论文部分内容阅读
高超声速飞行器俯冲时具有快时变特性,执行机构限于物理约束极易导致控制输入达到饱和,针对该问题提出考虑输入饱和约束的制导与控制一体化设计方法。首先,建立纵向制导与控制一体化设计模型,采用干扰观测器对系统不确定性进行估计补偿,然后结合加幂积分方法与嵌套饱和方法设计了新的制导控制一体化非线性控制律。通过严格的理论分析证明了带有饱和约束的控制器可令系统状态全局有限时间稳定,由于控制律中的虚拟控制量均考虑了饱和约束,做到了全局协调抗饱和,从而可更充分地利用飞行器控制能力去实现精准控制。数值仿真实例验证了提出方法的有效性及鲁棒性。
The hypersonic vehicle has the characteristics of fast time-varying when subducting. The actuator constrained to the physical constraints can easily lead to the saturation of the control input. For this problem, an integrated design method of guidance and control considering input saturation constraints is proposed. Firstly, the integrated design model of longitudinal guidance and control is established, and the disturbance observer is used to estimate the system uncertainty. Then, a new integrated guidance control integrated nonlinear control law is designed by combining the power-integration method and the nested-saturation method. Through rigorous theoretical analysis, it is proved that controllers with saturation constraints can stabilize the state of the system globally for a finite time. Because the control variables in the control law all take the saturation constraints into account, the global coordination and anti-saturation can be achieved, which makes full use of Aircraft control capabilities to achieve precise control. Numerical examples show the effectiveness and robustness of the proposed method.