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建立了临近空间滑翔飞行器六自由度运动模型,针对模型具有的快时变、强耦合、强非线性和不确定性特点,应用动态逆方法和滑模变结构控制方法分别设计了内环解耦控制器和外环鲁棒控制器,实现了解耦性与鲁棒性的有机结合,显著提高了控制系统性能。内环采用反馈线性化方法实现了姿态运动模型的伪线性化;外环滑模变结构控制器采用等速趋近律,采用饱和函数法抑制抖振现象,有效抑制外界干扰和参数偏差。仿真结果表明:基于动态逆的滑模变结构控制系统可以准确跟踪攻角、侧滑角和倾侧角指令,对外界干扰和参数偏差具有较强的鲁棒性。
A six-degree-of-freedom (DOF) motion model is established for the space gliding aircraft. Aiming at the characteristics of fast time-varying, strong coupling, strong nonlinearity and uncertainty of the model, the dynamic inverse method and the sliding mode control method are used to design the inner loop decoupling Controller and outer loop robust controller, to achieve an organic combination of decoupling and robustness, significantly improve the control system performance. The inner loop uses the feedback linearization method to realize the pseudo-linearization of the attitude motion model. The sliding mode control of the outer ring adopts the constant-speed approach law and the saturation function method to suppress the chattering, effectively suppressing the external disturbance and parameter deviation. The simulation results show that the sliding mode variable structure control system based on dynamic inverse can accurately track the angle of attack, side slip angle and roll angle command, and has strong robustness to external disturbance and parameter deviation.