Observer-free fixed time fault-tolerant control method, device, equipment and medium

Abstract

The invention provides an observer-free fixed time fault-tolerant control method, device and equipment and a medium, and belongs to the technical field of hypersonic flight vehicle control. A six-degree-of-freedom mathematical nominal model of a hypersonic flight vehicle is configured; intermediate flight variables of the hypersonic flight vehicle are called, an under-actuated system of the hypersonic flight vehicle is converted into a full-drive system, and the six-degree-of-freedom mathematical nominal model is converted into a full-drive six-degree-of-freedom mathematical nominal model which contains concentrated interference and has actuator faults; based on the full-drive six-degree-of-freedom mathematical nominal model, an observer-free fixed time sliding mode surface is configured, and an observer-free fixed time fault-tolerant control mode of the hypersonic aircraft is obtained. According to the method, by means of compensation of the observer on interference, the robustness of actuator faults is improved through the designed novel sliding mode surface.

Description

Technical Field

[0001] The present invention belongs to the technical field of hypersonic aircraft control, and in particular relates to an observer-free fixed-time fault-tolerant control method, device, equipment and medium for a hypersonic aircraft. Background Art

[0002] Deep space exploration has become a key area of ​​international scientific and technological competition. As space missions become increasingly complex, the demand for the reliability of spacecraft navigation, guidance and control systems has increased significantly. Considering the huge challenges faced by post-launch hardware maintenance, near-space hypersonic vehicles must have good reliability and robustness. This demand has led to the development of fault-tolerant control (FTC) technology, which aims to ensure that spacecraft can continue to operate when some components fail.

[0003] During flight, aircraft are often affected by harsh environments, which can easily lead to actuator failures. In addition, sensor noise, measurement errors, and unmodeled dynamic factors can also cause mismatch interference. In current methods, the sensitivity to mismatch interference is low, and conventional compensation methods rely on accurate mathematical models and may introduce additional measurement errors, which makes it difficult for the controller to meet the requirements of the underactuated aircraft control algorithm, resulting in poor robustness. Summary of the invention

[0004] The present invention provides an observer-free fixed-time fault-tolerant control method, so as to at least solve the problems in the prior art that the control algorithm of the existing underactuated aircraft is complex and has poor robustness.

[0005] Methods include: S101: Configure a six-degree-of-freedom mathematical nominal model of a hypersonic vehicle; S102: Retrieving intermediate flight variables of the hypersonic aircraft, and transforming the underactuated system of the hypersonic aircraft into a fully-actuated system, and also transforming the six-degree-of-freedom mathematical nominal model into a fully-actuated six-degree-of-freedom mathematical nominal model with actuator faults and concentrated interference; S103: Based on the full-drive six-degree-of-freedom mathematical nominal model, an observer-free fixed-time sliding surface is configured to obtain an observer-free fixed-time fault-tolerant control method for the hypersonic aircraft.

[0006] It should be further explained that the six-degree-of-freedom mathematical nominal model in step S101 is:

[0007] in, , and They represent the angle of attack, sideslip angle and roll angle respectively; , and Represent the roll, yaw and pitch angular rates respectively.

[0008] It should be further explained that the aerodynamic force and aerodynamic moment coefficients in the six-degree-of-freedom mathematical nominal model are configured as follows:

[0009]

[0010]

[0011]

[0012]

[0013] In the formula, and Respectively represent the mass and speed of the aircraft; , and Represents the components of the aircraft's moment of inertia along the three axes of the fuselage fixed coordinate system; and Respectively represent lift Angle of attack and elevator The partial derivative of Indicates lateral force Side slip angle The partial derivative of , and Rolling moment Roll rate ,aileron and sideslip angle The partial derivative of , and The yaw moment Yaw rate , Sideslip Angle and aileron The partial derivative of , and Pitch moment Pitch rate , Angle of attack and elevator The partial derivative of .

[0014] It should be further explained that, in step S102, the method of establishing the mathematical nominal model of the full-drive six-degree-of-freedom with actuator failure is: Defining the Actuator Fault Mathematical Model for:

[0015] in, ; For the coordinate axis Axis direction; For the coordinate axis Axis direction; For the The multiplicative coefficient when a variable fails; For hour, Indicates aileron; when hour, Indicates elevator; For the The additive coefficient when a variable fails; Indicates time; For the The moment when a variable fails; f To indicate the occurrence of a fault; The way to transform an underactuated system of a hypersonic vehicle into a fully actuated system is:

[0016]

[0017]

[0018] It represents the intermediate variable, a linear combination of aileron and sideslip angle, and has no specific meaning; is a non-zero real number; is a non-zero real number; It represents the intermediate variable, a linear combination of aileron and sideslip angle, and has no specific meaning; Indicates elevator; It is further necessary to explain that the pitch channel is defined for:

[0019] Define the state variable as , , virtual input

[0020] The six-degree-of-freedom mathematical model considering non-matching interference and actuator failure is:

[0021]

[0022] Represents the internal dynamics or state evolution of the system, depending on the state variables

[0023] Represents state variables For state variables Dynamic Impact It is non-matching interference; Indicates status dynamics, taking into account the state Impact To describe the control input For state variables Dynamic impact, and consider and coupling relationship.

[0024] It should be further explained that in step S103, a fixed-time sliding surface is designed based on a six-degree-of-freedom mathematical model that simultaneously considers mismatch interference and actuator failure, and the fixed-time fault-tolerant control mode of the near-space hypersonic aircraft system is obtained as follows: :

[0025] in, , , ,matrix , ;parameter , They are all positive constants to be designed; express The sampling value of the previous moment; represents a diagonal matrix containing the control gains These gains are used to adjust the sensitivity of the control strategy; represents another diagonal matrix containing the adjustment function Gain , used to influence the impact of state deviations on system behavior; is a , which represents the processing of state deviation; The meaning is: Indicates the reference values ​​of angle of attack, sideslip angle, and roll angle; Representation vector The norm of .

[0026] It should be further explained that the fixed time fault-tolerant control method for:

[0027] in, ; Representation vector The symbolic function of Indicates status The time derivative of rate of change over time; is a A function used to adjust the sensitivity of the control input; Indicates the reference state The second derivative of is acceleration; Representation function The derivative with respect to time is used to capture changes in the system dynamics; Representation function Derivative with respect to time; Represents state variables For state variables Dynamic impact; To describe the control input For state variables Dynamic impact, and consider and coupling relationship.

[0028] The present application also provides an observer-free fixed-time fault-tolerant control device, the device comprising: A model configuration module, used to configure a six-degree-of-freedom mathematical nominal model of a hypersonic vehicle; A model conversion module is used to retrieve intermediate flight variables of the hypersonic aircraft, and convert the underactuated system of the hypersonic aircraft into a fully-actuated system, and also convert the six-degree-of-freedom mathematical nominal model into a fully-actuated six-degree-of-freedom mathematical nominal model with actuator faults and concentrated interference; The fault-tolerant control module is based on the mathematical nominal model of the full-drive six-degree-of-freedom, configures the fixed-time sliding surface without an observer, and obtains the fixed-time fault-tolerant control method without an observer for the hypersonic vehicle.

[0029] According to another embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the observer-free fixed-time fault-tolerant control method when executing the program.

[0030] According to another embodiment of the present application, a storage medium is provided, on which a computer program is stored, characterized in that when the computer program is executed by a processor, the steps of the observer-free fixed-time fault-tolerant control method are implemented.

[0031] It can be seen from the above technical solutions that the present invention has the following advantages: The observer-free fixed-time fault-tolerant control method provided in the present application obtains an observer-free fixed-time fault-tolerant control method for a hypersonic aircraft by configuring an observer-free fixed-time sliding mode surface. The response speed and fault tolerance of the control system are improved. The method can also achieve rapid ascent control of a hypersonic aircraft, which is superior to the fixed sliding mode scheme in terms of response time and can reach the target attitude more quickly. In the case of coexistence of actuator failure and non-matching interference, the attitude tracking accuracy is high. Even in complex environments, the proposed scheme can still maintain good control performance, improve robustness, and provide technical support for the safe flight and performance optimization of hypersonic aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0033] Figure 1 This is a flow chart of the fixed-time fault-tolerant control method without an observer; Figure 2 Schematic diagram of the aircraft's angle of attack; Figure 3 It is a schematic diagram of the aircraft sideslip angle; Figure 4 is a schematic diagram of the aircraft's roll angle; Figure 5 A schematic diagram showing the comparison of the actual aileron input of the present application and the fixed sliding mode solution under the coexistence of actuator failure and mismatch interference; Figure 6A schematic diagram showing the comparison of actual elevator inputs between the present application and the fixed sliding mode solution under the coexistence of actuator failure and mismatch interference; Figure 7 Schematic diagram of a fixed-time fault-tolerant control device without an observer. DETAILED DESCRIPTION

[0034] Taking into account that during the flight of a hypersonic aircraft, the aircraft is often subjected to the influence of a harsh environment, which may easily lead to actuator failure, the present application provides an observer-free fixed-time fault-tolerant control method to achieve fixed-time convergence of an underactuated system while considering actuator failure or mismatch interference.

[0035] The hypersonic aircraft involved in this application refers to winged or wingless aircraft such as aircraft with a flight speed exceeding 5 times the speed of sound. It is mainly used in hypersonic transport aircraft or drones, etc.

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] See also Figure 1 FIG. 1 is a flow chart of a method for fixed-time fault-tolerant control without an observer in a specific embodiment, the method comprising: S101: Configure a six-degree-of-freedom mathematical nominal model of a hypersonic vehicle.

[0038] In some embodiments, it can be assumed that under rigid body dynamics, the six-degree-of-freedom nominal mathematical model of the near-space hypersonic vehicle is: (1) in, , and They represent the angle of attack, sideslip angle and roll angle respectively; , and Represent the roll, yaw and pitch angular rates respectively.

[0039] The aerodynamic force and aerodynamic moment coefficients of this embodiment are as follows:

[0040]

[0041]

[0042]

[0043]

[0044] In the formula, and Respectively represent the mass and speed of the aircraft; , and Represents the components of the aircraft's moment of inertia along the three axes of the fuselage fixed coordinate system; and Respectively represent lift Angle of attack and elevator The partial derivative of Indicates lateral force Side slip angle The partial derivative of , and Rolling moment Roll rate ,aileron and sideslip angle The partial derivative of , and The yaw moment Yaw rate , Sideslip Angle and aileron The partial derivative of , and Pitch moment Pitch rate , Angle of attack and elevator The partial derivative of .

[0045] It can be seen that the six-degree-of-freedom mathematical nominal model of the hypersonic aircraft in this embodiment can be established based on the dynamic equations of the hypersonic aircraft. The dynamic equations of the hypersonic aircraft can reflect the motion characteristics of the aircraft in the air, including translational motion and rotational motion.

[0046] This embodiment can also determine the mass, moment of inertia, aerodynamic coefficient and other parameters of the hypersonic aircraft, and establish the motion equation of the aircraft based on the parameters of the hypersonic aircraft.

[0047] In this embodiment, the six-degree-of-freedom mathematical nominal model of the hypersonic aircraft can be configured to consider the physical parameters such as the mass and inertia moment of the hypersonic aircraft. Aerodynamic coefficients, such as lift coefficient and drag coefficient; flight state parameters such as engine thrust, flight speed, and altitude of the hypersonic aircraft. Control parameters such as the deflection angle of the control control surface of the hypersonic aircraft.

[0048] In this way, the accurate six-degree-of-freedom mathematical nominal model can more realistically reflect the flight characteristics and control performance of the aircraft.

[0049] It can be seen that the six-degree-of-freedom mathematical nominal model of the hypersonic aircraft established in this application fully considers multiple parameters to improve the accuracy and reliability of the control algorithm.

[0050] S102: Retrieve intermediate flight variables of the hypersonic aircraft, and transform the under-actuated system of the hypersonic aircraft into a fully-actuated system, and also transform the six-degree-of-freedom mathematical nominal model into a fully-actuated six-degree-of-freedom mathematical nominal model with actuator failure and concentrated interference.

[0051] In some embodiments, the flight status information of the aircraft, such as speed, altitude, attitude angle, etc., can be acquired in real time through the aircraft's sensors and control system, and this information can be defined as intermediate flight variables.

[0052] Optionally, the intermediate flight variables may specifically include: motion state parameters such as speed, altitude, attitude angle, angular velocity, acceleration, and control parameters such as the deflection angle of the control control surface.

[0053] In this embodiment, the underactuated system is transformed into a fully actuated system, which is based on a system where the control input is less than the system state variables. The transformation of the underactuated system into a fully actuated system can be achieved by adding additional control inputs or utilizing the dynamic characteristics of the aircraft.

[0054] Optionally, by optimizing the control algorithm and adding redundant control channels.

[0055] In this embodiment, based on the six-degree-of-freedom mathematical nominal model, the model is modified and expanded by considering the influence of actuator failure and concentrated interference.

[0056] In this embodiment, the actuator faults with concentrated interference include: actuator faults, such as rudder stuck, failure, etc.; concentrated interference may involve external interference factors such as wind shear, atmospheric disturbance, etc.

[0057] S103: Based on the full-drive six-degree-of-freedom mathematical nominal model, an observer-free fixed-time sliding surface is configured to obtain an observer-free fixed-time fault-tolerant control method for the hypersonic aircraft.

[0058] In some embodiments, a sliding mode control algorithm is designed based on a fully-driven six-degree-of-freedom mathematical nominal model, and a sliding mode surface is determined.

[0059] The sliding surface of this embodiment may be a hyperplane. When the hypersonic vehicle reaches the hyperplane, it will slide along the hyperplane to the equilibrium point.

[0060] In the absence of an observer, the system state information and control input information can be used to design the sliding surface and control algorithm.

[0061] The observer-free fixed-time sliding surface of this embodiment is designed based on a fully-driven six-degree-of-freedom mathematical nominal model, which can reflect the motion characteristics and control requirements of a hypersonic vehicle under the influence of actuator failure and concentrated interference.

[0062] The fixed-time fault-tolerant control method without an observer in this embodiment can be based on the design and implementation of a sliding mode control algorithm; ensure fixed-time convergence; and handle faults of actuator failures and concentrated disturbances.

[0063] Optionally, this embodiment designs the following fixed-time fault-tolerant controller:

[0064] in, .

[0065] The non-observer fixed-time fault-tolerant control method provided in this embodiment obtains a non-observer fixed-time fault-tolerant control mode for a hypersonic aircraft by configuring a non-observer fixed-time sliding surface. This improves the response speed and fault tolerance of the control system, reduces the dependence on the observer, and provides technical support for the safe flight and performance optimization of the hypersonic aircraft. This provides strong guarantees for the safe flight and performance optimization of the hypersonic aircraft.

[0066] In an embodiment of the present invention, based on step S102, a possible embodiment is given below to illustrate its specific implementation scheme in a non-limiting manner.

[0067] In this embodiment, the underactuated system of the hypersonic aircraft can be transformed into a fully-actuated system by adding additional control surfaces or actuators, such as additional rudder surfaces, thrust vector control, etc., to provide more control inputs. This can increase the control redundancy of the system, thereby making it possible to transform the underactuated system into a fully-actuated system.

[0068] This embodiment can provide additional control force based on the dynamic characteristics of the hypersonic aircraft and utilize the nonlinear dynamic effects of the hypersonic aircraft.

[0069] For example, by reasonably designing the aerodynamic layout and center of mass position of the aircraft, the coupling effect of aerodynamic torque can be used to achieve precise control of the flight attitude.

[0070] It can be seen that this embodiment adopts nonlinear control, adaptive control, robust control, etc. for the hypersonic aircraft to improve the control performance and robustness of the system and achieve precise control of the aircraft.

[0071] In this embodiment, during the control process of the hypersonic aircraft, a training model is used to predict and compensate for the effects of actuator failures, external interference and other factors on the movement of the aircraft, thereby achieving precise control of the aircraft.

[0072] In some specific embodiments, the six-degree-of-freedom mathematical nominal model is transformed into a full-drive six-degree-of-freedom mathematical nominal model with actuator failure containing concentrated interference, so as to introduce the influence of actuator failure. Actuator failure may include control surface jamming, failure, response delay, etc. Based on the fault, the change of control input is obtained to obtain the motion state of the aircraft. Consider the influence of concentrated interference. Concentrated interference may include wind shear, atmospheric disturbance, electromagnetic interference, etc.

[0073] According to the influence of actuator failure and concentrated disturbance, the basic model is modified, which includes modifying the motion equation, adding fault function and disturbance term, etc.

[0074] Finally, the modified model is verified through simulation or experiment to ensure that the model can accurately reflect the motion characteristics of the aircraft under the influence of actuator failure and concentrated interference.

[0075] For this embodiment, the actuator fault function can reflect the specific impact of different fault types (such as stuck, failure, response delay, etc.) on the control input, and describe the impact of concentrated interference on the motion state of the aircraft.

[0076] When processing a fully driven six-degree-of-freedom mathematical nominal model with actuator failure and concentrated interference, state variables and control inputs can be considered. For example, state variables such as the speed, altitude, and attitude angle of the aircraft, and control inputs such as the deflection angle of the control surface. Physical parameters such as the mass, moment of inertia, and aerodynamic coefficient of the aircraft, as well as flight state parameters such as engine thrust, flight speed, and altitude can also be considered. The accuracy and reliability of the model can be improved.

[0077] Furthermore, as a refinement and extension of the specific implementation methods of the above-mentioned embodiments, in order to fully illustrate the specific implementation process in this embodiment, an observer-free fixed-time fault-tolerant control method that can simultaneously consider actuator failures and non-matching interferences is provided. The following embodiment designs a fixed-time fault-tolerant control method for unmodeled dynamics, external interferences and actuator failures.

[0078] In an exemplary embodiment, according to the six-degree-of-freedom mathematical model with actuator failure established according to formula (1), the fault mathematical model of the configuration actuator is: (2) in, .

[0079] The underactuated system is transformed into a fully-actuated system with the help of the intermediate variables: (3) (4) (5) Since the rudder mainly produces torque, and has little effect on the first-order derivative of the angle of attack or sideslip angle, the pitch channel of system (1) can be simplified as: (6) Definition: State variables , , virtual input

[0080] The six-degree-of-freedom mathematical model considering non-matching interference and actuator failure is: (7) (8) in,

[0081]

[0082]

[0083]

[0084] represents the non-matching interference, Indicates matching interference.

[0085] In an exemplary embodiment, a fixed-time sliding surface is designed based on a six-degree-of-freedom mathematical model that simultaneously considers mismatched interference and actuator failure, so that a fixed-time fault-tolerant controller for a near-space hypersonic vehicle system can be obtained.

[0086] (9) in, , , ,matrix , and parameters , They are all positive constants to be designed. express The sampling value at the previous moment.

[0087] The above-mentioned observer-free fixed-time fault-tolerant control method for hypersonic aircraft shows significant advantages over the fixed sliding mode scheme (Moulay, Emmanuel, et al. "Fixed-time sliding mode control with mismatcheddisturbances" Automatica136 (2022): 110009.), such as Figures 2 to 4 As shown in the figure, the vehicle's step signal attitude tracking is used for verification.

[0088] The observer-free fixed-time fault-tolerant control method involved in this application can realize rapid ascent control of hypersonic aircraft, which is superior to the fixed sliding mode scheme in response time and can reach the target attitude more quickly. In the case of coexistence of actuator failure and mismatch interference, the attitude tracking accuracy is high. Even in complex environments, the proposed scheme can still maintain good control performance and show stronger robustness.

[0089] In this embodiment, by comparing the input signals, the proposed solution has smaller requirements on aileron and elevator inputs. Figures 5 to 6 As shown, the energy consumption of the control system can be reduced.

[0090] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0091] The following is an embodiment of an unobserved fixed-time fault-tolerant control device provided by an embodiment of the present disclosure. The device and the unobserved fixed-time fault-tolerant control methods of the above-mentioned embodiments belong to the same inventive concept. For details not described in detail in the embodiment of the unobserved fixed-time fault-tolerant control device, reference can be made to the embodiment of the above-mentioned unobserved fixed-time fault-tolerant control method.

[0092] like Figure 7 As shown, the device comprises: A model configuration module, used to configure a six-degree-of-freedom mathematical nominal model of a hypersonic vehicle; A model conversion module is used to retrieve intermediate flight variables of the hypersonic aircraft, and convert the underactuated system of the hypersonic aircraft into a fully-actuated system, and also convert the six-degree-of-freedom mathematical nominal model into a fully-actuated six-degree-of-freedom mathematical nominal model with actuator faults and concentrated interference; The fault-tolerant control module is based on the mathematical nominal model of the full-drive six-degree-of-freedom, and configures the fixed-time sliding surface without an observer, so as to obtain the fixed-time fault-tolerant control method without an observer for the hypersonic vehicle.

[0093] The present embodiment also provides an electronic device for implementing the steps of the observer-free fixed-time fault-tolerant control method. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of the present application described and / or required herein.

[0094] In an electronic device, computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on a user's computer, partially on a user's computer, as a separate software package, partially on a user's computer and partially on a remote computer, or entirely on a remote computer. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (exemplarily using an Internet service provider to connect via the Internet).

[0095] The present application also provides a storage medium, in which a program product capable of implementing an observer-free fixed-time fault-tolerant control method is stored. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to perform the steps according to various exemplary implementations of the present disclosure described in the above "Exemplary Method" section of this specification.

[0096] The storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0097] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for fixed-time fault-tolerant control without an observer, characterized in that: include: S101: Configure a six-degree-of-freedom mathematical nominal model of a hypersonic vehicle; S102: Retrieving intermediate flight variables of the hypersonic aircraft, and transforming the underactuated system of the hypersonic aircraft into a fully-actuated system, and also transforming the six-degree-of-freedom mathematical nominal model into a fully-actuated six-degree-of-freedom mathematical nominal model with actuator faults and concentrated interference; S103: Based on the full-drive six-degree-of-freedom mathematical nominal model, an observer-free fixed-time sliding surface is configured to obtain an observer-free fixed-time fault-tolerant control method for the hypersonic aircraft.

2. The observer-free fixed-time fault-tolerant control method according to claim 1, characterized in that: The six-degree-of-freedom mathematical nominal model in step S101 is: in, , and They represent the angle of attack, sideslip angle and roll angle respectively; , and Represent the roll, yaw and pitch angular rates respectively.

3. The observer-free fixed-time fault-tolerant control method according to claim 2, characterized in that: The configuration method of aerodynamic force and aerodynamic moment coefficients in the six-degree-of-freedom mathematical nominal model is: In the formula, and Respectively represent the mass and speed of the aircraft; , and It represents the components of the moment of inertia of the aircraft along the three axes of the fixed coordinate system of the fuselage; and Respectively represent lift Angle of attack and elevator The partial derivative of Indicates lateral force Side slip angle The partial derivative of , and Rolling moment Roll rate ,aileron and sideslip angle The partial derivative of , and The yaw moment Yaw rate , Sideslip Angle and aileron The partial derivative of , and Pitch moment Pitch rate , Angle of attack and elevator The partial derivative of .

4. The observer-free fixed-time fault-tolerant control method according to claim 3, characterized in that: In step S102, the method of establishing a mathematical nominal model of full-drive six-degree-of-freedom with actuator failure is as follows: Defining the Actuator Fault Mathematical Model for: in, ; For the coordinate axis Axis direction; For the coordinate axis Axis direction; For the The multiplicative coefficient when a variable fails; For hour, Indicates aileron; when hour, Indicates elevator; For the The additive coefficient when a variable fails; Indicates time; For the The moment when a variable fails; f To indicate the occurrence of a fault; The way to transform an underactuated system of a hypersonic vehicle into a fully actuated system is: represents the intermediate variable, the linear combination of the aileron and the sideslip angle; is a non-zero real number; is a non-zero real number; represents the intermediate variable, the linear combination of the aileron and the sideslip angle; Indicates elevator.

5. The observer-free fixed-time fault-tolerant control method according to claim 3, characterized in that: Define the pitch channel for: Define the state variable as , , virtual input The six-degree-of-freedom mathematical model considering non-matching interference and actuator failure is: Represents the internal dynamics or state evolution of the system, depending on the state variables Represents state variables For state variables Dynamic Impact It is non-matching interference; Indicates status dynamics, taking into account the state Impact To describe the control input For state variables Dynamic impact, and consider and coupling relationship.

6. The observer-free fixed-time fault-tolerant control method according to claim 5, characterized in that: In step S103, a fixed-time sliding surface is designed based on a six-degree-of-freedom mathematical model that simultaneously considers mismatch interference and actuator failure, and a fixed-time fault-tolerant control method for the near-space hypersonic aircraft system is obtained as follows: : in, , , ,matrix , ;parameter , They are all positive constants to be designed; express The sampling value of the previous moment; represents a diagonal matrix containing the control gains These gains are used to adjust the sensitivity of the control strategy; represents another diagonal matrix containing the adjustment function Gain , used to influence the impact of state deviations on system behavior; is a The function represents the processing of state deviation; The meaning is: Indicates the reference values ​​of angle of attack, sideslip angle, and roll angle; Representation vector The norm of .

7. The observer-free fixed-time fault-tolerant control method according to claim 1 or 2, characterized in that: Fixed time fault-tolerant control method for: in, ; Representation vector The symbolic function of Indicates status The time derivative of rate of change over time; is a A function used to adjust the sensitivity of the control input; Indicates the reference state The second derivative of is acceleration; Representation function The derivative with respect to time is used to capture changes in the system dynamics; Representation function Derivative with respect to time; Represents state variables For state variables Dynamic impact; To describe the control input For state variables Dynamic impact, and consider and coupling relationship.

8. An observer-free fixed-time fault-tolerant control device, characterized in that: The device is used to implement the observer-free fixed-time fault-tolerant control method as described in any one of claims 1 to 7; The device includes: A model configuration module, used to configure a six-degree-of-freedom mathematical nominal model of a hypersonic vehicle; A model conversion module is used to retrieve intermediate flight variables of the hypersonic aircraft, and convert the underactuated system of the hypersonic aircraft into a fully-actuated system, and also convert the six-degree-of-freedom mathematical nominal model into a fully-actuated six-degree-of-freedom mathematical nominal model with actuator faults and concentrated interference; The fault-tolerant control module is based on the mathematical nominal model of the full-drive six-degree-of-freedom, configures the fixed-time sliding surface without an observer, and obtains the fixed-time fault-tolerant control method without an observer for the hypersonic vehicle.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the observer-free fixed-time fault-tolerant control method according to any one of claims 1 to 7 are implemented.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the observer-free fixed-time fault-tolerant control method according to any one of claims 1 to 7 are implemented.

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