Stratosphere airship trajectory tracking control method, device, system and electronic equipment

Abstract

The application discloses a stratosphere airship trajectory tracking control method, device and system and electronic equipment, relates to the technical field of trajectory tracking control, and the method comprises the following steps: initializing an initial trigger time; obtaining state quantity, saturation error parameters, auxiliary output values and execution control quantity at the current trigger time; determining the next trigger time according to the state quantity, the saturation error parameters, the auxiliary output values and the execution control quantity at the current trigger time; controlling the airship to fly at the trigger time; the control process at any trigger time comprises the following steps: obtaining the state quantity, the expected quantity and the saturation error parameters of the stratosphere airship; calculating a fuzzy system estimated value according to the state quantity; calculating auxiliary output values according to the saturation error parameters; calculating execution control quantity according to the state quantity, the expected quantity, the fuzzy system estimated value and the auxiliary output values, so as to control the airship to move. The application only calculates and controls at the trigger time, reduces the working frequency of the device, and prolongs the airship air residence life.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of trajectory tracking control, in particular to a stratosphere airship trajectory tracking control method, device, system and electronic equipment. BACKGROUND

[0002] The tracking control of unmanned aerial vehicles includes trajectory tracking control and path tracking control, and the two kinds of tracking control are the hot and difficult points of current autonomous flight control research. Among them, the trajectory tracking problem requires the controlled object to converge to a smooth desired time-varying trajectory.

[0003] The self-triggering mechanism is similar to the event-triggering mechanism, and whether the control task is executed is determined by the trigger condition given in advance, instead of being executed according to the time period. The difference between the two is that the event-triggering mechanism needs to continuously monitor the system state and continuously judge whether the trigger condition can be met, so the part of the control system that designs the related state monitoring, condition operation and judgment still needs to work according to the time period; and the self-triggering mechanism can directly calculate the next trigger time according to the current state, and the whole system does not measure, calculate and execute at the next trigger time, avoiding continuous monitoring of the state and continuous calculation of the trigger condition, so more resources can be saved.

[0004] As a kind of long-time hovering aircraft, how to prolong the hovering life of stratosphere aircraft is a research hotspot in recent years. Some existing researches introduce an event-triggering mechanism to prolong the hovering life of stratosphere airships. In the field of single-boat control, some scholars reduce the working frequency of sensors by adding an event-triggering mechanism between the sensor and the controller, but the rest of the system except the sensor still needs continuous calculation and execution; in the field of multi-boat cooperative control, some scholars introduce an event-triggering mechanism to reduce the communication bandwidth between the multi-boat, but for a single stratosphere airship member, the control system still runs according to the time period, so it still needs continuous monitoring of the state and continuous calculation of the trigger condition, so more resources are needed, and the effect of prolonging the hovering life is not very good. SUMMARY

[0005] The purpose of the present application is to provide a stratosphere airship trajectory tracking control method, device, system and electronic equipment, which reduces the working frequency of the device and prolongs the hovering life of the stratosphere airship.

[0006] To achieve the above purpose, the present application provides the following scheme:

[0007] A stratosphere airship trajectory tracking control method, comprising:

[0008] initializing an initial trigger time;

[0009] The system acquires the state variables, saturation error parameters, auxiliary output values, and execution control variables of the stratospheric airship at the current trigger moment. The state variables include position parameters and attitude parameters. The position parameters include three-dimensional coordinates and velocity. The attitude parameters include attitude angle and angular velocity. The saturation error parameters include position control saturation error and attitude control saturation error. The auxiliary output values ​​include position saturation elimination values ​​and attitude saturation elimination values. The execution control variables include position control variables and attitude control variables.

[0010] The next trigger time is determined based on the state variables, saturation error parameters, auxiliary output values, and execution control variables at the current trigger time.

[0011] When the trigger moment is reached, control the flight of the stratospheric airship;

[0012] The process of controlling the flight of the stratospheric airship at any given trigger moment includes:

[0013] Obtain the state variables, expected variables, and saturation error parameters of the stratospheric airship; the expected variables include the expected trajectory and the expected attitude.

[0014] The fuzzy system estimate is calculated based on the state variables; the fuzzy system estimate includes: position estimate and attitude estimate;

[0015] Calculate the auxiliary output value based on the saturation error parameter;

[0016] Calculate the execution control quantity based on the state quantity, the expected quantity, the fuzzy system estimate, and the auxiliary output value;

[0017] The stratospheric airship is controlled to move according to the execution control quantity.

[0018] Optionally, the next triggering time is determined based on the state variables, saturation error parameters, auxiliary output values, and execution control variables at the current triggering time, including:

[0019] Calculate the next trigger time interval based on the state quantity, saturation error parameter, auxiliary output value, and execution control quantity at the current trigger time.

[0020] The next trigger time is obtained by calculating the current trigger time and the next trigger time interval.

[0021] Optionally, the fuzzy system estimate at the current triggering time is calculated based on the state variables at the current triggering time, including:

[0022] Using the basis functions of the fuzzy system, the estimated value of the fuzzy system at the current triggering time is calculated based on the state variables at the current triggering time and the weight matrix at the current triggering time. The weight matrix at the current triggering time is determined based on the weight matrix at the previous triggering time, the expected value at the previous triggering time, and the auxiliary output value at the previous triggering time.

[0023] Optionally, based on the state variable, expected variable, fuzzy system estimate, and auxiliary output value at the current triggering time, the execution control variable at the current triggering time is calculated, including:

[0024] The execution control quantity at the current triggering time is calculated based on the state quantity, expected quantity, fuzzy system estimate, auxiliary output value, and weight matrix at the current triggering time. The weight matrix at the current triggering time is determined based on the weight matrix, expected quantity, and auxiliary output value at the previous triggering time.

[0025] A stratospheric airship trajectory tracking and control device includes: a sensor, a self-triggering mechanism, a fuzzy logic system, an auxiliary design system, a sliding mode backstepping controller, and an actuator;

[0026] The self-triggering mechanism, the fuzzy logic system, and the sliding mode backstepping controller are all connected to the sensor; the auxiliary design system is connected to the actuator; the sliding mode backstepping controller is connected to both the fuzzy logic system and the auxiliary design system; the self-triggering mechanism is connected to both the auxiliary design system and the sliding mode backstepping controller; and the actuator is connected to the body of the stratospheric airship.

[0027] The self-triggering mechanism is used to determine the next triggering time based on the state variables, saturation error parameters, auxiliary output values, and execution control variables at the current triggering time. The state variables include position parameters and attitude parameters. The position parameters include three-dimensional coordinates and velocity. The attitude parameters include attitude angle and angular velocity. The saturation error parameters include position control saturation error and attitude control saturation error. The auxiliary output values ​​include position saturation elimination values ​​and attitude saturation elimination values. The execution control variables include position control variables and attitude control variables.

[0028] At any given trigger moment:

[0029] The sensor is used to acquire the state parameters of the stratospheric airship.

[0030] The fuzzy logic system is used to calculate fuzzy system estimates based on the state variables; the fuzzy system estimates include: position estimates and attitude estimates;

[0031] The auxiliary design system is used to calculate the auxiliary output value based on the saturation error parameter transmitted by the actuator;

[0032] The sliding mode backstepping controller is used to calculate the control quantity to be executed based on the state quantity, the desired quantity, the fuzzy system estimate, and the auxiliary output value;

[0033] The actuator is used to control the movement of the stratospheric airship body according to the execution control quantity.

[0034] A stratospheric airship trajectory tracking control system includes:

[0035] The initialization module is used to initialize the initial trigger time.

[0036] The current trigger moment parameter acquisition module is used to acquire the state variables, saturation error parameters, auxiliary output values, and execution control variables of the stratospheric airship at the current trigger moment. The state variables include position parameters and attitude parameters. The position parameters include three-dimensional coordinates and velocity. The attitude parameters include attitude angle and angular velocity. The saturation error parameters include position control saturation error and attitude control saturation error. The auxiliary output values ​​include position saturation elimination values ​​and attitude saturation elimination values. The execution control variables include position control variables and attitude control variables.

[0037] The next trigger time determination module is used to determine the next trigger time based on the state variables, saturation error parameters, auxiliary output values, and execution control variables at the current trigger time.

[0038] The control module is used to control the flight of the stratospheric airship when a trigger moment is reached;

[0039] The process of controlling the flight of the stratospheric airship at any given trigger moment includes:

[0040] Obtain the state variables, expected variables, and saturation error parameters of the stratospheric airship; the expected variables include the expected trajectory and the expected attitude.

[0041] The fuzzy system estimate is calculated based on the state variables; the fuzzy system estimate includes: position estimate and attitude estimate;

[0042] Calculate the auxiliary output value based on the saturation error parameter;

[0043] Calculate the execution control quantity based on the state quantity, the expected quantity, the fuzzy system estimate, and the auxiliary output value;

[0044] The stratospheric airship is controlled to move according to the execution control quantity.

[0045] An electronic device includes a memory and a processor, wherein the memory stores a computer program and the processor runs the computer program to enable the electronic device to perform the stratospheric airship trajectory tracking and control method described above.

[0046] Optionally, the memory is a readable storage medium.

[0047] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0048] This invention discloses a method, device, system, and electronic equipment for stratospheric airship trajectory tracking control. Compared with existing stratospheric airship trajectory tracking control technologies, it calculates auxiliary output values, improving actuator saturation issues; calculates fuzzy system estimates, enabling the stratospheric airship to still track the desired trajectory under the influence of external disturbances; and determines the next trigger time based on the state variables, saturation error parameters, auxiliary output values, and execution control variables at the current trigger time, performing calculations and control only at the trigger time, thus reducing the operating frequency of the devices and extending the stratospheric airship's stationary life. Attached Figure Description

[0049] 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.

[0050] Figure 1 This is a schematic flowchart of the stratospheric airship trajectory tracking and control method provided in Embodiment 1 of the present invention;

[0051] Figure 2 This is a schematic diagram of the usage process of the stratospheric airship trajectory tracking and control device provided in Embodiment 2 of the present invention. Detailed Implementation

[0052] 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.

[0053] The purpose of this invention is to provide a method, device, system and electronic equipment for tracking and controlling the trajectory of a stratospheric airship, with the aim of reducing the operating frequency of the device and extending the stationary life of the stratospheric airship.

[0054] 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.

[0055] Example 1

[0056] Figure 1 This is a schematic flowchart of the stratospheric airship trajectory tracking and control method provided in Embodiment 1 of the present invention. Figure 1 As shown, the stratospheric airship trajectory tracking and control method in this embodiment includes:

[0057] Step 101: Initialize the initial trigger time.

[0058] Step 102: Obtain the state variables, saturation error parameters, auxiliary output values, and execution control variables of the stratospheric airship at the current trigger moment.

[0059] Among them, the state variables include position parameters and attitude parameters. Position parameters include three-dimensional coordinates and velocity. Attitude parameters include attitude angle and angular velocity. Saturation error parameters include position control saturation error and attitude control saturation error. Auxiliary output values ​​include position saturation elimination value and attitude saturation elimination value. Execution control variables include position control variables and attitude control variables.

[0060] The dynamics model of a stratospheric airship includes: a position dynamics model and an attitude dynamics model.

[0061] The position dynamics model is as follows:

[0062]

[0063] in, Let p be the derivative of p with respect to time, where p is the three-dimensional coordinate of the stratospheric airship acquired by the sensor, and p = [x, y, z]. T x is the x-axis coordinate of the stratospheric airship, y is the y-axis coordinate of the stratospheric airship, z is the z-axis coordinate of the stratospheric airship, T is the transpose; K is the coordinate transformation matrix for converting the stratospheric airship velocity in the body axis to the Earth axis. Let u be the derivative of u with respect to time, where u is the projection of the stratospheric airship's velocity acquired by the sensor onto the body axis, and u = [u x ,u y ,u z ] T u x u is the projection of the velocity onto the x-axis. y u is the projection of the velocity onto the y-axis. z F is the projection of the velocity onto the z-axis; v B represents the aerodynamic forces acting on a stratospheric airship. 11 τ is the inverse of the mass matrix of a stratospheric airship; v0 Δτ is the position control variable. v The position control error caused by actuator saturation, i.e., position control saturation error; δ vThe position uncertainty term, i.e., the position estimate, is composed of the control coupling term and the unknown external disturbance. In this invention, the 'v' in the subscript of each variable indicates that the variable is a variable in the position dynamics model or position control.

[0064] The attitude dynamics model is as follows:

[0065]

[0066] in, Let θ be the derivative of Θ with respect to time, where Θ is the attitude angle of the stratospheric airship acquired by the sensor, and Θ = [φ, θ, ψ]. T φ is the roll angle of the stratospheric airship, θ is the pitch angle of the stratospheric airship, and ψ is the yaw angle of the stratospheric airship; R is the transformation matrix that converts the angular velocity of the stratospheric airship from the body axis to the ground axis. Let Ω be the derivative of Ω, where Ω is the projection of the stratospheric airship's angular velocity acquired by the sensor onto the body axis, and Ω = [Ω]. x ,Ω y ,Ω z ] T Ω x Ω is the projection of the angular velocity onto the x-axis. y Ω is the projection of the angular velocity onto the y-axis. z F is the projection of the angular velocity onto the z-axis; ω B represents the aerodynamic torque experienced by the stratospheric airship. 22 τ is the inverse of the inertia matrix of a stratospheric airship; ω0 For attitude control; Δτ ω The attitude control error caused by actuator saturation, i.e., attitude control saturation error; δ ω The attitude uncertainty consists of control coupling and unknown external disturbances, i.e., the attitude estimate; in this invention, w in the subscript of each variable indicates that the variable is a variable in the attitude dynamics model or attitude control.

[0067] Step 103: Determine the next trigger time based on the state variables, saturation error parameters, auxiliary output values, and execution control variables at the current trigger time.

[0068] As an optional implementation, step 103 includes:

[0069] The next trigger time interval is calculated based on the state variables, saturation error parameters, auxiliary output values, and execution control variables at the current trigger time.

[0070] Calculate the current trigger time and the next trigger time interval to obtain the next trigger time.

[0071] Step 104: When the trigger moment is reached, control the stratospheric airship to fly.

[0072] The process of controlling the flight of a stratospheric airship at any given trigger moment includes:

[0073] Obtain the state variables, expected variables, and saturation error parameters of the stratospheric airship; the expected variables include the expected trajectory and the expected attitude.

[0074] Specifically, a certain trajectory point p in the desired trajectory. c The expression is:

[0075] p c =[x c ,y c ,z c ] T .

[0076] Where, x c Let x be the x-coordinate of the trajectory point, and y be the y-coordinate of the trajectory point. c Let z be the y-coordinate of the trajectory point, z be the z-coordinate of the trajectory point. c The z-axis coordinate of the trajectory point.

[0077] The desired attitude Θ corresponding to the trajectory points in the desired trajectory c The expression is:

[0078] Θ c =[φ c ,θ c ,ψ c ] T .

[0079] Where, φ c For the desired roll angle, θ c For the desired pitch angle, ψ c This is the desired yaw angle.

[0080] And φ c =0, For z c The derivative; For x c The derivative; For y c The derivative of .

[0081] The fuzzy system estimates are calculated based on the state variables; the fuzzy system estimates include position estimates and attitude estimates.

[0082] The auxiliary output value is calculated based on the saturation error parameter.

[0083] Calculate the execution control quantity based on the state quantity, expected quantity, fuzzy system estimate, and auxiliary output value.

[0084] The movement of the stratospheric airship is controlled according to the control quantity executed.

[0085] As an optional implementation, the fuzzy system estimate at the current triggering time is calculated based on the state variables at the current triggering time, including:

[0086] Using the basis functions of the fuzzy system, the estimated value of the fuzzy system at the current triggering time is calculated based on the state variables at the current triggering time and the weight matrix at the current triggering time. The weight matrix at the current triggering time is determined based on the weight matrix at the previous triggering time, the expected value at the previous triggering time, and the auxiliary output value at the previous triggering time.

[0087] As an optional implementation, the execution control quantity at the current triggering time is calculated based on the state quantity, expected quantity, fuzzy system estimate, and auxiliary output value at the current triggering time, including:

[0088] The execution control quantity at the current triggering time is calculated based on the state quantity, expected quantity, fuzzy system estimate, auxiliary output value, and weight matrix at the current triggering time. The weight matrix at the current triggering time is determined based on the weight matrix, expected quantity, and auxiliary output value at the previous triggering time.

[0089] Example 2

[0090] Figure 2 This is a schematic diagram illustrating the usage process of the stratospheric airship trajectory tracking and control device provided in Embodiment 2 of the present invention. Figure 2 As shown, in order to implement the method in Embodiment 1, this embodiment provides a stratospheric airship trajectory tracking control device, including: a sensor, a self-triggering mechanism, a fuzzy logic system, an auxiliary design system, a sliding mode backstepping controller, and an actuator.

[0091] The self-triggering mechanism, fuzzy logic system, and sliding mode backstepping controller are all connected to the sensor. The auxiliary design system is connected to the actuator. The sliding mode backstepping controller is connected to both the fuzzy logic system and the auxiliary design system. The self-triggering mechanism is connected to both the auxiliary design system and the sliding mode backstepping controller. The actuator is connected to the body of the stratospheric airship.

[0092] The self-triggering mechanism is used to determine the next triggering time based on the state variables, saturation error parameters, auxiliary output values, and execution control variables at the current triggering time. The state variables include position parameters and attitude parameters. The position parameters include three-dimensional coordinates and velocity. The attitude parameters include attitude angle and angular velocity. The saturation error parameters include position control saturation error and attitude control saturation error. The auxiliary output values ​​include position saturation elimination values ​​and attitude saturation elimination values. The execution control variables include position control variables and attitude control variables.

[0093] Specifically, the self-triggering mechanism obtains the t-th... kThe state variables at the trigger moment, the auxiliary output values ​​from the auxiliary design system, and the execution control variables from the sliding mode backstepping controller are used to calculate the next trigger moment. The specific calculation formulas in each step include:

[0094]

[0095] in, For the tth k The trigger time is the time interval for the next trigger calculated based on position dynamics and position control. For the tth k The trigger time is the time interval between the next trigger calculated based on attitude dynamics and attitude control; γ is an adjustable parameter, γ > 0; B v,0 For the generalized mass of a stratospheric airship, B v,0 =KB 11 ;λ max (·) represents the largest real eigenvalue of the matrix; The position control quantity τ to satisfy the local Lipsitz condition v In the time interval t∈(t k ,t k+1 The Lipsitz constant within ); κ is an adjustable parameter, κ > 0; B ω,0 For the generalized inertia of a stratospheric airship, B ω,0 =RB 22 ; The position control quantity τ to satisfy the local Lipsitz condition ω In the time interval t∈(t k ,t k+1 The Lipsitz constant within )

[0096] For the tth k x at the trigger time v , ρ v For the output value of the position control auxiliary design system (i.e., the position control saturation error), p e For position tracking error, For p c The derivative of for The derivative; For the tth k x at the trigger time ω , ρ ω For the output value of the attitude control auxiliary design system (i.e., attitude control saturation error), Θ e For attitude tracking error, For Θ c The derivative of for The derivative of .

[0097] L max,v L max,ω , and These are all intermediate quantities introduced to simplify the formula.

[0098]

[0099]

[0100] Among them, ||·|| F Let be the F-norm of the matrix; ||·|| be the 2-norm of the matrix; k2 is an adjustable positional 3x3 positive definite diagonal matrix, k ρv For an adjustable positional third-order positive definite diagonal matrix, k v It is an adjustable positional third-order positive definite diagonal matrix; I 3×3 k1 is a 3rd-order identity matrix; k2 is an adjustable attitude 3rd-order positive definite diagonal matrix. To construct an adjustable attitude, a third-order positive definite diagonal matrix is ​​used, k ω A third-order positive definite diagonal matrix with adjustable attitude; Δτ v For position control saturation error; Δτ ω This refers to the attitude control saturation error. The maximum value of the modulus of the third derivative of the desired trajectory; It is the maximum value of the modulus of the third derivative of the desired attitude.

[0101] Trigger interval Therefore, the next system trigger time can be obtained as: t k+1 =t k +C total k = {0, 1, 2, ...}, where t k t is the current trigger time. k+1 This is the next trigger time. The next trigger time is then output to various parts of the device.

[0102] e v and e ω These are the generalized position tracking error and attitude tracking error, respectively, and are specifically defined as follows:

[0103] Among them, s v and s ω These are the position control sliding surface and the attitude control sliding surface, respectively, and their specific definitions are as follows:

[0104] Where, p e =pp cFor position tracking error; Θ e =Θ-Θ c This refers to attitude tracking error; For p e The derivative; For Θ e The derivative of .

[0105] At any given trigger moment:

[0106] The sensor is used to acquire the state variables of the stratospheric airship.

[0107] Fuzzy logic systems are used to calculate fuzzy system estimates based on state variables; fuzzy system estimates include position estimates and attitude estimates.

[0108] Specifically, the fuzzy logic system (adaptive fuzzy logic system) calculates the fuzzy system estimate based on the state variables transmitted by the sensors and the triggering time transmitted by the self-triggering mechanism, and then transmits the fuzzy system estimate to the sliding mode backstepping controller and the self-triggering mechanism:

[0109] The adaptive fuzzy logic system is:

[0110]

[0111] in, This refers to the estimates of unmodeled dynamics and unknown disturbances in the location model, i.e., the location estimates. This is the estimate of the unmodeled dynamics and unknown disturbances in the attitude model, i.e., the attitude estimate; and These are the weight matrices for the position model estimate and the attitude model estimate in the fuzzy logic system, respectively, and their calculation methods are as follows:

[0112]

[0113] in, For the tth k+1 The weight matrix of the position model estimate at time step; For the tth k+1 The weight matrix of the pose model estimate at time step; For the tth k The weight matrix of the position model estimate at time step; For the tth k The weight matrix of the pose model estimate at time step; For the tth k e of time v The derivative of; e v (t k ) is the t-th k e of time v ; For the tth k e of time ω The derivative of; e ω (t k ) is the t-th k e of time ω a1, a2, b1, and b2 are controller parameters that satisfy: Where N is the number of fuzzy rules for the basis functions of the fuzzy logic system.

[0114] φ v (·) and φ ω (·) represent the basis functions of the fuzzy logic system in the position model estimate and the attitude model estimate, respectively, and are defined as follows:

[0115]

[0116] Where, φ v,i (x v,i ) is φ v (x v The i-th value of φ v (x v ) is a third-order vector; φ ω,i (x ω,i ) is φ ω (x ω The i-th value of φ ω (x ω ) is a third-order vector; and Let be the Gaussian fuzzy set functions for the position fuzzy logic system and the attitude fuzzy logic system, respectively. These are two matrix functions. The following six expressions explain the elements within the matrix functions, where the element in the i-th row and j-th position is defined as follows:

[0117]

[0118] Among them, for In other words, represents the row of the matrix, and j represents the column of the matrix. j = 1, 2, ..., N; for The j-th element; for The j-th element; for The j-th element; for The j-th element; for The j-th element; for The j-th element; and The center point of the Gaussian fuzzy set function; η j Let η be the j-th element of η, where η is the width of the Gaussian fuzzy set function.

[0119] The auxiliary design system is used to calculate auxiliary output values ​​based on the saturation error parameters transmitted by the actuator.

[0120] Specifically, the auxiliary design system is as follows:

[0121] Where, ρ ω and ρ v These are the position saturation elimination value and the attitude saturation elimination value, respectively. For ρ v The derivative; For ρ ω The derivative of .

[0122] The sliding mode backstepping controller is used to calculate the control quantity to be executed based on the state quantity, the desired quantity, the fuzzy system estimate, and the auxiliary output value.

[0123] Specifically, the sliding mode backstepping controller is:

[0124]

[0125] The actuator is used to control the movement of the stratospheric airship according to the control input.

[0126] Example 3

[0127] The stratospheric airship trajectory tracking control system in this embodiment includes:

[0128] The initialization module is used to initialize the initial trigger time.

[0129] The current trigger moment parameter acquisition module is used to acquire the state variables, saturation error parameters, auxiliary output values, and execution control variables of the stratospheric airship at the current trigger moment. The state variables include position parameters and attitude parameters. The position parameters include three-dimensional coordinates and velocity. The attitude parameters include attitude angle and angular velocity. The saturation error parameters include position control saturation error and attitude control saturation error. The auxiliary output values ​​include position saturation elimination value and attitude saturation elimination value. The execution control variables include position control variable and attitude control variable.

[0130] The next trigger time determination module is used to determine the next trigger time based on the state variables, saturation error parameters, auxiliary output values, and execution control variables at the current trigger time.

[0131] The control module is used to control the flight of the stratospheric airship when a trigger moment occurs.

[0132] The process of controlling the flight of a stratospheric airship at any given trigger moment includes:

[0133] Obtain the state variables, expected variables, and saturation error parameters of the stratospheric airship; the expected variables include the expected trajectory and the expected attitude.

[0134] The fuzzy system estimates are calculated based on the state variables; the fuzzy system estimates include position estimates and attitude estimates.

[0135] The auxiliary output value is calculated based on the saturation error parameter.

[0136] Calculate the execution control quantity based on the state quantity, expected quantity, fuzzy system estimate, and auxiliary output value.

[0137] The movement of the stratospheric airship is controlled according to the control quantity executed.

[0138] Example 4

[0139] An electronic device includes a memory and a processor. The memory stores a computer program, and the processor runs the computer program to enable the electronic device to perform the above-described stratospheric airship trajectory tracking control method.

[0140] As an optional implementation, the memory is a readable storage medium.

[0141] 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.

[0142] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for tracking and controlling the trajectory of a stratospheric airship, characterized in that, The method includes: Initialize the initial trigger time; The system acquires the state variables, saturation error parameters, auxiliary output values, and execution control variables of the stratospheric airship at the current trigger moment. The state variables include position parameters and attitude parameters. The position parameters include three-dimensional coordinates and velocity. The attitude parameters include attitude angle and angular velocity. The saturation error parameters include position control saturation error and attitude control saturation error. The auxiliary output values ​​include position saturation elimination values ​​and attitude saturation elimination values. The execution control variables include position control variables and attitude control variables. The next trigger time is determined based on the state variables, saturation error parameters, auxiliary output values, and execution control variables at the current trigger time. The next trigger time is: ; ； in, The current trigger time, For the next triggering time, For trigger interval, In order to be in The time interval for the next trigger is calculated based on position dynamics and position control. In order to be in The time interval for the next trigger is calculated based on attitude dynamics and attitude control. When the trigger moment is reached, control the flight of the stratospheric airship; The process of controlling the flight of the stratospheric airship at any given trigger moment includes: Obtain the state variables, expected variables, and saturation error parameters of the stratospheric airship; the expected variables include the expected trajectory and the expected attitude. The fuzzy system estimate is calculated based on the state variables; the fuzzy system estimate includes: position estimate and attitude estimate; Calculate the auxiliary output value based on the saturation error parameter; The execution control quantity is calculated based on the state quantity, the expected quantity, the fuzzy system estimate, and the auxiliary output value; the expression is: ； in, For position control; , For generalized position tracking error, To control the saturation error in position control, For position tracking error, For a certain trajectory point in the desired trajectory, for The derivative of for The derivative; This is the inverse of the mass matrix of a stratospheric airship; The aerodynamic forces acting on a stratospheric airship; For transpose; This is the weight matrix for the position model estimate in the fuzzy logic system; These are the basis functions of the fuzzy logic system in the location model estimation. The coordinate transformation matrix for converting the stratospheric airship velocity in the body axis system to the Earth axis system; for The derivative; The three-dimensional coordinates of the stratospheric airship acquired by the sensor; , and All are adjustable positional third-order positive definite diagonal matrices; This is the value for eliminating positional state saturation; For attitude control; , For generalized attitude tracking error, For attitude control saturation error, For attitude tracking error, The desired pose corresponding to the trajectory points in the desired trajectory. for The derivative of for The derivative; It is the inverse of the inertia matrix of a stratospheric airship; This refers to the aerodynamic torque experienced by the stratospheric airship; This is the weight matrix for the attitude model estimate in the fuzzy logic system. These are the basis functions of the fuzzy logic system in the attitude model estimation. The transformation matrix for converting the angular velocity of a stratospheric airship from the body axis to the ground axis; for The derivative; The projection of the angular velocity of the stratospheric airship acquired by the sensor onto the body axis; , and All are adjustable attitude third-order positive definite diagonal matrices; This is the attitude saturation elimination value; The stratospheric airship is controlled to move according to the execution control quantity.

2. The stratospheric airship trajectory tracking and control method according to claim 1, characterized in that, Based on the state variables, saturation error parameters, auxiliary output values, and execution control variables at the current trigger moment, determine the next trigger moment, including: Calculate the next trigger time interval based on the state quantity, saturation error parameter, auxiliary output value, and execution control quantity at the current trigger time. The next trigger time is obtained by calculating the current trigger time and the next trigger time interval.

3. The stratospheric airship trajectory tracking and control method according to claim 1, characterized in that, Calculate the fuzzy system estimate at the current trigger time based on the state variables at the current trigger time, including: Using the basis functions of the fuzzy system, the estimated value of the fuzzy system at the current triggering time is calculated based on the state variables at the current triggering time and the weight matrix at the current triggering time. The weight matrix at the current triggering time is determined based on the weight matrix at the previous triggering time, the expected value at the previous triggering time, and the auxiliary output value at the previous triggering time.

4. The stratospheric airship trajectory tracking and control method according to claim 1, characterized in that, Based on the state variables, expected variables, fuzzy system estimates, and auxiliary output values ​​at the current trigger moment, calculate the execution control variables at the current trigger moment, including: The execution control quantity at the current triggering time is calculated based on the state quantity, expected quantity, fuzzy system estimate, auxiliary output value, and weight matrix at the current triggering time. The weight matrix at the current triggering time is determined based on the weight matrix, expected quantity, and auxiliary output value at the previous triggering time.

5. A stratospheric airship trajectory tracking and control device, characterized in that, The device includes: a sensor, a self-triggering mechanism, a fuzzy logic system, an auxiliary design system, a sliding mode backstepping controller, and an actuator; The self-triggering mechanism, the fuzzy logic system, and the sliding mode backstepping controller are all connected to the sensor; the auxiliary design system is connected to the actuator; the sliding mode backstepping controller is connected to both the fuzzy logic system and the auxiliary design system; the self-triggering mechanism is connected to both the auxiliary design system and the sliding mode backstepping controller; and the actuator is connected to the body of the stratospheric airship. The self-triggering mechanism is used to determine the next triggering time based on the state variables, saturation error parameters, auxiliary output values, and execution control variables at the current triggering time. The state variables include position parameters and attitude parameters. The position parameters include three-dimensional coordinates and velocity. The attitude parameters include attitude angle and angular velocity. The saturation error parameters include position control saturation error and attitude control saturation error. The auxiliary output values ​​include position saturation elimination values ​​and attitude saturation elimination values. The execution control variables include position control variables and attitude control variables. The next trigger time is: ; ； in, The current trigger time, For the next triggering time, For trigger interval, In order to be in The time interval for the next trigger is calculated based on position dynamics and position control. In order to be in The time interval for the next trigger is calculated based on attitude dynamics and attitude control. At any given trigger moment: The sensor is used to acquire the state parameters of the stratospheric airship. The fuzzy logic system is used to calculate fuzzy system estimates based on the state variables; the fuzzy system estimates include: position estimates and attitude estimates; The auxiliary design system is used to calculate the auxiliary output value based on the saturation error parameter transmitted by the actuator; The sliding mode backstepping controller is used to calculate the control quantity to be executed based on the state quantity, the desired quantity, the fuzzy system estimate, and the auxiliary output value; the expression is: ； in, For position control; , For generalized position tracking error, To control the saturation error in position control, For position tracking error, For a certain trajectory point in the desired trajectory, for The derivative, for The derivative; This is the inverse of the mass matrix of a stratospheric airship; The aerodynamic forces acting on a stratospheric airship; For transpose; This is the weight matrix for the position model estimate in the fuzzy logic system; These are the basis functions of the fuzzy logic system in the location model estimation. The coordinate transformation matrix for converting the stratospheric airship velocity in the body axis system to the Earth axis system; for The derivative; The three-dimensional coordinates of the stratospheric airship acquired by the sensor; , and All are adjustable positional third-order positive definite diagonal matrices; This is the value for eliminating positional state saturation; For attitude control; , For generalized attitude tracking error, For attitude control saturation error, For attitude tracking error, The desired pose corresponding to the trajectory points in the desired trajectory. for The derivative, for The derivative; It is the inverse of the inertia matrix of a stratospheric airship; This refers to the aerodynamic torque experienced by the stratospheric airship; This is the weight matrix for the attitude model estimate in the fuzzy logic system. These are the basis functions of the fuzzy logic system in the attitude model estimation. The transformation matrix for converting the angular velocity of a stratospheric airship from the body axis to the ground axis; for The derivative; The projection of the angular velocity of the stratospheric airship acquired by the sensor onto the body axis; , and All are adjustable attitude third-order positive definite diagonal matrices; This is the attitude saturation elimination value; The actuator is used to control the movement of the stratospheric airship body according to the execution control quantity.

6. A stratospheric airship trajectory tracking control system, characterized in that, The system includes: The initialization module is used to initialize the initial trigger time. The current trigger moment parameter acquisition module is used to acquire the state variables, saturation error parameters, auxiliary output values, and execution control variables of the stratospheric airship at the current trigger moment. The state variables include position parameters and attitude parameters. The position parameters include three-dimensional coordinates and velocity. The attitude parameters include attitude angle and angular velocity. The saturation error parameters include position control saturation error and attitude control saturation error. The auxiliary output values ​​include position saturation elimination values ​​and attitude saturation elimination values. The execution control variables include position control variables and attitude control variables. The next trigger time determination module is used to determine the next trigger time based on the state variables, saturation error parameters, auxiliary output values, and execution control variables at the current trigger time. The next trigger time is: ; ； in, The current trigger time, For the next triggering time, For trigger interval, In order to be in The time interval for the next trigger is calculated based on position dynamics and position control. In order to be in The time interval for the next trigger is calculated based on attitude dynamics and attitude control. The control module is used to control the flight of the stratospheric airship when a trigger moment is reached; The process of controlling the flight of the stratospheric airship at any given trigger moment includes: Obtain the state variables, expected variables, and saturation error parameters of the stratospheric airship; the expected variables include the expected trajectory and the expected attitude. The fuzzy system estimate is calculated based on the state variables; the fuzzy system estimate includes: position estimate and attitude estimate; Calculate the auxiliary output value based on the saturation error parameter; The execution control quantity is calculated based on the state quantity, the expected quantity, the fuzzy system estimate, and the auxiliary output value; the expression is: ； in, For position control; , For generalized position tracking error, To control the saturation error in position control, For position tracking error, For a certain trajectory point in the desired trajectory, for The derivative of for The derivative; This is the inverse of the mass matrix of a stratospheric airship; The aerodynamic forces acting on a stratospheric airship; For transpose; This is the weight matrix for the position model estimate in the fuzzy logic system; These are the basis functions of the fuzzy logic system in the location model estimation. The coordinate transformation matrix for converting the stratospheric airship velocity in the body axis system to the Earth axis system; for The derivative; The three-dimensional coordinates of the stratospheric airship acquired by the sensor; , and All are adjustable positional third-order positive definite diagonal matrices; This is the value for eliminating positional state saturation; For attitude control; , For generalized attitude tracking error, For attitude control saturation error, For attitude tracking error, The desired pose corresponding to the trajectory points in the desired trajectory. for The derivative of for The derivative; It is the inverse of the inertia matrix of a stratospheric airship; This refers to the aerodynamic torque experienced by the stratospheric airship; This is the weight matrix for the attitude model estimate in the fuzzy logic system. These are the basis functions of the fuzzy logic system in the attitude model estimation. The transformation matrix for converting the angular velocity of a stratospheric airship from the body axis to the ground axis; for The derivative; The projection of the angular velocity of the stratospheric airship acquired by the sensor onto the body axis; , and All are adjustable attitude third-order positive definite diagonal matrices; This is the attitude saturation elimination value; The stratospheric airship is controlled to move according to the execution control quantity.

7. An electronic device, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program and the processor runs the computer program to enable the electronic device to perform the stratospheric airship trajectory tracking and control method according to any one of claims 1 to 4.

8. An electronic device according to claim 7, characterized in that, The memory is a readable storage medium.

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