Design of the Nonlinear Cruise Controllers for Hypersonic Vehicle

高超声速飞行器非线性巡航控制器设计

¹ Norinco Group Aviation Ammunition Insitute, Harbin, 150036, China
² School of Automation, Northwestern Polytechnical University, Xi’an 710129, China
³ Shaanxi Province Key Laboratory of Flight Control and Simulation Technology, Xi’an 710129, China

Received: 2 April 2017

Abstract

When the hypersonic vehicle is cruising, they face the aerothermoelastic, as well as the matching, unmatched uncertainty and the disturbance. This paper presents a control method of command filter Backstepping sliding in order to cope with the problems above. First, this method does the problem of calculation expands to Backstepping using the command filter. Then, introducing sliding control settles the matching problem and disturbance; Consideration to decline the shake of sliding control and deal with the unmatched uncertainty, using the idea of higher order sliding mode control, this paper augments an addition virtual control state equation in each control loop and makes the output of the control system act on an integral, which not only declines the shake of sliding control, but also deals with the unmatched uncertainty using adaptive Backstepping. However, introducing an additional virtual control equation of state increases the system order, which has a growing in complexity when using the adaptive Backstepping to design the control system. Nevertheless the problem could be resolved by the method of dynamic surface. At last, the global stability of the proposed method is proved in theory and the effectiveness and robust of this method are verified by the simulation.

摘要

飞行器高超声速定速巡航时，面临着严重的气动热弹性问题，同时系统伴有匹配不确定性、非匹配不确定性以及外界扰动的问题，为了应对上述问题，提出了一种指令滤波积分动态面 Backstepping 滑模控制方法，首先该方法采用指令滤波处理 Backstepping 的计算膨胀问题，然后引入滑模控制来解决外界扰动和匹配不确定性问题；考虑到降低滑模控制引起的抖动，同时处理非匹配不确定性问题，利用高阶滑模的思想，在每一个控制回路中增加一个附加虚拟控制状态方程，并将控制的输出作用在一个积分器上，这样不仅可以降低滑模控制器的抖动，还可以利用自适应 Backstepping 方法处理不匹配不确定性问题；然而引入附加控制状态方程会增加系统的阶次，这使得利用 Backstepping 方法设计控制器时的复杂性有所增加，为此采用动态面的方法来解决这一复杂性增加的问题。最后从整体上证明了所提方法的全局稳定性，并通过仿真实验验证了该方法的鲁棒性和有效性。