inner loop control quantity of the velocity; k3 is a first parameter value; k4 is a second parameter value; is the tracking error of the inner loop of the velocity; is an estimated value of the channel velocity disturbance; v ref is a vector of the expected velocity; t is a time; τ is a time delay; B 11 is a first control parameter matrix; is a velocity estimation value; is a derivative of the current velocity estimation value; v0 is a current velocity value; is a first-order derivative of the vector of the expected velocity.

[0142] According to the stratosphere airship dynamics theory, the following inner loop dynamics equation of the angular velocity is obtained:

[0143]

[0144] δ dω = B 21 τ v +f ω = [δ dp , δ dq , δ dr ] T

[0145] The first-order expansion of the inner loop dynamics equation of the angular velocity is obtained as follows:

[0146]

[0147] According to the vector corresponding to the expected angular velocity, the tracking error of the inner loop of the angular velocity is calculated as follows: and the expected inner loop control quantity of the angular velocity can be calculated.

[0148] The calculation formula of the expected inner loop control quantity of the angular velocity is as follows:

[0149]

[0150]

[0151] where Δτ ωis a desired attitude angular velocity inner loop control quantity; k1 is a third parameter value; k2 is a fourth parameter value; is an angular velocity inner loop tracking error; Ω ref is a vector of a desired attitude angular velocity; is an estimated value of a channel angular velocity disturbance value; is a vector of a first-order derivative of a desired attitude angular velocity; t is a time; τ is a time delay; B 22 is a second control parameter matrix; is a vector of a first-order derivative of a desired attitude angular velocity; is a current angular velocity derivative estimation value; Ω0 is a current angular velocity; is an angular velocity estimation value.

[0152] Embodiment 2

[0153] As Figure 4 shown, the embodiment of the present application provides a stratosphere airship incremental backstepping control system, which comprises a model construction module 1, a data acquisition module 2, a data determination module 3 and a calculation module 4.

[0154] The model construction module 1 is used for constructing a stratosphere airship incremental control model; the stratosphere airship incremental control model is a mathematical model established based on a nonlinear disturbance observer for the stratosphere airship.

[0155] The data acquisition module 2 is used for acquiring information data of the stratosphere airship; the information data comprises flight data and setting data; the flight data comprises position coordinates, flight speed and attitude angle; and the setting data comprises desired position coordinates and desired attitude angle.

[0156] The data determination module 3 is used for determining desired data according to the information data; the desired data comprises desired speed and desired attitude angular velocity.

[0157] The calculation module 4 is used for calculating an inner loop control quantity according to the desired data based on the stratosphere airship incremental control model; the inner loop control quantity comprises a desired speed inner loop control quantity and a desired attitude angular velocity inner loop control quantity; and the inner loop control quantity is used for regulating and controlling the flight data.

[0158] Embodiment 3

[0159] The embodiment of the present application provides an electronic device, which comprises a memory and a processor; the memory is used for storing a computer program; and the processor runs the computer program to enable the electronic device to execute the stratosphere airship incremental backstepping control method in embodiment 1.

[0160] As an optional implementation manner, the electronic device can be a server.

[0161] In an embodiment, the application also provides a computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the incremental backstepping control method for the stratosphere airship in embodiment 1.

[0162] The application designs a new tracking differentiator using inverse hyperbolic sine function, and applies it to the incremental backstepping control algorithm. The function can accurately estimate the derivative of the virtual control law in the incremental backstepping method, and eliminates the "term explosion" problem. Then, the tracking differentiator is extended to the nonlinear disturbance observer, and the convergence of the tracking differentiator is verified. Since the closed loop of the control method is bounded, and has good convergence effect, not only the inner loop speed and angular velocity can be accurately controlled, but also the influence of sensor noise and signal transmission delay can be reduced.

[0163] The method provided by the application does not completely rely on accurate mechanism model modeling, and can accurately estimate part of the coupling terms that cannot be ignored in the model, while avoiding the "term explosion" problem existing in the traditional backstepping method. The method is effective for the control of the stratosphere airship, and has low requirement on the accuracy of the mechanism model.

[0164] The application directly uses position and attitude angle for motion state estimation, relies on less sensor return signals, can effectively overcome the noise and time delay problems of the sensor signal values in the prior art, and can guarantee the asymptotic stability performance of the closed loop system, so that the airship can reach the expected position and maintain the expected attitude under normal operation state.

[0165] Compared with the traditional backstepping method, the solving method of the application is relatively simple, fast and accurate, and the overall structure is simple and easy to implement.

[0166] In actual application, the control engineer can give any expected position or attitude angle of the airship according to the situation, and directly transmit the control quantity calculated by the method to the actuator to realize the position or attitude control of the stratosphere airship.

[0167] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other. For the system disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the related parts can be referred to the method part.

[0168] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for the general technical personnel in the art, the specific implementation manners and application ranges will be changed according to the idea of the present application. In conclusion, the content of the present specification should not be understood as the limitation of the present application.

Claims

1. A method for incremental backstepping control of a stratospheric airship, characterized in that, The method includes: An incremental control model for a stratospheric airship is constructed; the incremental control model for a stratospheric airship is a mathematical model established based on a nonlinear disturbance observer. Acquire information data of the stratospheric airship; the information data includes: flight data and setting data; the flight data includes: position coordinates, flight speed, and attitude angle; the setting data includes: desired position coordinates and desired attitude angle; Determine the desired data based on the information data; the desired data includes: desired velocity and desired attitude angular velocity; Based on the stratospheric airship incremental control model, the inner loop control quantity is calculated according to the desired data; the inner loop control quantity includes: the desired velocity inner loop control quantity and the desired attitude angular velocity inner loop control quantity; the inner loop control quantity is used to regulate the flight data; The formula for calculating the desired speed inner loop control quantity is as follows: ； ； in, The desired speed is the inner loop control variable; The first parameter value; This is the value of the second parameter; For the speed inner loop tracking error; This is an estimate of the channel velocity disturbance value; The vector representing the desired velocity; t For a specific moment; For time delay; This is the first control parameter matrix; This is a speed estimate; The derivative of the current speed estimate; This is the current speed value; Let be the vector first derivative of the desired velocity.

2. The incremental backstepping control method for stratospheric airships according to claim 1, characterized in that, Determining the desired data based on the aforementioned information data specifically includes: The position error is determined based on the stated position coordinates and the desired position coordinates. The desired speed is determined based on the position error and the flight speed; The attitude angle error is determined based on the attitude angle and the desired attitude angle. The desired attitude angular velocity is determined based on the attitude angular error.

3. The incremental backstepping control method for stratospheric airships according to claim 2, characterized in that, The formula for calculating the desired speed is: ； ； in, The vector representing the desired velocity; This is the first adjustment parameter; The vector first derivative of the desired position coordinates; For velocity rotation matrix; This is the vector of positional error; The vector first derivative of the position error; This is the vector of flight speed.

4. The incremental backstepping control method for stratospheric airships according to claim 2, characterized in that, The formula for calculating the desired attitude angular velocity is: ； in, The vector representing the desired attitude angular velocity; This is the second adjustment parameter; This is the vector of attitude angle error; The vector first derivative of the desired attitude angle; This is the angular velocity rotation matrix.

5. The incremental backstepping control method for stratospheric airships according to claim 1, characterized in that, The formula for calculating the inner loop control quantity of the desired attitude angular velocity is: ； in, The inner loop control variable is the desired attitude angular velocity. The value of the third parameter; This is the value of the fourth parameter; This refers to the inner loop tracking error of the angular velocity. The vector representing the desired attitude angular velocity; This is an estimate of the channel angular velocity disturbance value; The vector first derivative of the desired attitude angular velocity; t For a specific moment; For time delay; This is the second control parameter matrix; The vector first derivative of the desired attitude angular velocity; This is an estimate of the derivative of the current angular velocity; The current angular velocity; This is an estimated value for angular velocity.

6. A stratospheric airship incremental backstepping control system, characterized in that, The system includes: The model building module is used to build an incremental control model for stratospheric airships; the incremental control model for stratospheric airships is a mathematical model established for stratospheric airships based on a nonlinear disturbance observer. The data acquisition module is used to acquire information data of the stratospheric airship; the information data includes: flight data and setting data; the flight data includes: position coordinates, flight speed, and attitude angle; the setting data includes: desired position coordinates and desired attitude angle. The data determination module is used to determine expected data based on the information data; the expected data includes: expected velocity and expected attitude angular velocity; The calculation module is used to calculate the inner loop control quantity based on the stratospheric airship incremental control model and the desired data; the inner loop control quantity includes: the desired velocity inner loop control quantity and the desired attitude angular velocity inner loop control quantity; the inner loop control quantity is used to regulate the flight data; The formula for calculating the desired speed inner loop control quantity is as follows: ； ； in, The desired speed is the inner loop control variable; The first parameter value; This is the value of the second parameter; For the speed inner loop tracking error; This is an estimate of the channel velocity disturbance value; The vector representing the desired velocity; t For a specific moment; For time delay; This is the first control parameter matrix; This is a speed estimate; The derivative of the current speed estimate; This is the current speed value; Let be the vector first derivative of the desired velocity.

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 stratospheric airship incremental backstepping control method as described in any one of claims 1 to 5.

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

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