Active fault-tolerant control method and device for hypersonic vehicle

Abstract

The application provides a kind of active fault-tolerant control method and device of hypersonic vehicle, it is related to the technical field of active fault-tolerant of hypersonic vehicle, first, the desired attitude angle and attitude output data of hypersonic vehicle are processed using fractional order active disturbance rejection attitude controller, the desired pseudo control moment of heterogeneous actuator is obtained, then the improved sparrow algorithm is used for optimization under the constraint of preset maximum control moment, the target control moment of heterogeneous actuator is obtained;Finally, the actual rudder deflection angle of aerodynamic rudder and the variable thrust of RCS thruster in the heterogeneous actuator are determined by combining the preset heterogeneous actuator model, so as to realize the active fault-tolerant control of hypersonic vehicle.The application is an active fault-tolerant control based on improved sparrow algorithm, which has fast optimal convergence ability, is suitable for fast optimization of optimal control allocation set, and can effectively alleviate the technical problem of poor real-time performance existing in existing active fault-tolerant method.

Description

Technical Field

[0001] This invention relates to the technical field of active fault tolerance for hypersonic vehicles, and in particular to an active fault tolerance control method and apparatus for hypersonic vehicles. Background Technology

[0002] Unlike conventional aircraft and spacecraft, hypersonic vehicles, due to their transspace flight requirements, integrate orbit control engine systems, attitude control engine systems, reaction control systems (RCS), and aerodynamic rudder drive servo mechanisms. During reentry and return, the hypersonic vehicle's attitude control system performs direct force / aerodynamic composite attitude control through heterogeneous actuators composed of the RCS and aerodynamic rudders. With this heterogeneous actuator redundancy configuration, the core control strategy reconfiguration for active fault-tolerant control includes attitude tracking control and control allocation. To simplify controller design and improve the stability of the attitude control system, the attitude control algorithm and control allocation algorithm are typically designed separately.

[0003] Heuristic algorithms, due to their rapid optimization capabilities, are applied to solving control assignment problems, such as genetic algorithms, distribution estimation methods, and cuckoo search algorithms. Among them, the distribution estimation method is an evolutionary algorithm based on a probabilistic model. It describes the macroscopic evolutionary trend of the entire population by modeling the entire population and has a relatively fast convergence speed, and has been successfully applied to satellite on-orbit attitude control. However, the distribution estimation method and its improved algorithms suffer from poor real-time performance when solving the dynamic control assignment problem of hypersonic vehicles because the binary mutation mechanism increases the time and space complexity of the probabilistic model learning as the optimization objective becomes more complex. Summary of the Invention

[0004] The purpose of this invention is to provide an active fault-tolerant control method and apparatus for hypersonic vehicles, so as to alleviate the technical problem of poor real-time performance in existing active fault-tolerant methods for hypersonic vehicles.

[0005] In a first aspect, the present invention provides an active fault-tolerant control method for a hypersonic vehicle, comprising: acquiring the desired attitude angle and attitude output data of the hypersonic vehicle; processing the desired attitude angle and the attitude output data using a fractional-order active disturbance rejection attitude controller to obtain the desired pseudo-control torque of a heterogeneous actuator used for attitude control of the hypersonic vehicle; optimizing the heterogeneous actuator under a preset maximum control torque constraint based on an improved sparrow algorithm to obtain the target control torque of the heterogeneous actuator; wherein, in the improved sparrow algorithm, each sparrow represents an optional control torque, and the closer the optional control torque is to the desired pseudo-control torque, the smaller the fitness function value of the sparrow; determining the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster in the heterogeneous actuator based on the target control torque of the heterogeneous actuator and a preset heterogeneous actuator model; and performing active fault-tolerant control on the hypersonic vehicle based on the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster.

[0006] In an optional implementation, the target control torque of the heterogeneous actuator is obtained by optimizing the sparrow algorithm under a preset maximum control torque constraint, including: randomly initializing a sparrow population under the preset maximum control torque constraint, and determining the proportions of discoverers, followers, and vigilants in the sparrow population; wherein the sum of the discoverer proportion and the follower proportion is 1; repeating the following steps until the minimum fitness function value in the sparrow population is not greater than a preset threshold, or a preset number of iterations is reached: calculating the fitness function value of each sparrow individual in the sparrow population; sorting the fitness function values ​​to determine the discoverers and followers in the sparrow population based on the sorting results; based on The guard ratio is randomly assigned within the sparrow population. If the random alert value exceeds a preset safety value, the positions of all sparrows in the population are updated to obtain an updated sparrow population. A specified number of sparrows are selected with replacement from the updated sparrow population. The target sparrow with the smallest fitness function value among the specified number of sparrows undergoes a Levy flight mutation to obtain a mutated sparrow. The fitness function value of the mutated sparrow is calculated to obtain the mutated fitness function value. The position corresponding to the smallest fitness function value between the mutated fitness function value and the fitness function values ​​of the specified number of sparrows is taken as the position of the target sparrow.

[0007] In an optional implementation, determining the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster in the aerodynamic actuator based on the target control torque of the aerodynamic actuator and a preset aerodynamic actuator model includes: determining the lever arm matrix of the RCS thruster and the fitted rudder effect matrix of the aerodynamic rudder based on the preset aerodynamic actuator model; calculating the variable thrust of the RCS thruster based on the lever arm matrix of the RCS thruster and the target control torque; and calculating the actual deflection angle of the aerodynamic rudder based on the fitted rudder effect matrix of the aerodynamic rudder and the target control torque.

[0008] In an optional implementation, the fitness function of the individual sparrow is expressed as: Where, m des Let W1 represent the desired pseudo-control torque, W1 represent the effective factor matrix of the heterogeneous actuator, and L represent the desired pseudo-control torque. mu Let B represent the mounting matrix of the heterogeneous actuator, u(t) represent the control torque of the heterogeneous actuator, and B represent the mounting matrix of the heterogeneous actuator. e Let I represent the additive fault increment matrix, T represent the rotational inertia matrix, and T represent the control allocation period. Represents the joint weight matrix. Represents the direct air mixing factor of the j-th actuator, j = 1, 2, ..., 11; a i and b i q represents a positive integer. a q represents the atmospheric dynamic pressure value. ac Indicates switching dynamic pressure value; This represents the multiplicative fault severity factor of the j-th actuator.

[0009] In an optional implementation, in the event of a target failure in the hypersonic vehicle, the multiplicative failure severity factor of the j-th actuator... The target faults include one of the following: RCS constant value deviation fault, RCS thrust reduction fault, aerodynamic rudder center position offset fault, and aerodynamic rudder efficiency loss fault; K i e represents the adjustable weighting coefficient. j E represents the efficiency of the j-th executor. j =1-k j k j This represents the failure rate of the j-th actuator; in the case of aerodynamic rudder jamming in a hypersonic vehicle, it is the multiplicative failure severity factor of the j-th actuator.

[0010] In an optional implementation, the additive fault increment matrix is ​​represented as: in, Let represent a 1×m dimensional matrix with all elements n, where l represents the distance between the thrust F and the center of mass in the xoy plane, d represents the perpendicular distance of the thrust F from the center of mass, and b represents the distance between the thrust F and the center of mass. α Indicates the pitch channel fitting rudder effect, b β This indicates the rudder effect fitted to the yaw channel. This indicates the rudder effect fitted to the roll channel; This indicates the normal thrust state of the RCS thruster. This indicates the normal deflection angle of the aerodynamic rudder, n. f Indicates the time t when the fault occurs. f The corresponding serial number.

[0011] In an optional implementation, the installation matrix of the heterogeneous actuator is represented as follows: in, l represents the distance between the thrust F and the center of mass in the xoy plane, d represents the perpendicular distance between the thrust F and the center of mass, and θ represents the angle between the thrust generated by the thruster and the y-axis in the yoz plane.

[0012] Secondly, the present invention provides an active fault-tolerant control device for a hypersonic vehicle, comprising: an acquisition module for acquiring the desired attitude angle and attitude output data of the hypersonic vehicle; a processing module for processing the desired attitude angle and the attitude output data using a fractional-order active disturbance rejection attitude controller to obtain the desired pseudo-control torque of a heterogeneous actuator used for attitude control of the hypersonic vehicle; and an optimization module for performing optimization based on an improved sparrow algorithm under a preset maximum control torque constraint to obtain the target control force of the heterogeneous actuator. The improved sparrow algorithm defines a control torque; where each sparrow represents a selectable control torque, and the closer the selectable control torque is to the desired pseudo-control torque, the smaller the fitness function value of the sparrow. A determination module is used to determine the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster in the heterogeneous actuator based on the target control torque of the aerodynamic actuator and a preset heterogeneous actuator model. A fault-tolerant control module is used to perform active fault-tolerant control on the hypersonic vehicle based on the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster.

[0013] Thirdly, the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and the processor executes the computer program to implement the steps of the active fault-tolerant control method for hypersonic vehicles as described in any of the foregoing embodiments.

[0014] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions, which, when executed by a processor, implement the active fault-tolerant control method for hypersonic vehicles described in any of the foregoing embodiments.

[0015] The active fault-tolerant control method for hypersonic vehicles provided by this invention first processes the desired attitude angles and attitude output data of the hypersonic vehicle using a fractional-order active disturbance rejection attitude controller to obtain the desired pseudo-control torque of the heterogeneous actuator. Then, based on an improved sparrow algorithm, optimization is performed under a preset maximum control torque constraint to obtain the target control torque of the heterogeneous actuator. Finally, combined with a preset heterogeneous actuator model, the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster in the heterogeneous actuator are determined, thereby achieving active fault-tolerant control of the hypersonic vehicle. This invention is an active fault-tolerant control based on an improved sparrow algorithm. The sparrow algorithm has a discovery-follow mechanism and fast optimal convergence capability, making it suitable for rapid optimization of the optimal control allocation set. Therefore, the method of this invention can effectively alleviate the technical problem of poor real-time performance in existing active fault-tolerant methods. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of an RCS system configuration provided in an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram illustrating RCS thruster switching command modulation via pulse width-frequency modulation, provided as an embodiment of the present invention.

[0019] Figure 3 A flowchart of an active fault-tolerant control method for a hypersonic vehicle provided in an embodiment of the present invention;

[0020] Figure 4 A system block diagram of a fractional-order active disturbance rejection attitude control system provided in an embodiment of the present invention;

[0021] Figure 5 A schematic diagram of the angle-of-attack attitude tracking curve after the RCS thruster experiences a thrust reduction fault with k=0.5;

[0022] Figure 6A schematic diagram of the angle-of-attack attitude tracking curve after the RCS thruster experiences a constant value deviation fault of Δ = 500 N;

[0023] Figure 7 A schematic diagram of the angle-of-attack attitude tracking curve after the elevator experiences an efficiency loss fault with k=0.5;

[0024] Figure 8 A schematic diagram of the angle-of-attack attitude tracking curve after the elevator experiences a thrust reduction fault of Δ = 5°;

[0025] Figure 9 This is a schematic diagram of the angle-of-attack attitude tracking curve after the elevator experiences a jamming failure within 1 second.

[0026] Figure 10 A functional block diagram of an active fault-tolerant control device for a hypersonic vehicle provided in an embodiment of the present invention;

[0027] Figure 11 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0030] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0031] Example 1

[0032] Before performing active fault-tolerant control on an overdrive hypersonic vehicle, it is necessary to provide a hypersonic vehicle simulation model with fault injection for the active fault-tolerant method. Therefore, this embodiment of the invention pre-establishes a control-oriented hypersonic vehicle attitude model, a pre-defined heterogeneous actuator model composed of a reaction control system RCS and aerodynamic rudders, and a hypersonic vehicle actuator fault model. The construction method of the above models is described below.

[0033] First, in the design process of the active fault-tolerant control method, the nonlinear dynamic model of the attitude system of the overdriven hypersonic vehicle is transformed into the following affine form: in, The flight attitude angles [αβμ] and attitude angular velocity [ω] of a hypersonic vehicle are represented by these parameters. x ω y ω z The system state is defined by α, β, μ, and ω, where α is the angle of attack, β is the sideslip angle, μ is the velocity roll angle, and ω is the velocity roll angle. x ω y ω z For the three-axis attitude angular velocity, The system state derivative; This represents the control torque of the heterogeneous actuator, where u1,...,u8 represent the control torques of thrusters 1-8 of the redundantly installed reaction control system (RCS), and u9,u... 10 ,u 11 These represent the equivalent aerodynamic control torques for pitch, yaw, and roll, respectively. E represents a 6-dimensional identity matrix (with diagonal elements of 1), and y(t) represents the attitude output matrix.

[0034] Represents the nonlinear dynamic characteristic matrix.

[0035] L represents aerodynamic lift, M represents the mass of the hypersonic vehicle, g represents the local gravitational acceleration, and θ represents the velocity. c V represents the trajectory tilt angle in the inertial coordinate system, V represents the flight speed of the hypersonic vehicle, C represents the lateral force, and I = [I x ,I y ,I z ] T This represents the moment of inertia matrix.

[0036] g u Represents the control input matrix. L mu This represents the installation matrix of the heterogeneous actuator, which is determined by the installation status of the aerodynamic rudder and RCS thruster.

[0037] The following describes a pre-defined heterogeneous actuator model consisting of a reaction control system (RCS) and a pneumatic rudder. The left and right elevators are deflected by δ... e δ a and vertical rudder deflection δ r The equivalent rudder deflection is synthesized and transformed into a three-channel equivalent rudder deflection according to the following rules. In this embodiment of the invention, the equivalent rudder deflection matrix is ​​represented as follows: Where, δ eq Denotes the equivalent rudder offset matrix, δα δ β δ γc These represent the equivalent rudder deflection for pitch, yaw, and roll channels, respectively. The formula for calculating the equivalent aerodynamic rudder control torque is: u cs =[u9u 10 u 11 ] T =B(α,Ma,h)δ eq (3), where, Denotes the fitted rudder effect matrix, b α b β , These represent the fitted rudder effects for pitch, yaw, and roll channels, respectively.

[0038] refer to Figure 1 The diagram shows a schematic of the RCS system configuration. This embodiment of the invention considers an RCS system with eight RCS thrusters symmetrically installed at the tail end of the aircraft. The thrusters are switch-type jet thrusters with constant thrust, each generating a thrust of constant magnitude and direction. RCS thrusters 1, 2, 3, and 4 are parallel to the coordinate axes, while RCS thrusters 5, 6, 7, and 8 are oblique thrusters. θ represents the thrust F generated by the thrusters in the yoz plane. rcs The angle between the thrust and the y-axis, d represents the perpendicular distance of the thrust F from the center of mass, and l represents the distance between the thrust F and the center of mass in the xoy plane.

[0039] Decoupling the torque of the RCS thruster along the x, y, and z axes, the triaxial decomposition results for different thrusters are as follows:

[0040]

[0041]

[0042] A constant thrust generator with a fixed output thrust relies on solenoid valve control, using relay switching to achieve variable thrust. Directly assigning thrust generator switching commands introduces integer linear programming problems, causing a surge in computational load and further impacting the real-time performance of dynamic control allocation. Therefore, to facilitate the design of subsequent real-time dynamic control allocation methods, considering the ideal variable thrust command generated by the thrust generator, RCS thrust generator switching command modulation is further performed using Pulse-Width-Pulse-Frequency Modulation (PWPF), referencing... Figure 2 The diagram in the image, Figure 2 In the diagram, F represents the ideal variable thrust obtained by the dynamic control allocation algorithm, which, after being modulated by PWPF with a pulse amplitude of 1, yields the RCS constant thrust switching curve. K m ,τ m For modulation parameters, U on Uoff These are the power-on and power-off voltages, respectively.

[0043] The purpose of modeling the equivalent rudder control torque is to convert the rudder deflections of the left and right elevators and the vertical rudder into equivalent rudder deflections, determining the last three dimensions of the installation matrix for the heterogeneous actuator; the purpose of RCS three-axis decoupling is to determine the first eight dimensions of the installation matrix based on the actual installation of the thruster. Based on the aerodynamic rudder and thruster installation in the RCS system described above, it can be determined that, in this embodiment of the invention, the installation matrix for the heterogeneous actuator is represented as follows: in, l represents the distance between the thrust F and the center of mass in the xoy plane, d represents the perpendicular distance between the thrust F and the center of mass, and θ represents the angle between the thrust generated by the thruster and the y-axis in the yoz plane.

[0044] Given that heterogeneous actuators are subject to a maximum control torque constraint, in this embodiment of the invention, the preset maximum control torque can be represented using a set as: Ω={u(t)|[Ε 11 -E 11 ] T ×u(t)≤U(t)}(4), where, E 11 Represents an 11-dimensional identity matrix, constraint matrix Among them, u max ,u min These represent the upper and lower saturation limit matrices of the output torque of the heterogeneous actuator, respectively, which are determined by the equivalent aerodynamic rudder limit and the constant thrust value of the RCS thruster.

[0045] In this embodiment of the invention, a pseudo-control torque is introduced from the controller output. Where m(t)=L mu u(t), based on this, the affine equation (1) of the nonlinear dynamic model of the hypersonic vehicle attitude system can be rearranged as u(t) Among them, the pseudo-control input matrix

[0046]

[0047] Finally, a fault model of the hypersonic vehicle actuator is constructed. This embodiment of the invention utilizes... This represents the set of heterogeneous actuator states, where F = [F1, F2, ..., F8] represents the RCS thrust matrix, and δ = [δ a ,δ r ,δ e ] represents the aerodynamic rudder deflection angle, δ a ,δ r ,δ e These represent the deflections of the right elevator, rudder, and left elevator, respectively. Therefore, the discrete state expression of the actuators under fault conditions as a function of time is: Where, ω(nn)f ) represents the fault time distribution matrix. Indicates the actual state of the heterogeneous actuator. This indicates that the heterogeneous actuator is in a fault-free state. n represents the sampling time number corresponding to the current time t. f Indicates the time t when the fault occurs. f The corresponding sequence number, where c is a constant.

[0048] Within the limited observation time, the normal heterogeneous actuator state sequence is represented as follows: in, and This represents the normal actuator state, where N represents the total number of sampling points in the observed sample. Substituting formula (7) into formula (6) above, the heterogeneous actuator state sequence is expressed as: in, Ω represents the state observation sequence of the heterogeneous actuator after the occurrence of the l-th type of fault. f,l (nn f ) represents the fault time distribution function matrix, C f,l This represents the corresponding constant matrix.

[0049] In this embodiment of the invention, five typical failures of hypersonic vehicle actuators are considered. Referring to the hypersonic vehicle actuator failure model provided in Table 1 below, Table 1... E represents a 1×m dimensional matrix with all elements being n. p Let denote a p-dimensional identity matrix, and diag(·) denote a diagonal matrix.

[0050] Table 1 Fault Models of Hypersonic Vehicle Actuators

[0051]

[0052]

[0053] Based on the construction of a hypersonic vehicle attitude model, a pre-defined heterogeneous actuator model consisting of a reaction control system (RCS) and aerodynamic rudders, and a hypersonic vehicle actuator failure model, this invention provides an active fault-tolerant control method for hypersonic vehicles, such as... Figure 3 As shown, the method specifically includes the following steps:

[0054] Step S102: Obtain the desired attitude angle and attitude output data of the hypersonic vehicle.

[0055] Specifically, this invention designs a fractional-order active disturbance rejection (FOADRC) attitude control law under ideal conditions without considering control allocation, achieving attitude control based on pseudo-control torque. To simplify controller design and improve the stability of the flight control system, the active fault-tolerant control system design is divided into: the design of a fractional-order FOADRC attitude control law based on pseudo-control torque m, and the design of a dynamic control allocation law from pseudo-control torque m to heterogeneous actuator control torque u. The fractional-order FOADRC attitude controller consists of three parts: a tracking differentiator (TD), a fractional-order proportional-integral-derivative (FOPID) controller, and an extended state observer (ESO).

[0056] Figure 4 This invention provides a system block diagram of a fractional-order active disturbance rejection attitude control system, consisting of... Figure 4 It is known that in order to use this system for attitude control of a hypersonic vehicle, it is necessary to determine the desired attitude angle r of the hypersonic vehicle, and at the same time, it is also necessary to acquire the attitude output data y of the hypersonic vehicle. The desired attitude angle r includes: desired angle of attack, desired sideslip angle, and desired velocity roll angle.

[0057] Step S104: The desired attitude angle and attitude output data are processed using a fractional-order active disturbance rejection attitude controller to obtain the desired pseudo-control torque of the heterogeneous actuator used for attitude control of the hypersonic vehicle.

[0058] refer to Figure 4 The desired attitude angle is obtained by using the attitude controller and the hypersonic vehicle simulation model to obtain the attitude output signal y. ESO expands the unknown total disturbance f(x) into a new state variable z3 based on the controlled attitude angle state variable z1 and the controlled attitude angular velocity state variable z2 for observation.

[0059] After introducing a new total disturbance state variable x3=f(x1,x2)+g′ into formula (1), the second-order system can be expanded into the following form: Where g′ represents the external disturbance, x1 represents the attitude angle, x2 represents the attitude angular velocity, and u ω =m / I represents the control input, m represents the pseudo-control torque of the controller output, I represents the moment of inertia matrix, b0 represents the control gain, and h f (x1,x2) is the derivative of f(x1,x2).

[0060] To better estimate the extended system, in this embodiment of the invention, the third-order ESO is represented as... Where e1 represents the residual between the observed angle and the actual angle. This represents the estimated control gain. β1, β2, β3 represent adjustable parameters, δ esoRepresents the linearized interval and the power χ. i a0 and a1 represent adjustable parameters.

[0061] To reduce system overshoot caused by step signals and balance response speed, this embodiment of the invention introduces a filter factor h and a velocity factor r' in the tracking differentiator TD to track and smooth the desired attitude angle signal r, as shown in the following expressions: Where θ1 represents the desired attitude angle signal output by TD, and θ2 is the derivative of θ1.

[0062] In this embodiment of the invention, the fractional proportional-integral-derivative (FOPID) controller is represented as follows: Among them, K p K i K d Let represent the proportionality coefficient, integral coefficient, and differential coefficient, respectively, and λ represent the order of the fractional integral, where 0 < λ < 2. Let represent the fractional order of the differential, and

[0063] Therefore, after processing the desired attitude angle and attitude output data by the fractional-order active disturbance rejection attitude controller, the desired pseudo-control torque m of the heterogeneous actuator used for attitude control of the hypersonic vehicle can be obtained. des .

[0064] Step S106: Based on the improved sparrow algorithm, optimization is performed under the preset maximum control torque constraint to obtain the target control torque of the heterogeneous actuator.

[0065] In the improved sparrow algorithm, each sparrow represents an optional control torque. The closer the optional control torque is to the expected pseudo-control torque, the smaller the fitness function value of the sparrow individual.

[0066] To ensure attitude control of hypersonic vehicles under both normal and anomalous actuator failure conditions, the main objective of dynamic allocation is to select, within the maximum control torque constraint, the option that makes the actual actuator control torque u as close as possible to the desired pseudo-control torque m. des Therefore, this embodiment of the invention utilizes an improved sparrow algorithm for optimization under a preset maximum control torque constraint. In the improved sparrow algorithm, each sparrow represents an optional control torque, and the fitness function value of each sparrow is affected by the distance between that sparrow and the desired pseudo-control torque: the closer the optional control torque represented by the sparrow is to the desired pseudo-control torque, the smaller the fitness function value of that sparrow. Compared with existing sparrow algorithms, the improved sparrow algorithm used in this embodiment performs a Levy fly search for each selected sparrow position during the sparrow optimization process, replacing the original position with a sparrow position that has higher energy (smaller fitness function value) after the fly.

[0067] The sparrow population undergoes iterative optimization until the minimum fitness function value in the sparrow population is no greater than a preset threshold, or when a preset number of iterations is reached, the sparrow individual corresponding to the minimum fitness function value is determined as the optimal individual, and the selectable control torque corresponding to the optimal individual is used as the target control torque of the heterogeneous actuator.

[0068] Step S108: Based on the target control torque of the heterogeneous actuator and the preset heterogeneous actuator model, determine the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster in the heterogeneous actuator.

[0069] The target control torques of the heterogeneous actuators include the RCS thruster control torques u1, u2..., u8 and the pitch, yaw, and roll equivalent aerodynamic rudder control torques u9, u8. 10 ,u 11 The lever arm matrix of the RCS thruster can be determined by the triaxial decomposition results of different thrusters in the preset heterogeneous actuator model introduced above. The variable thrust of the RCS thruster can then be calculated using the formula: force = torque / lever arm. Given the fitted rudder effect matrix and the equivalent aerodynamic rudder control torque, the actual rudder deflection angle of the aerodynamic rudder in the heterogeneous actuator can be calculated using the equivalent aerodynamic rudder control torque calculation formula included in the preset heterogeneous actuator model.

[0070] Step S110: Active fault-tolerant control of the hypersonic vehicle is performed based on the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster.

[0071] The active fault-tolerant control method for hypersonic vehicles provided in this invention first processes the desired attitude angle and attitude output data of the hypersonic vehicle using a fractional-order active disturbance rejection attitude controller to obtain the desired pseudo-control torque of the heterogeneous actuator. Then, based on an improved sparrow algorithm, optimization is performed under a preset maximum control torque constraint to obtain the target control torque of the heterogeneous actuator. Finally, combined with a preset heterogeneous actuator model, the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster in the heterogeneous actuator are determined, thereby achieving active fault-tolerant control of the hypersonic vehicle. This invention is an active fault-tolerant control based on an improved sparrow algorithm. The sparrow algorithm has a discovery-follow mechanism and fast optimal convergence capability, making it suitable for rapid optimization of the optimal control allocation set. Therefore, the method of this invention can effectively alleviate the technical problem of poor real-time performance in existing active fault-tolerant methods.

[0072] In an optional implementation, step S106 above, which optimizes the target control torque of the heterogeneous actuator based on the improved sparrow algorithm under a preset maximum control torque constraint, specifically includes the following:

[0073] A sparrow population is randomly initialized under the constraint of a preset maximum control torque. That is, each individual sparrow in the population represents an optional control torque u∈Ω, where Ω represents the maximum control torque. The proportion P of discoverers in the sparrow population is then determined. d Follower ratio 1-P d The ratio of vigilant individuals to S d The sum of the proportion of discoverers and the proportion of followers is 1.

[0074] Therefore, the solution space is randomly generated by N pop The initial sparrow population consisting of only a few sparrows can be represented as: Where, N pop x represents the total number of individual sparrows in a sparrow population. i This indicates the use of a random 11-dimensional matrix. The i-th individual sparrow generated is an 11-dimensional optimization variable matrix. The mounting matrix L represents the heterogeneous actuator. mu The pseudo-inverse, m represents the pseudo-control torque matrix, E 11 This represents an 11-dimensional identity matrix.

[0075] Repeat steps 1-8 below until the minimum fitness function value in the sparrow population is no greater than a preset threshold, or the preset number of iterations is reached:

[0076] 1: Calculate the fitness function value of each sparrow individual in the sparrow population.

[0077] In this embodiment of the invention, the closer the selectable control moment represented by a sparrow individual is to the desired pseudo-control moment, the smaller the fitness function value of the sparrow individual. This embodiment of the invention does not specifically limit the expression of the fitness function; users can set it according to actual needs. By calculating the fitness of all sparrow individuals in the current sparrow population, the population fitness matrix can be obtained. Where, f(x) i Let represent the fitness function value of the i-th sparrow individual.

[0078] 2: Sort the fitness function values ​​to determine the discoverers and followers in the sparrow population based on the sorting results.

[0079] 3: Randomly assign vigilant individuals to the sparrow population based on the proportion of vigilant individuals.

[0080] After calculating the fitness function values ​​for all sparrow individuals in the population, they are sorted according to the size of the function values, and P with the smallest fitness is selected. d ·N pop One sparrow acts as the discoverer, and the rest of the sparrows act as followers. Simultaneously, S sparrows are randomly assigned within the entire sparrow population based on the proportion of watchdogs. d ·Npop A vigilant.

[0081] 4: If the random warning value is greater than the preset safety value, update the position of all sparrows in the sparrow population to obtain the updated sparrow population.

[0082] During foraging, the finder in a sparrow population is responsible for finding food for the entire population and providing foraging directions for all followers. When the random warning value R2∈[0,1] is greater than the preset safety value S... t At that time, the discoverer led all the sparrows to migrate to other safe areas.

[0083] During the iteration process, the position update of the discoverer is represented as: Where it represents the current iteration number. Let it represent the position information of the i-th sparrow in the j-th dimension of the it-th generation. The random number γ∈(0,1], it max The number of iterations is preset, the random number Q follows a normal distribution, and P represents a 1×11 matrix of all 1s.

[0084] After the discoverer's location is updated, followers search for the discoverer with the highest energy (lowest fitness function value) and compete with it for food resources or forage around it. The follower's location update is represented as: in, This represents the optimal position occupied by the discoverer after the position update. This represents the current worst-case position globally. A + =A T (AA T ) -1 Let A represent a real number matrix of dimension 1×11, whose elements are randomly assigned the values ​​±1. At that time, the i-th hungry follower, having failed to obtain food, migrates to other areas to forage for more energy.

[0085] Upon spotting a predator, the early warning sparrows issue an alarm. Sparrows at the periphery of the population quickly move to a safe area, while those in the middle of the population will randomly approach other sparrows. The initial positions of these sparrows are randomly generated within the population. The position updates of the early warning sparrows are represented as follows: in, This represents the current globally optimal position. The step size control parameter λ is a random number following a standard normal distribution. The random number K∈[-1,1]. i This represents the current fitness value of an individual sparrow. g f represents the current globally minimum fitness function value. w This represents the current global maximum fitness function value. ε is a very small constant used to eliminate the influence of a possible zero denominator.

[0086] Existing sparrow algorithms directly group the updated sparrows into the next generation population, then calculate their fitness function values ​​and sort them to update the discoverers, followers, and watchdogs. Unlike existing sparrow algorithms, the improved sparrow algorithm used in this invention utilizes the characteristics of Lévy's random walk to generate larger jumps and sharp turns during position updates, preventing sparrows from being trapped by local optima and expanding the foraging search space. This effectively improves the optimization performance of the sparrow algorithm in high-dimensional complex spaces. Specifically:

[0087] 5: In the updated sparrow population, a specified number of sparrow individuals will be drawn with replacement.

[0088] 6: Perform Levy flight mutation on the target sparrow individual with the smallest fitness function value among a specified number of sparrow individuals to obtain the mutated sparrow individual.

[0089] Using tournament selection, a specified number of sparrow individuals are randomly selected with replacement to participate in the tournament each time. The sparrow individual with the smallest fitness function value is then selected for the Levy flight mutation. The sparrow individual after the Levy flight mutation is represented as follows: Where Levy(σ) represents the Levy flight variation factor, and σ represents the dimension of the structural parameter to be optimized. This represents the position of the i-th mutated sparrow individual in the it generation. In this embodiment of the invention, the specified quantity is: Here, 'it' represents the current iteration number of the sparrow population. In other words, the more iterations there are, the fewer individual sparrows are extracted.

[0090] 7: Calculate the fitness function value of the mutated sparrow individual to obtain the fitness function value of the mutation.

[0091] 8: Among the mutated fitness function value and the fitness function values ​​of a specified number of sparrow individuals, the position corresponding to the minimum fitness function value is taken as the position of the target sparrow individual.

[0092] After obtaining the mutated sparrow individual by performing the Levy flight mutation on the target sparrow individual, the fitness function value of the mutated individual is calculated. Then, the fitness function values ​​before and after the mutation are compared, and the position corresponding to the minimum fitness function value is taken as the position of the target sparrow individual.

[0093] By repeating steps 1-8 above, until the minimum fitness function value in the sparrow population is no greater than a preset threshold, or when a preset number of iterations is reached, the iterative calculation is terminated, and the individual with the minimum fitness at this point is selected. The optimal individual is determined, and the control allocation of the overdrive heterogeneous actuator is realized according to the optimal control torque combination.

[0094] In an optional implementation, step S108 above, based on the target control torque of the heterogeneous actuator and the preset heterogeneous actuator model, determines the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster in the heterogeneous actuator, specifically including the following steps:

[0095] Step S1081: Determine the lever arm matrix of the RCS thruster and the fitted rudder effect matrix of the aerodynamic rudder based on the preset heterogeneous actuator model.

[0096] Step S1082: Calculate the variable thrust of the RCS thruster based on the lever arm matrix and target control torque of the RCS thruster.

[0097] Step S1083: Based on the fitted rudder effect matrix and target control torque of the aerodynamic rudder, calculate the actual rudder deflection angle of the aerodynamic rudder.

[0098] Specifically, in order to achieve the control torque of the heterogeneous actuator through aerodynamic rudder deflection and RCS thruster switching, this embodiment of the invention needs to convert the optimal control torque combination obtained by dynamic control allocation into RCS variable thrust and aerodynamic rudder deflection angle, respectively. First, based on the triaxial decomposition results in the preset heterogeneous actuator model constructed above, the lever arm matrix of the RCS thruster can be determined as follows: The fitted rudder effect matrix of the aerodynamic rudder is: B(α,Ma,h).

[0099] Next, according to the formula Force = Torque / Lever Arm, the variable thrust of the RCS thruster is: PWPF modulation can be used to further convert variable thrust into switching commands.

[0100] According to the calculation formula of the equivalent aerodynamic rudder control torque in the preset heterogeneous actuator model, the actual rudder deflection angle obtained by the aerodynamic rudder distribution is:

[0101] The design of the improved Sparrow Algorithm's fitness function is described in detail below. Considering control allocation, a dynamic control allocation law is designed. The input is the desired pseudo-control torque, and the output is the actuator control torque. First, the objective function for dynamic control allocation is designed. For actuator failures, a dynamic allocation strategy is designed. The dynamic control allocation problem for overdrive aerospace vehicles is generally regarded as solving a sequence programming problem. Where, m des Let m(t) represent the desired pseudo-control torque given by the attitude controller, and u(t) represent the actual pseudo-control torque and actuator control torque allocated by the control, respectively. T represents the control allocation period, and W represents the control period. or,1 W or,2 This represents a preset weight matrix (known quantities).

[0102] To ensure attitude control of hypersonic vehicles under both normal and anomalous actuator failure conditions, the main objective of dynamic allocation is to select, within the maximum control torque constraint, the actual actuator control torque u(t) that is as close as possible to the desired pseudo-control torque m. des The secondary objective is to select control commands that change as little as possible compared to the previous moment. General sequence programming problems neglect the influence of the inertial matrix on attitude control during the attitude control process. Therefore, this embodiment of the invention introduces the dynamic characteristics of angular acceleration according to the above formula (1) to balance the accuracy of the three-channel control. Furthermore, considering the characteristics of the composite control of heterogeneous direct force / aerodynamic actuators in hypersonic vehicles, the above formula (13) is further improved so that the dynamic control allocation can adjust the actuator selection tendency under different operating conditions and states through weight adjustment of the allocation law, while maintaining the minimum equivalent rudder deflection and the shortest total RCS thruster activation time to minimize energy consumption. In practice, it can only be guaranteed that the control torque of the heterogeneous actuator is as close as possible to the desired pseudo-control torque. The new dynamic control allocation problem can constitute a multidimensional nonlinear constrained optimization problem.

[0103] Therefore, the following dynamic control allocation objective function is designed in the embodiments of the present invention: That is, the fitness function of an individual sparrow is expressed as:

[0104] Where, m des Let W1 represent the desired pseudo-control torque, and W1 represent the effective factor matrix of the heterogeneous actuator. W1 = diag([e1, e2, ..., e...). 11 ]), e j =1-k j k j Let e ​​represent the failure rate of the j-th actuator. j ∈[0,1] represents the efficiency of the j-th executor, L mu Let B represent the mounting matrix of the heterogeneous actuator, u(t) represent the control torque of the heterogeneous actuator, and B represent the mounting matrix of the heterogeneous actuator. e B represents the additive fault increment matrix. e =[b1,b2,...,b 11 ] T b j Let I represent the additive fault severity factor of the j-th actuator, I represent the moment of inertia matrix, and T represent the control allocation period.

[0105] Represents the joint weight matrix. Let represent the direct-air mixing factor of the j-th actuator. The direct-air mixing factor characterizes the degree of combined control of direct force and aerodynamic force, where j = 1, 2, ..., 11. The aerodynamic rudder, designed based on aerodynamic and hydrodynamic principles, has its effectiveness primarily determined by external environmental factors such as atmospheric dynamic pressure under normal operating conditions. The liquid engine constituting the RCS system achieves variable thrust through continuous switching modulation. Based on the characteristics of hypersonic vehicle actuators, appropriate actuators need to be selected according to flight conditions to complete the mission. The dynamic pressure changes drastically during unpowered reentry of a hypersonic vehicle, directly affecting the efficiency of the aerodynamic rudder and being a major factor determining the combined control of direct force and aerodynamic force. Therefore, this embodiment of the invention designs the direct-air mixing factor based on dynamic pressure changes.

[0106] In the initial reentry phase, the air is thin and the dynamic pressure is extremely low, making aerodynamic control almost ineffective. Attitude control torque is primarily provided by the RCS (Radar Cross Section). As altitude decreases, dynamic pressure increases, and aerodynamic control can generate output, but its efficiency still cannot meet all attitude control needs. During this transition, the RCS and aerodynamic control work together to complete the aircraft's attitude control task and prevent premature saturation of the aerodynamic control. As altitude decreases further, the dynamic pressure becomes high enough that the aerodynamic control can independently complete the control task, and the RCS will withdraw from control to avoid rapid switching and chattering. Therefore, the atmospheric dynamic pressure q... a The determined direct-gas mixing factor design is as follows: a i and b i q represents a positive integer. a q represents the atmospheric dynamic pressure value. ac Indicates switching dynamic pressure value; This represents the multiplicative fault severity factor of the j-th actuator.

[0107] As can be seen from the expression for the direct-air mixing factor above, the direct-air mixing factor adjusts with the magnitude of the dynamic pressure, thus determining the actuator's weight allocation. When the dynamic pressure q... a <<q ac When the RCS allocation weight (i.e., the direct-drive mixing factor) is sufficiently small compared to the aerodynamic rudder allocation weight, the control allocation tends to distribute the control torque to the RCS system; conversely, when the dynamic pressure q a >>q ac When q is used, the control allocation tends to select the pneumatic rudder as the primary actuator; when q is used... a With q ac When the sizes are similar, the weights assigned to the two are approximately the same, and the control assignment will simultaneously distribute the control torque to the heterogeneous actuators.

[0108] For additive and multiplicative faults in actuators, the effective factor matrix W1 of heterogeneous actuators is obtained using the fault type and magnitude information available from the precise fault diagnosis module. Optionally, in the case of a target fault in the hypersonic vehicle, the multiplicative fault severity factor of the j-th actuator is: The target faults include one of the following: RCS constant value deviation fault, RCS thrust reduction fault, aerodynamic rudder center position offset fault, and aerodynamic rudder efficiency loss fault; K i e represents the adjustable weighting coefficient. j E represents the efficiency of the j-th executor. j =1-k j k j This represents the failure rate of the j-th executor.

[0109] In the event of aerodynamic rudder jamming in a hypersonic vehicle, the multiplicative fault severity factor of the j-th actuator...

[0110] Based on the expression of the multiplicative fault severity factor, it can be seen that when a multiplicative fault occurs in a heterogeneous actuator, the corresponding multiplicative fault severity factor will be adjusted according to the magnitude of the efficiency reduction fault: when the actuator is normal, the multiplicative fault severity factor is 1, which will not change the weight of the joint weight matrix; when an actuator experiences an efficiency reduction fault, the corresponding multiplicative fault severity factor will increase rapidly with the fault magnitude, thereby allocating a smaller control torque to the faulty actuator in the control allocation to reduce its utilization.

[0111] Optionally, the additive fault increment matrix is ​​represented as: in, Let represent a 1×m dimensional matrix with all elements n, where l represents the distance between the thrust F and the center of mass in the xoy plane, d represents the perpendicular distance of the thrust F from the center of mass, and b represents the distance between the thrust F and the center of mass. α Indicates the pitch channel fitting rudder effect, b β This indicates the rudder effect fitted to the yaw channel. This indicates the rudder effect fitted to the roll channel; This indicates the normal thrust state of the RCS thruster. This indicates the normal deflection angle of the aerodynamic rudder, n. f Indicates the time t when the fault occurs. f The corresponding serial number.

[0112] To clearly describe the objectives and technical solutions of the embodiments of the present invention, the embodiments of the present invention will be further described in detail below with reference to simulation examples. The hypersonic vehicle in the simulation examples is based on and improved from the publicly available Winged-cone model, and contains an RCS system with an eight-thrust configuration. It has a delta wing, a single vertical tail, and independently operating left and right elevators. The model parameters are shown in Table 2.

[0113] Table 2 Parameters of Hypersonic Vehicle Model

[0114] Mean aerodynamic chord length c 2.4384 m Wing span b 1.8288 m Overall length L0 6.1 m Quality M0 1250 kg Moment of inertia I <![CDATA[[156,1162,1267] T ]]> <![CDATA[kg·m 2 ]]>

[0115] The aerodynamic rudder's equivalent rudder deflection is limited to 10°, 30°, and 20° in the roll, yaw, and pitch channels, respectively, while the rudder and elevator deflection are limited to 30°. The configured RCS system thrusters generate a fixed thrust F. rcs =2000N, the thrust makes an angle of θ=60° with the z-axis in the yoz plane, the vertical distance from the center of mass is d=0.5m, and the distance from the center of mass in the xoy plane is l=2.198m.

[0116] Design an attitude controller based on fractional-order active disturbance rejection (ADR) to produce the desired pseudo-control torque *m*. A frequency-domain bandwidth-based parameter tuning method is employed, adjusting the adjustable parameters of the ESO according to the cutoff frequency of the FOPID closed-loop control system, based on β1 = 3mω. c ,β1=3(mω c ) 2 ,β3=(mω c ) 3 The rule is to select β1 = 3 × 10 2 β1=3×10 4 β3=1×10 6 FOPID controller pitch, yaw, and roll channel parameters Set them to [130.0627,0.3218,16.3390,1.4989,1.0713], [119.7378,0,16.9445,0,1.0563], and [119.4873,3.4496,17.0209,0.9344,1.0563] respectively.

[0117] The TD parameters are set to h=1, r'=10. Further dynamic control allocation law design is then performed. Based on the ideal attitude control results without considering the characteristics of heterogeneous actuator composite control, the dynamic pressure for the composite control aerodynamic rudder control entry is set to q. a,min =1000Pa, RCS control cut-out dynamic pressure is q a,max =38.636 kPa. Direct / gas mixing factor coefficient q ac =(q a,min +qa,max ) / 2, [a2,a3]=[0.2,0.2], [b2,b3]=[5×10 -5 5×10 -5 The adjustable weighting coefficients of the multiplicative fault severity factor [K1,K2,...,K] 11 [100, 100, 100, 100, 100, 100, 100, 100, 5, 5, 5]. The improved Sparrow Algorithm parameter is set to N. pop =50, it max =40, safety value S t =0.8, the proportions of discoverers, followers, and vigilants in the sparrow population are P, respectively. d =0.8,(1-P d ) = 0.2, S d =0.8.

[0118] To demonstrate the superiority of the proposed dynamic control allocation algorithm, a hypersonic vehicle was simulated at speeds of Mach 15 and Mach 8 at 60 km and 33 km, respectively, following the desired attitude input. The simulation duration was 6 seconds, with RCS and aerodynamic rudder faults injected at 1-second intervals. Control allocation was performed using the Daisy-chain method, Lookup Table (LUT), and Improved Sparrow Algorithm (SSA), and the attitude control effects were analyzed and compared. Specifically, the RCS constant deviation fault size was set to Δ = [100, 200, 300, 400, 500]N, the RCS thrust reduction fault size was set to k = [0, 0.5, 0.8], the aerodynamic rudder centering offset fault size was set to Δ = [1, 2, 3, 4, 5], the aerodynamic rudder efficiency loss fault size was set to k = [0, 0.5, 0.8], and the aerodynamic rudder jamming time was set to t. f = [1,3]s. The attitude control rate control period is 0.002s (simulation sampling time). Since Daisy-chain and lookup table methods are static control allocations with extremely short calculation times, the control period is set to be the same as the attitude control rate period. For the dynamic control allocation of the improved sparrow algorithm, a larger control period T = 0.022s is set to meet the online calculation requirements of control allocation. Based on experience, the fault diagnosis delay is set to 0.04s, and the initial fault diagnosis gap period determined by the length of the observed data is 0.6s. According to the simulation results, when the actuator fault occurs, the average attitude tracking error of the dynamic control allocation based on the improved sparrow algorithm is within 0.2° (4%), which is better than Daisy-chain and lookup table methods. The average running time of the algorithm is about 0.0217, which meets the real-time requirements.

[0119] The angle-of-attack attitude tracking curve after the RCS thruster experiences a thrust reduction fault at k=0.5 is shown below. Figure 5As shown, the angle-of-attack attitude tracking curve after the RCS thruster experiences a constant value deviation fault of Δ = 500 N is as follows: Figure 6 As shown, the angle-of-attack attitude tracking curve after the elevator experiences an efficiency loss fault with k=0.5 is as follows: Figure 7 As shown, the angle-of-attack attitude tracking curve after the elevator experiences a thrust reduction fault of Δ = 5° is as follows: Figure 8 As shown, the angle-of-attack attitude tracking curve of the elevator after a 1-second jamming failure is as follows: Figure 9 As shown, Figures 5-9 In this text, SSA represents the method of the present invention. It can be seen that the active fault-tolerant control method provided by the embodiments of the present invention has achieved the expected results.

[0120] Example 2

[0121] This invention also provides an active fault-tolerant control device for hypersonic vehicles. This device is mainly used to execute the active fault-tolerant control method for hypersonic vehicles provided in Embodiment 1 above. The active fault-tolerant control device for hypersonic vehicles provided in this invention will be described in detail below.

[0122] Figure 10 This is a functional block diagram of an active fault-tolerant control device for a hypersonic vehicle provided in an embodiment of the present invention, as shown below. Figure 10 As shown, the device mainly includes: an acquisition module 10, a processing module 20, an optimization module 30, a determination module 40, and a fault-tolerant control module 50, wherein:

[0123] The acquisition module 10 is used to acquire the desired attitude angle and attitude output data of the hypersonic vehicle.

[0124] The processing module 20 is used to process the desired attitude angle and attitude output data using a fractional-order active disturbance rejection attitude controller to obtain the desired pseudo-control torque of the heterogeneous actuator used for attitude control of the hypersonic vehicle.

[0125] The optimization module 30 is used to perform optimization based on the improved sparrow algorithm under the preset maximum control torque constraint to obtain the target control torque of the heterogeneous actuator; wherein, in the improved sparrow algorithm, each sparrow represents an optional control torque, and the closer the optional control torque is to the expected pseudo control torque, the smaller the fitness function value of the sparrow individual.

[0126] The determination module 40 is used to determine the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster in the heterogeneous actuator based on the target control torque of the heterogeneous actuator and the preset heterogeneous actuator model.

[0127] The fault-tolerant control module 50 is used to perform active fault-tolerant control of hypersonic vehicles based on the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster.

[0128] The active fault-tolerant control device for hypersonic vehicles provided in this invention first processes the desired attitude angle and attitude output data of the hypersonic vehicle using a fractional-order active disturbance rejection attitude controller to obtain the desired pseudo-control torque of the heterogeneous actuator. Then, based on an improved sparrow algorithm, optimization is performed under a preset maximum control torque constraint to obtain the target control torque of the heterogeneous actuator. Finally, combined with a preset heterogeneous actuator model, the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster in the heterogeneous actuator are determined, thereby achieving active fault-tolerant control of the hypersonic vehicle. This invention is an active fault-tolerant control based on an improved sparrow algorithm. The sparrow algorithm has a discovery-follow mechanism and fast optimal convergence capability, making it suitable for rapid optimization of the optimal control allocation set. Therefore, the device of this invention can effectively alleviate the technical problem of poor real-time performance in existing active fault-tolerant methods.

[0129] Optionally, the optimization module 30 is specifically used for:

[0130] Under the constraint of a preset maximum control torque, a sparrow population is randomly initialized, and the proportions of discoverers, followers, and vigilants in the sparrow population are determined; wherein the sum of the proportions of discoverers and followers is 1.

[0131] Repeat the following steps until the minimum fitness function value in the sparrow population is no greater than a preset threshold, or the preset number of iterations is reached:

[0132] Calculate the fitness function value for each individual sparrow in the sparrow population.

[0133] The fitness function values ​​are sorted to determine the discoverers and followers in the sparrow population based on the sorting results.

[0134] Guardians are randomly assigned to sparrow populations based on the proportion of guards.

[0135] If the random warning value is greater than the preset safety value, the positions of all sparrows in the sparrow population are updated to obtain the updated sparrow population.

[0136] In the updated sparrow population, a specified number of sparrow individuals are selected and replaced.

[0137] Perform Levy flight mutation on the target sparrow individual with the smallest fitness function value among a specified number of sparrow individuals to obtain the mutated sparrow individual.

[0138] Calculate the fitness function value of the mutated sparrow individual to obtain the mutated fitness function value.

[0139] The position corresponding to the smallest fitness function value among the mutated fitness function values ​​and the fitness function values ​​of a specified number of sparrow individuals is taken as the position of the target sparrow individual.

[0140] Optionally, module 40 is specifically used for:

[0141] The lever arm matrix of the RCS thruster and the fitted rudder effect matrix of the aerodynamic rudder are determined based on the preset heterogeneous actuator model.

[0142] The variable thrust of the RCS thruster is calculated based on the lever arm matrix and target control torque of the RCS thruster.

[0143] Based on the fitted rudder effect matrix and target control torque of the aerodynamic rudder, the actual rudder deflection angle is calculated.

[0144] Optionally, the fitness function of an individual sparrow is expressed as: Where, m des Let W1 represent the desired pseudo-control torque, W1 represent the effective factor matrix of the heterogeneous actuator, and L represent the desired pseudo-control torque. mu Let B represent the mounting matrix of the heterogeneous actuator, u(t) represent the control torque of the heterogeneous actuator, and B represent the mounting matrix of the heterogeneous actuator. e Let I represent the additive fault increment matrix, T represent the rotational inertia matrix, and T represent the control allocation period. Represents the joint weight matrix. Represents the direct air mixing factor of the j-th actuator, j = 1, 2, ..., 11; a i and b i q represents a positive integer. a q represents the atmospheric dynamic pressure value. ac Indicates switching dynamic pressure value; This represents the multiplicative fault severity factor of the j-th actuator.

[0145] Optionally, in the event of a target failure in the hypersonic vehicle, the multiplicative failure severity factor of the j-th actuator... The target faults include one of the following: RCS constant value deviation fault, RCS thrust reduction fault, aerodynamic rudder center position offset fault, and aerodynamic rudder efficiency loss fault; K i e represents the adjustable weighting coefficient. j E represents the efficiency of the j-th executor. j =1-k j k j This represents the failure rate of the j-th actuator; in the case of aerodynamic rudder jamming in a hypersonic vehicle, it is the multiplicative failure severity factor of the j-th actuator.

[0146] Optionally, the additive fault increment matrix is ​​represented as: in, Let represent a 1×m dimensional matrix with all elements n, where l represents the distance between the thrust F and the center of mass in the xoy plane, d represents the perpendicular distance of the thrust F from the center of mass, and b represents the distance between the thrust F and the center of mass. α Indicates the pitch channel fitting rudder effect, b β This indicates the rudder effect fitted to the yaw channel. This indicates the rudder effect fitted to the roll channel; This indicates the normal thrust state of the RCS thruster. This indicates the normal deflection angle of the aerodynamic rudder, n. f Indicates the time t when the fault occurs. f The corresponding serial number.

[0147] Optionally, the installation matrix of heterogeneous actuators is represented as follows: in, l represents the distance between the thrust F and the center of mass in the xoy plane, d represents the perpendicular distance between the thrust F and the center of mass, and θ represents the angle between the thrust generated by the thruster and the y-axis in the yoz plane.

[0148] Example 3

[0149] See Figure 11 This invention provides an electronic device, which includes a processor 60, a memory 61, a bus 62, and a communication interface 63. The processor 60, the communication interface 63, and the memory 61 are connected via the bus 62. The processor 60 is used to execute executable modules, such as computer programs, stored in the memory 61.

[0150] The memory 61 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 63 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc.

[0151] Bus 62 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 11 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0152] The memory 61 is used to store programs. After receiving an execution instruction, the processor 60 executes the program. The method executed by the apparatus defined by the process disclosed in any of the foregoing embodiments of the present invention can be applied to the processor 60 or implemented by the processor 60.

[0153] Processor 60 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 60 or by instructions in software form. Processor 60 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 61. Processor 60 reads the information in memory 61 and, in conjunction with its hardware, completes the steps of the above method.

[0154] The computer program product of the active fault-tolerant control method and apparatus for hypersonic vehicles provided in this embodiment of the invention includes a computer-readable storage medium storing non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0155] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0156] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0157] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0158] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0159] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0160] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0161] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An active fault-tolerant control method for a hypersonic vehicle, characterized in that, include: Acquire the desired attitude angles and attitude output data of the hypersonic vehicle; The desired attitude angle and the attitude output data are processed using a fractional-order active disturbance rejection attitude controller to obtain the desired pseudo-control torque of the heterogeneous actuator used for attitude control of the hypersonic vehicle. The improved sparrow algorithm is used to optimize under the preset maximum control torque constraint to obtain the target control torque of the heterogeneous actuator; wherein, in the improved sparrow algorithm, each sparrow represents an optional control torque, and the closer the optional control torque is to the expected pseudo control torque, the smaller the fitness function value of the sparrow is. Based on the target control torque of the heterogeneous actuator and the preset heterogeneous actuator model, the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster in the heterogeneous actuator are determined. Active fault-tolerant control of the hypersonic vehicle is performed based on the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster. Among them, the improved sparrow algorithm is used to optimize under the preset maximum control torque constraint to obtain the target control torque of the heterogeneous actuator, including: Under the constraint of the preset maximum control torque, a sparrow population is randomly initialized, and the proportions of discoverers, followers, and vigilants in the sparrow population are determined; wherein the sum of the proportion of discoverers and the proportion of followers is 1. Repeat the following steps until the minimum fitness function value in the sparrow population is no greater than a preset threshold, or the preset number of iterations is reached: Calculate the fitness function value of each sparrow individual in the sparrow population; the fitness function of the sparrow individual is expressed as: ;in, This represents the desired pseudo-control torque. This represents the effective factor matrix of the heterogeneous actuator. This represents the installation matrix of the heterogeneous actuator. This indicates the control torque of the heterogeneous actuator. This represents the additive fault increment matrix. Represents the moment of inertia matrix. Indicates the control allocation cycle; Represents the joint weight matrix. This represents the direct air mixing factor of the j-th actuator. ; , and Represents positive integers. This represents the atmospheric dynamic pressure value. Indicates switching dynamic pressure value; This represents the multiplicative fault severity factor of the j-th actuator; The fitness function values ​​are sorted to determine the discoverers and followers in the sparrow population based on the sorting results; Based on the aforementioned vigilant ratio, vigilants are randomly assigned within the sparrow population. If the random warning value is greater than the preset safety value, the positions of all sparrows in the sparrow population are updated to obtain the updated sparrow population. In the updated sparrow population, a specified number of sparrow individuals are selected and replaced. Perform Levy flight mutation on the target sparrow individual with the smallest fitness function value among the specified number of sparrow individuals to obtain the mutated sparrow individual; Calculate the fitness function value of the mutated sparrow individuals to obtain the mutated fitness function value; The position corresponding to the minimum fitness function value among the mutated fitness function value and the fitness function values ​​of the specified number of sparrow individuals is taken as the position of the target sparrow individual.

2. The active fault-tolerant control method for hypersonic vehicles according to claim 1, characterized in that, Based on the target control torque of the heterogeneous actuator and the preset heterogeneous actuator model, the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster in the heterogeneous actuator are determined, including: The lever arm matrix of the RCS thruster and the fitted rudder effect matrix of the aerodynamic rudder are determined based on the preset heterogeneous actuator model. Based on the lever arm matrix of the RCS thruster and the target control torque, the variable thrust of the RCS thruster is calculated; Based on the fitted rudder effect matrix of the aerodynamic rudder and the target control torque, the actual rudder deflection angle of the aerodynamic rudder is calculated.

3. The active fault-tolerant control method for hypersonic vehicles according to claim 1, characterized in that, In the event of a target failure in a hypersonic vehicle, the multiplicative failure severity factor of the j-th actuator. ; The target faults include one of the following: RCS constant value deviation fault, RCS thrust reduction fault, aerodynamic rudder center position offset fault, and aerodynamic rudder efficiency loss fault. This represents the adjustable weighting coefficient. This indicates the efficiency of the j-th executor. , Indicates the failure rate of the j-th actuator; In the event of aerodynamic rudder jamming in a hypersonic vehicle, the multiplicative fault severity factor of the j-th actuator... .

4. The active fault-tolerant control method for hypersonic vehicles according to claim 1, characterized in that, The additive fault increment matrix is ​​represented as follows: ; in, This represents a 1×m dimensional matrix whose elements are all n. This represents the distance between the thrust F and the center of mass in the xoy plane. This represents the vertical distance of the thrust F from the center of mass. This indicates the rudder effect fitted to the pitch channel. This indicates the rudder effect fitted to the yaw channel. This indicates the rudder effect fitted to the roll channel; , This indicates the normal thrust state of the RCS thruster. This indicates the normal deflection angle of the aerodynamic rudder. Indicates the time when the fault occurred. The corresponding serial number.

5. The active fault-tolerant control method for hypersonic vehicles according to claim 1, characterized in that, The installation matrix of the heterogeneous actuator is represented as follows: ;in, , , , This represents the distance between the thrust F and the center of mass in the xoy plane. This represents the vertical distance of the thrust F from the center of mass. This represents the angle between the thrust generated by the thruster in the yoz plane and the y-axis.

6. An active fault-tolerant control device for a hypersonic vehicle, characterized in that, include: The acquisition module is used to acquire the desired attitude angles and attitude output data of the hypersonic vehicle; The processing module is used to process the desired attitude angle and the attitude output data using a fractional-order active disturbance rejection attitude controller to obtain the desired pseudo-control torque of the heterogeneous actuator used for attitude control of the hypersonic vehicle. The optimization module is used to perform optimization based on the improved sparrow algorithm under the preset maximum control torque constraint to obtain the target control torque of the heterogeneous actuator; wherein, in the improved sparrow algorithm, each sparrow represents an optional control torque, and the closer the optional control torque is to the expected pseudo control torque, the smaller the fitness function value of the sparrow individual; The determination module is used to determine the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster in the heterogeneous actuator based on the target control torque of the heterogeneous actuator and the preset heterogeneous actuator model. The fault-tolerant control module is used to perform active fault-tolerant control of the hypersonic vehicle based on the actual deflection angle of the aerodynamic rudder and the variable thrust of the RCS thruster. Specifically, the optimization module is used for: Under the constraint of the preset maximum control torque, a sparrow population is randomly initialized, and the proportions of discoverers, followers, and vigilants in the sparrow population are determined; wherein the sum of the proportion of discoverers and the proportion of followers is 1. Repeat the following steps until the minimum fitness function value in the sparrow population is no greater than a preset threshold, or the preset number of iterations is reached: Calculate the fitness function value of each sparrow individual in the sparrow population; the fitness function of the sparrow individual is expressed as: ;in, This represents the desired pseudo-control torque. This represents the effective factor matrix of the heterogeneous actuator. This represents the installation matrix of the heterogeneous actuator. This indicates the control torque of the heterogeneous actuator. This represents the additive fault increment matrix. Represents the moment of inertia matrix. Indicates the control allocation cycle; Represents the joint weight matrix. This represents the direct air mixing factor of the j-th actuator. ; , and Represents positive integers. This represents the atmospheric dynamic pressure value. Indicates switching dynamic pressure value; This represents the multiplicative fault severity factor of the j-th actuator; The fitness function values ​​are sorted to determine the discoverers and followers in the sparrow population based on the sorting results; Based on the aforementioned vigilant ratio, vigilants are randomly assigned within the sparrow population. If the random warning value is greater than the preset safety value, the positions of all sparrows in the sparrow population are updated to obtain the updated sparrow population. In the updated sparrow population, a specified number of sparrow individuals are selected and replaced. Perform Levy flight mutation on the target sparrow individual with the smallest fitness function value among the specified number of sparrow individuals to obtain the mutated sparrow individual; Calculate the fitness function value of the mutated sparrow individuals to obtain the mutated fitness function value; The position corresponding to the minimum fitness function value among the mutated fitness function value and the fitness function values ​​of the specified number of sparrow individuals is taken as the position of the target sparrow individual.

7. An electronic device comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the active fault-tolerant control method for hypersonic vehicles according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the active fault-tolerant control method for hypersonic vehicles according to any one of claims 1 to 5.

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