滑翔式飛行器再入制導(dǎo)與控制方法研究
發(fā)布時間：2019-05-23 12:02
【摘要】：滑翔式飛行器以高超聲速進(jìn)入大氣層，并于再入過程中采用無動力飛行。由于具有相對較高的升阻比，滑翔式飛行器擁有良好的機(jī)動能力，制導(dǎo)控制系統(tǒng)可以通過改變升力的方向來控制其飛行軌跡。然而，再入段的飛行任務(wù)多變、飛行時間長、速度和位置變化大、飛行環(huán)境變化劇烈等特點(diǎn)，給滑翔式飛行器再入制導(dǎo)和控制系統(tǒng)的設(shè)計(jì)帶來困難和挑戰(zhàn)。 本文研究滑翔式飛行器再入的制導(dǎo)和控制方法，研究著眼于以下三方面：在線軌跡規(guī)劃、軌跡跟蹤制導(dǎo)、再入姿態(tài)控制。所研究的內(nèi)容主要分為如下四部分： 第一，提出了一種新的可以滿足地理約束以及其他路徑約束的三維自主再入制導(dǎo)律。該制導(dǎo)律可以分為軌跡規(guī)劃器和軌跡跟蹤器。軌跡規(guī)劃器可以在線規(guī)劃參考軌跡。在規(guī)劃過程中，，將參考軌跡分為初始下降段和滑翔段。初始下降段的軌跡規(guī)劃采用定常攻角和傾側(cè)角策略設(shè)計(jì)�；瓒蔚能壽E規(guī)劃同時考慮飛行器的縱向運(yùn)動和側(cè)向運(yùn)動。在阻力加速度-能量平面內(nèi)，縱向子規(guī)劃器通過對再入走廊的上下界插值來生成可行的參考軌跡。傾側(cè)角大小可以通過參考阻力加速度剖面計(jì)算，而傾側(cè)角符號則是由側(cè)向子規(guī)劃器確定的。側(cè)向子規(guī)劃器針對航路點(diǎn)約束采用兩次傾側(cè)角反轉(zhuǎn)策略，針對禁飛區(qū)約束采用動態(tài)方向角誤差走廊策略。軌跡規(guī)劃需要反復(fù)迭代使用縱向子規(guī)劃器和側(cè)向子規(guī)劃器，直至生成的參考軌跡滿足所有的路徑約束。在軌跡跟蹤方面，提出了一種新的基于自抗擾控制的再入軌跡跟蹤制導(dǎo)律。此外，對所提出再入制導(dǎo)方法進(jìn)行了適應(yīng)性測試和Monte Carlo數(shù)值仿真，結(jié)果表明所提出的制導(dǎo)方法能夠適應(yīng)不同的飛行任務(wù)，并能在滿足地理約束下使滑翔式飛行器精確飛至目標(biāo)點(diǎn)。 第二，為了提高再入制導(dǎo)律的實(shí)時性和魯棒性，提出一種基于滾動時域控制和間接Legendre偽譜法的軌跡跟蹤制導(dǎo)律。首先將參考軌跡的跟蹤問題轉(zhuǎn)化為軌跡狀態(tài)調(diào)節(jié)問題，從而獲得一個線性時變系統(tǒng)的最優(yōu)控制問題；然后采用滾動時域控制結(jié)合基于間接Legendre偽譜法的最優(yōu)反饋控制算法設(shè)計(jì)出一種易于在線實(shí)現(xiàn)的制導(dǎo)律�；谏鲜龉ぷ魍瓿闪藖嗆壍阑枋斤w行器制導(dǎo)過程的3自由度數(shù)值仿真研究工作。數(shù)值仿真結(jié)果表明該制導(dǎo)方法在初始點(diǎn)狀態(tài)存在較大范圍偏差和氣動參數(shù)存在較大誤差的情況下具有良好的魯棒性。 第三，研究在大范圍系統(tǒng)不確定和外界擾動下滑翔式飛行器的有限時域姿態(tài)控制問題，同時需要考慮冗余舵的分配。首先，利用反饋線性化技術(shù)消除運(yùn)動方程的非線性，從而建立姿態(tài)控制器的基本模型。然后，基于該基本模型，提出兩種結(jié)合擾動觀測器的時變滑�？刂品椒�。一種方法基于邊界層方法，另一種方法基于一種新的二階滑模控制方法。對兩種方法形成的閉環(huán)系統(tǒng)分別進(jìn)行了有限時域穩(wěn)定性分析。最后，當(dāng)姿態(tài)控制器生成力矩指令后，引入一種優(yōu)化控制分配方法將力矩指令分配至空氣動力舵和脈沖反作用力控制系統(tǒng)舵上。數(shù)值仿真結(jié)果表明兩種基于擾動觀測器的時變滑模控制方法均能夠消除抖振現(xiàn)象，同時對系統(tǒng)不確定和外界干擾具有較強(qiáng)的魯棒性。此外，所提出的二階滑�？刂品椒ň哂懈叩目刂凭�。 最后，為了應(yīng)對再入飛行時的飛行故障，提出了一種主動容錯控制策略。所提出的主動容錯控制策略包括飛行故障檢測方法和再入姿態(tài)控制器重構(gòu)兩部分。首先，建立故障存在時的飛行器動力學(xué)模型。然后，設(shè)計(jì)一種非線性魯棒故障檢測觀測器，實(shí)現(xiàn)對飛行故障的及時觀測。最后，結(jié)合自適應(yīng)控制和滑模控制提出一種應(yīng)對故障的控制律，一旦檢測到飛行故障，控制律就切換為所提出自適應(yīng)滑模控制，從而完成姿態(tài)控制器的重構(gòu)。數(shù)值仿真算例將主動容錯策略與經(jīng)典方法進(jìn)行對比，結(jié)果表明所提出的容錯控制在出現(xiàn)飛行故障的情況下仍具有良好的控制效果。
[Abstract]:The glide-type aircraft enters the atmosphere at a high supersonic speed and has no power to fly during re-entry. Because of the relatively high lift-to-drag ratio, the glide-type aircraft has a good maneuverability, and the guidance control system can control its flight trajectory by changing the direction of the lift. However, the design of the reentry guidance and control system of the glide-type aircraft brings difficulties and challenges to the design of the reentry guidance and control system of the glide-type aircraft. In this paper, the guidance and control methods for reentry of glide-type aircraft are studied. The following three aspects are focused on: on-line trajectory planning, trajectory tracking guidance and re-entry attitude control The content of the research is divided into four parts: In the first part, a new three-dimensional autonomous re-entry which can meet the geographical constraints and other path constraints is proposed. A guidance law. The guidance law can be divided into a track planner and a track. The tracker. The track planner can plan the parameters online In the planning process, the reference track is divided into an initial section and an initial section. Gliding section. The trajectory planning of the initial section is the steady angle of attack and the angle of the roll. The trajectory planning of the glide section takes into account the longitudinal movement and the side of the aircraft in the resistance acceleration-energy plane, the longitudinal sub-planner generates a feasible reference by interpolating the upper and lower bounds of the re-entry corridor The angle of the roll angle can be calculated by the reference resistance acceleration profile, and the roll angle symbol is calculated by the lateral subplan It is determined that the lateral sub-planner adopts the two-roll angle inversion strategy for the waypoint constraint, and the dynamic direction angle error is adopted for the no-fly zone constraint. Corridor strategy. The trajectory planning requires repeated iterations to use the longitudinal and lateral sub-planters until the generated reference track meets all the paths In the aspect of track tracking, a new reentry trajectory tracking based on self-disturbance control is proposed. In addition, the adaptive test and the Monte Carlo numerical simulation of the proposed reentry guidance method are carried out. The results show that the proposed guidance method can adapt to different flight tasks, and can make the glide-type aircraft to fly accurately under the constraints of geographical constraints. Secondly, in order to improve the real-time and robustness of reentry guidance law, a track based on rolling time domain control and indirect Legendre pseudospectral method is proposed. The tracking problem of a linear time-varying system is obtained by converting the tracking problem of a reference track into a track state adjustment problem, and then a rolling time-domain control is adopted to design an optimal feedback control algorithm based on the indirect Legendre pseudo-spectrum method to design an easy on-line real-time control method. The three-degree-of-freedom numerical simulation of the guidance process of the suborbital glide-type aircraft is completed based on the above-mentioned work The numerical simulation results show that the guidance method is good in the condition of large deviation of the initial point state and the large error of the aerodynamic parameters. Good robustness. Third, it is necessary to study the limited time-domain attitude control of the glide-type aircraft under the uncertainty of the large-range system and the external disturbance. First, the feedback linearization technique is used to eliminate the non-linearity of the motion equation, so that the attitude control is established. and then, based on the basic model, Variable-mode control method. One method is based on boundary layer method, and the other is based on a new method. Step-mode control method is used to control the closed-loop system formed by two methods, respectively. In the end, when the attitude controller generates the torque command, an optimal control assignment method is introduced to distribute the torque command to the aerodynamic rudder and the impulse reaction The numerical simulation results show that the two kinds of time-varying sliding mode control methods based on the disturbance observer can eliminate the buffeting phenomenon, and at the same time, the system uncertainty and the external interference and the proposed second-order sliding mode control method has the advantages of high robustness, Higher control accuracy. Finally, in order to deal with the flight fault during the reentry flight, a new method is presented. Active fault-tolerant control strategy is proposed in this paper. The proposed active fault-tolerant control strategy includes flight fault detection and re-entry. The state controller reconstructs two parts. First, when the fault exists, and then designing a non-linear robust fault detection observer, In the end, the control law of the fault is proposed in combination with the adaptive control and the sliding mode control. Once the flight fault is detected, the control law is switched to the proposed adaptive sliding mode control. The numerical simulation example compares the active fault-tolerant strategy with the classical method, and the result shows that the proposed fault-tolerant control is still under the condition of flight failure.
【學(xué)位授予單位】：北京理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2015
【分類號】：V448.2
本文編號：2483877
[Abstract]:The glide-type aircraft enters the atmosphere at a high supersonic speed and has no power to fly during re-entry. Because of the relatively high lift-to-drag ratio, the glide-type aircraft has a good maneuverability, and the guidance control system can control its flight trajectory by changing the direction of the lift. However, the design of the reentry guidance and control system of the glide-type aircraft brings difficulties and challenges to the design of the reentry guidance and control system of the glide-type aircraft. In this paper, the guidance and control methods for reentry of glide-type aircraft are studied. The following three aspects are focused on: on-line trajectory planning, trajectory tracking guidance and re-entry attitude control The content of the research is divided into four parts: In the first part, a new three-dimensional autonomous re-entry which can meet the geographical constraints and other path constraints is proposed. A guidance law. The guidance law can be divided into a track planner and a track. The tracker. The track planner can plan the parameters online In the planning process, the reference track is divided into an initial section and an initial section. Gliding section. The trajectory planning of the initial section is the steady angle of attack and the angle of the roll. The trajectory planning of the glide section takes into account the longitudinal movement and the side of the aircraft in the resistance acceleration-energy plane, the longitudinal sub-planner generates a feasible reference by interpolating the upper and lower bounds of the re-entry corridor The angle of the roll angle can be calculated by the reference resistance acceleration profile, and the roll angle symbol is calculated by the lateral subplan It is determined that the lateral sub-planner adopts the two-roll angle inversion strategy for the waypoint constraint, and the dynamic direction angle error is adopted for the no-fly zone constraint. Corridor strategy. The trajectory planning requires repeated iterations to use the longitudinal and lateral sub-planters until the generated reference track meets all the paths In the aspect of track tracking, a new reentry trajectory tracking based on self-disturbance control is proposed. In addition, the adaptive test and the Monte Carlo numerical simulation of the proposed reentry guidance method are carried out. The results show that the proposed guidance method can adapt to different flight tasks, and can make the glide-type aircraft to fly accurately under the constraints of geographical constraints. Secondly, in order to improve the real-time and robustness of reentry guidance law, a track based on rolling time domain control and indirect Legendre pseudospectral method is proposed. The tracking problem of a linear time-varying system is obtained by converting the tracking problem of a reference track into a track state adjustment problem, and then a rolling time-domain control is adopted to design an optimal feedback control algorithm based on the indirect Legendre pseudo-spectrum method to design an easy on-line real-time control method. The three-degree-of-freedom numerical simulation of the guidance process of the suborbital glide-type aircraft is completed based on the above-mentioned work The numerical simulation results show that the guidance method is good in the condition of large deviation of the initial point state and the large error of the aerodynamic parameters. Good robustness. Third, it is necessary to study the limited time-domain attitude control of the glide-type aircraft under the uncertainty of the large-range system and the external disturbance. First, the feedback linearization technique is used to eliminate the non-linearity of the motion equation, so that the attitude control is established. and then, based on the basic model, Variable-mode control method. One method is based on boundary layer method, and the other is based on a new method. Step-mode control method is used to control the closed-loop system formed by two methods, respectively. In the end, when the attitude controller generates the torque command, an optimal control assignment method is introduced to distribute the torque command to the aerodynamic rudder and the impulse reaction The numerical simulation results show that the two kinds of time-varying sliding mode control methods based on the disturbance observer can eliminate the buffeting phenomenon, and at the same time, the system uncertainty and the external interference and the proposed second-order sliding mode control method has the advantages of high robustness, Higher control accuracy. Finally, in order to deal with the flight fault during the reentry flight, a new method is presented. Active fault-tolerant control strategy is proposed in this paper. The proposed active fault-tolerant control strategy includes flight fault detection and re-entry. The state controller reconstructs two parts. First, when the fault exists, and then designing a non-linear robust fault detection observer, In the end, the control law of the fault is proposed in combination with the adaptive control and the sliding mode control. Once the flight fault is detected, the control law is switched to the proposed adaptive sliding mode control. The numerical simulation example compares the active fault-tolerant strategy with the classical method, and the result shows that the proposed fault-tolerant control is still under the condition of flight failure.
【學(xué)位授予單位】：北京理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2015
【分類號】：V448.2
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