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针对高超声速飞行器强非线性,强耦合与高度不确定性的特点,提出一种基于高阶跟踪微分器的减步控制方案。将高超声速飞行器纵向模型表达为严反馈形式。在反步法设计框架中,引入跟踪微分器,利用其对给定信号任意阶导数精确估计的能力,计算第1步设计中产生的虚拟控制量的导数,并直接获得第2步实际控制量,从而将设计步骤从3步减少为2步。且在每步设计中将参数不确定性与外部扰动建模为等效干扰,设计扩张状态观测器获得等效干扰估计值,继而在控制器设计中进行补偿。利用Lyapunov方法证明闭环系统稳定性。仿真结果验证了所提控制方案对不确定及干扰的抑制作用,且跟踪精度优于传统动态面方法。
Aiming at the characteristics of hypereutectic aircraft such as strong nonlinearity, strong coupling and high uncertainty, a control scheme based on high-order tracking differentiator is proposed. The hypersonic vehicle longitudinal model is expressed as a strict feedback form. In the backstepping design framework, the tracking differentiator is introduced to calculate the derivative of the virtual control quantity generated in the first step design by using its ability to accurately estimate the derivative of any given order of the signal, and the second step actual control quantity , Reducing the design step from 3 steps to 2 steps. And in each step of the design, the parameter uncertainty and external disturbance are modeled as equivalent interference. The extended state observer is designed to obtain the equivalent interference estimation value, which is then compensated in the controller design. Use Lyapunov method to prove the stability of closed-loop system. The simulation results verify that the proposed scheme can restrain the uncertainty and interference, and the tracking accuracy is better than the traditional dynamic surface method.