高超聲速飛行器耦合控制及安全控制研究
發(fā)布時間：2018-07-31 17:05
【摘要】：高超聲速飛行器具有突防能力強(qiáng)、打擊范圍廣、投送能力大的特點,因此已成為目前飛行器設(shè)計領(lǐng)域內(nèi)的研究熱點。本文以高超聲速再入滑翔飛行器為研究對象,圍繞與其控制品質(zhì)與安全特性方面密切相關(guān)的關(guān)鍵控制技術(shù)深入開展相應(yīng)的耦合協(xié)調(diào)控制與安全控制研究。初步建立了一些相關(guān)的探索性、基礎(chǔ)性的理論。(1)文中首先建立了高超聲速再入飛行器姿態(tài)運動系統(tǒng)的全量耦合模型并面向控制對模型進(jìn)行了仔細(xì)分析。其中設(shè)計了一種耦合特性分析方法,并采用此方法研究了模型中的耦合特性,為后續(xù)的控制策略和控制方法的設(shè)計打下了基礎(chǔ)。(2)針對再入飛行器的偏航通道控制能力弱的特點,文中設(shè)計了可利用通道間耦合增強(qiáng)對側(cè)滑角控制能力的策略,并基于該策略設(shè)計了常規(guī)滑�？刂品椒�,為了避免滑模切換控制律參數(shù)選取過大引起控制性能下降,文中還采用了自適應(yīng)滑模控制方法,并對兩者進(jìn)行了對比和分析。經(jīng)仿真驗證,兩種方法結(jié)合耦合利用策略,都能夠保證對側(cè)滑通道控制能力的增強(qiáng)。(3)當(dāng)充分考慮再入飛行器氣動中的非線性耦合特性時,其姿態(tài)系統(tǒng)模型是輸入為非線性的非仿射系統(tǒng)。由于其中的輸入是非線性的,因此不像仿射型的模型那樣存在著明確的逆控制。對此本文針對非仿射系統(tǒng)設(shè)計了較為通用的控制策略和控制方法。在充分考慮再入飛行器舵效與狀態(tài)間耦合的基礎(chǔ)上,將以上控制策略應(yīng)用于再入飛行器姿態(tài)控制中,實現(xiàn)了對于再入飛行器非仿射模型的精確控制。(4)彈道與姿態(tài)間的耦合特性常會引起姿態(tài)角的穩(wěn)態(tài)誤差,此外由于這種耦合中含有系統(tǒng)的輸入,因此其會降低系統(tǒng)輸入輸出的相對階,使得設(shè)計非線性系統(tǒng)控制常用的輸入輸出反饋線性化方法變得難以適用,給控制的設(shè)計帶來了困難。為了解決這個問題,本文基于考慮彈道與姿態(tài)間耦合的非線性模型,設(shè)計了一種轉(zhuǎn)換策略,該策略能夠有效地將原非線性系統(tǒng)轉(zhuǎn)換成積分鏈?zhǔn)较到y(tǒng)。然后在此基礎(chǔ)上設(shè)計了一種可變阻尼的新型滑�？刂品椒�,而且給出了相應(yīng)的參數(shù)尋優(yōu)方法。經(jīng)過仿真驗證,以上策略和方法能夠基本消除彈道與姿態(tài)間的耦合對于姿態(tài)控制系統(tǒng)的影響,提高了姿態(tài)角的控制精度。(5)為了增強(qiáng)再入飛行器的魯棒性,以提高其控制系統(tǒng)的安全性,文中設(shè)計了一種通用的基于變結(jié)構(gòu)控制的魯棒性增強(qiáng)策略,其中在變結(jié)構(gòu)控制方法設(shè)計中,對超扭曲滑模趨近律進(jìn)行改進(jìn),設(shè)計了一種新型的快速超扭曲滑模趨近律。以上策略和方法相結(jié)合可以針對現(xiàn)有的控制方法進(jìn)行魯棒性改進(jìn),從而避免了重新設(shè)計控制器,因此不但降低了控制器設(shè)計的時間成本,而且可以提高魯棒性,增強(qiáng)飛行器的安全特性。(6)再入飛行器大攻角飛行時,會導(dǎo)致偏航形式的舵偏角失效,此外,大攻角情況下,耦合特性加重,還很容易引起另外兩個通道的輸入飽和。因此為了保證其在大攻角飛行時的安全特性,本文設(shè)計了能夠保證其在偏航舵失效情況下的控制方法,并在設(shè)計控制器時充分考慮了系統(tǒng)輸入的幅值約束特性。在控制器的設(shè)計過程中,基于時標(biāo)分離假設(shè)將姿態(tài)系統(tǒng)分為快回路和慢回路子系統(tǒng),然后針對慢回路子系統(tǒng),采用新型的高階滑模控制方法設(shè)計了一種連續(xù)、可導(dǎo)且有限時間收斂的控制器。在快回路中,設(shè)計了一種自適應(yīng)分層滑�？刂品椒�,并證明了其存在輸入幅值約束時的穩(wěn)定性。(7)文中最后將各章節(jié)提出的耦合控制策略和方法綜合應(yīng)用于再入飛行器的控制中,實現(xiàn)了對再入飛行器的安全控制。論文主要是圍繞高超聲速再入飛行器的姿態(tài)控制技術(shù)展開研究,根據(jù)不同的耦合特性設(shè)計了相應(yīng)的耦合協(xié)調(diào)控制策略和方法;此外文中還研究了高超聲速再入飛行器大攻角飛行中的控制器安全設(shè)計問題和旨在增強(qiáng)安全特性的魯棒性增強(qiáng)策略和方法。以上策略和方法主要是基于再入飛行器在實際過程中所出現(xiàn)的實際理論問題而研究的,因此不但具有一定的理論價值,而且在中具有一定的工程應(yīng)用價值。
[Abstract]:Hypersonic vehicle has the characteristics of strong penetration ability, wide range and high delivery capability, so it has become the research hotspot in the field of aircraft design. This paper takes hypersonic reentry glider as the research object, and develops the corresponding key control technology closely related to its control quality and safety characteristics. The research on the coupling coordination control and safety control. Some relevant exploratory and basic theories are initially established. (1) the full coupling model of the attitude motion system of hypersonic reentry vehicle is first established and the model is carefully analyzed. A coupling characteristic analysis method is set up, and this method is adopted. The coupling characteristics in the model are studied in this paper, which lays the foundation for the subsequent control strategy and the design of control methods. (2) in view of the weak control ability of the yaw channel of the reentry vehicle, the strategy of using the coupling enhancement to control the sideslip angle is designed in this paper, and a conventional sliding mode control method is designed based on this strategy. In order to avoid the oversize of the sliding mode switching control law, the adaptive sliding mode control method is used, and the two methods are compared and analyzed. The simulation shows that the two methods can guarantee the enhancement of the control ability of the sideslip channel with the coupling strategy. (3) when the reentry vehicle gas is taken into full consideration The model of the attitude system is a non affine system whose input is nonlinear. Because the input is nonlinear, it does not have a clear inverse control like the affine model. In this paper, a more general control strategy and control method for non affine system is designed. On the basis of the coupling between the steering effect and the state of the aircraft, the above control strategy is applied to the attitude control of the reentry vehicle, and the precise control of the non affine model of the reentry vehicle is realized. (4) the coupling characteristic between the ballistic and the attitude often causes the steady-state error of the attitude angle. In addition, the coupling contains the input of the system. It will reduce the relative order of the input and output of the system, which makes it difficult to apply the input output feedback linearization method commonly used in the design of nonlinear system control, and brings difficulties to the design of the control. The original nonlinear system is effectively converted into an integral chain system. On this basis, a new sliding mode control method with variable damping is designed, and the corresponding parameter optimization method is given. The simulation results show that the above strategy and method can basically eliminate the influence of the coupling between the trajectory and attitude on the attitude control system. The control accuracy of the attitude angle is improved. (5) in order to enhance the robustness of the reentry vehicle and improve the security of its control system, a universal robust enhancement strategy based on variable structure control is designed. In the design of variable structure control, a new type of fast speed sliding mode approach law is improved and a new type of fast algorithm is designed. The combination of the above strategy and the method can improve the robustness of the existing control methods, thus avoiding the redesign of the controller, thus not only reducing the time cost of the controller design, but also improving the robustness and enhancing the safety characteristics of the aircraft. (6) the flight of the large attack angle of the reentry vehicle, In addition, in the case of large angle of attack, the coupling characteristic is aggravated and the input saturation of the other two channels is easily caused by the large angle of attack. Therefore, in order to ensure its safety characteristics at large angle of attack, this paper designs a control method which can guarantee the failure of the yaw rudder, and is sufficient in the design of the controller. In the design process of the controller, the attitude system is divided into fast loop and slow loop subsystem based on the time scale separation hypothesis. Then a new high order sliding mode control method is used to design a continuous, guided and finite time convergent controller. In the fast loop, the controller is designed for the slow circuit subsystem. An adaptive layered sliding mode control method is designed and the stability of the input amplitude constraint is proved. (7) finally, the coupling control strategy and method proposed by each chapter should be used in the control of reentry vehicle to realize the safety control of reentry vehicle. The attitude control technology of the device is studied, and the corresponding coupling coordination control strategy and method are designed according to the different coupling characteristics. In addition, the controller security design problem and the robust enhancement strategy and method to enhance the security characteristics are also studied. It is mainly based on the actual theoretical problems arising from the reentry vehicle in the actual process. Therefore, it not only has a certain theoretical value, but also has a certain value in engineering application.
【學(xué)位授予單位】：西北工業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2015
【分類號】：V249.1
[Abstract]:Hypersonic vehicle has the characteristics of strong penetration ability, wide range and high delivery capability, so it has become the research hotspot in the field of aircraft design. This paper takes hypersonic reentry glider as the research object, and develops the corresponding key control technology closely related to its control quality and safety characteristics. The research on the coupling coordination control and safety control. Some relevant exploratory and basic theories are initially established. (1) the full coupling model of the attitude motion system of hypersonic reentry vehicle is first established and the model is carefully analyzed. A coupling characteristic analysis method is set up, and this method is adopted. The coupling characteristics in the model are studied in this paper, which lays the foundation for the subsequent control strategy and the design of control methods. (2) in view of the weak control ability of the yaw channel of the reentry vehicle, the strategy of using the coupling enhancement to control the sideslip angle is designed in this paper, and a conventional sliding mode control method is designed based on this strategy. In order to avoid the oversize of the sliding mode switching control law, the adaptive sliding mode control method is used, and the two methods are compared and analyzed. The simulation shows that the two methods can guarantee the enhancement of the control ability of the sideslip channel with the coupling strategy. (3) when the reentry vehicle gas is taken into full consideration The model of the attitude system is a non affine system whose input is nonlinear. Because the input is nonlinear, it does not have a clear inverse control like the affine model. In this paper, a more general control strategy and control method for non affine system is designed. On the basis of the coupling between the steering effect and the state of the aircraft, the above control strategy is applied to the attitude control of the reentry vehicle, and the precise control of the non affine model of the reentry vehicle is realized. (4) the coupling characteristic between the ballistic and the attitude often causes the steady-state error of the attitude angle. In addition, the coupling contains the input of the system. It will reduce the relative order of the input and output of the system, which makes it difficult to apply the input output feedback linearization method commonly used in the design of nonlinear system control, and brings difficulties to the design of the control. The original nonlinear system is effectively converted into an integral chain system. On this basis, a new sliding mode control method with variable damping is designed, and the corresponding parameter optimization method is given. The simulation results show that the above strategy and method can basically eliminate the influence of the coupling between the trajectory and attitude on the attitude control system. The control accuracy of the attitude angle is improved. (5) in order to enhance the robustness of the reentry vehicle and improve the security of its control system, a universal robust enhancement strategy based on variable structure control is designed. In the design of variable structure control, a new type of fast speed sliding mode approach law is improved and a new type of fast algorithm is designed. The combination of the above strategy and the method can improve the robustness of the existing control methods, thus avoiding the redesign of the controller, thus not only reducing the time cost of the controller design, but also improving the robustness and enhancing the safety characteristics of the aircraft. (6) the flight of the large attack angle of the reentry vehicle, In addition, in the case of large angle of attack, the coupling characteristic is aggravated and the input saturation of the other two channels is easily caused by the large angle of attack. Therefore, in order to ensure its safety characteristics at large angle of attack, this paper designs a control method which can guarantee the failure of the yaw rudder, and is sufficient in the design of the controller. In the design process of the controller, the attitude system is divided into fast loop and slow loop subsystem based on the time scale separation hypothesis. Then a new high order sliding mode control method is used to design a continuous, guided and finite time convergent controller. In the fast loop, the controller is designed for the slow circuit subsystem. An adaptive layered sliding mode control method is designed and the stability of the input amplitude constraint is proved. (7) finally, the coupling control strategy and method proposed by each chapter should be used in the control of reentry vehicle to realize the safety control of reentry vehicle. The attitude control technology of the device is studied, and the corresponding coupling coordination control strategy and method are designed according to the different coupling characteristics. In addition, the controller security design problem and the robust enhancement strategy and method to enhance the security characteristics are also studied. It is mainly based on the actual theoretical problems arising from the reentry vehicle in the actual process. Therefore, it not only has a certain theoretical value, but also has a certain value in engineering application.
【學(xué)位授予單位】：西北工業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2015
【分類號】：V249.1
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