高超声速飞行器的反步滑模神经网络控制系统  

Backstepping sliding mode neural network control system for hypersonic vehicle

作　　者：刘蓉 黄大庆 姜定国 LIU Rong;HUANG Da-qing;JIANG Ding-guo(Research Institute of Unmanned Aircraft,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;5311 Factory of Chinese People′s Liberation Army,Nanjing 210000,China)

机构地区：[1]南京航空航天大学无人机研究院,江苏南京210016 [2]中国人民解放军第5311工厂,江苏南京210000

出　　处：《光学精密工程》2019年第11期2392-2401,共10页Optics and Precision Engineering

基　　金：陆军装备部十三五预研项目资助(No.30102080101);航空科学基金资助项目(No.2016585205222);中央高校基本科研业务费专项项目资助(No.NS2018059)

摘　　要：针对高超声速飞行器一体化气动布局导致弹性机体与推进系统间的强耦合性,以及跨大空域及高速飞行过程中导致气动特性存在强非线性、不确定性和明显的时变特性,提出一种基于小脑神经网络的高超声速飞行器反步滑模控制策略。首先建立高超声速飞行器纵向非线性数学模型,并采用输入-输出反馈线性化方法,解除多变量之间的耦合关系;然后设计基于反步法的滑模变结构控制器解决系统非匹配不确定性难题;同时为弥补反步滑模控制器鲁棒性不足缺点,利用自回归小脑神经网络(RCMAC)的在线非线性逼近、自学习能力和相应控制结构,设计基于RCMAC的反步滑模控制器。仿真试验结果表明,该方法下高超声速飞行器纵向的高度控制精度可达到0.5 m,速度控制精度为0.1 m/s,可以保证闭环系统全局稳定,且拥有良好的跟踪性能和鲁棒性能。Strong coupling between the elastic body and the propulsion system in a hypersonic vehicle is caused by its integrated pneumatic layout and strong nonlinearity uncertainty,and obvious time-varying characteristics of aerodynamics,when the vehicle spans a large airspace and is flying at high speed.To eliminate the influence of this coupling,we propose a backstepping sliding mode control scheme based on a recurrent cerebellar model articulation controller(RCMAC).The input-output feedback linearization approach is used to resolve coupling between multiple variables.Firstly,we established the nonlinear mathematical longitudinal model of a hypersonic vehicle.Secondly,the sliding mode variable structure controller was designed to do away with the uncertainty of mismatch.Finally,the RCMAC-based backstepping sliding mode controller was designed.The controller makes up for the shortcoming of robustness of the hypersonic vehicle by its control structure and ability of nonlinear approximation and self-learning.The results of the simulation experiment indicate that the longitudinal altitude and velocity control precisions of a hypersonic vehicle can reach 0.5 m and 0.1 m/s,respectively and can therefore satisfy the system requirements of global stability,good dynamic responses,and robustness.

关 键 词：飞行器控制、导航技术 高超声速飞行器 反步法 自回归小脑神经网络 滑模控制 不确定性 

分 类 号：TG156[金属学及工艺—热处理]