基于微分几何反馈线性化的高超声速飞行器控制系统实现  

Realization of Hypersonic Vehicle Control System Based on Differential Geometric Feedback Linearization

作　　者：杨凡[1,2] 黄颖 陈云松 曾皓 YANG Fan;HUANG Ying;CHEN Yunsong;ZENG Hao(Chengdu Institute of Computer Application,Chinese Academy of Sciences,Chengdu 610041,China;Sichuan Autonomous and Controllable Electronic and Information Industry Co.,Ltd.,Chengdu 610041,China)

机构地区：[1]中国科学院成都计算机应用研究所,成都610041 [2]四川省自主可控电子信息产业有限责任公司,成都610041

出　　处：《计算机测量与控制》2022年第12期125-130,共6页Computer Measurement &Control

基　　金：四川省重大科技专项(2020YFG0462)。

摘　　要：为实现对高超声速飞行器横滚角度数值、纵滚角度数值的同步控制,使飞行器元件呈现出相对平稳的运动状态,设计基于微分几何反馈线性化的高超声速飞行器控制系统;利用电源管理模块电路,更改电机驱动器元件的连接形式,根据螺旋桨转动速率,调试IMU惯性传感器、GPS定位、PID控制器三类下级硬件设备的实时运行状态,完成高超声速飞行器控制系统的主体应用结构设计;按照飞行器运动轨迹的微分处理结果,计算控制向量反馈指标的具体数值水平,再通过解析几何信号的处理方式,确定线性化姿态解算表达式,实现基于微分几何反馈线性化的飞行器控制程序设计,结合相关硬件应用设备,完成对高超声速飞行器控制系统的研究;实验结果显示,当实验时间为14 s时,实验组横滚角度数值与理想角度数值之间的差值最大为3°;当实验时间为6 s时,实验组纵滚角度数值与理想角度数值之间的差值最大为4°,微分几何反馈线性化原则能够有效控制横滚角度数值、纵滚角度数值与理想角度数值之间的差值水平,在促进高超声速飞行器平稳运动方面具有较强的可行性价值。In order to realize the synchronous control of the rolling angle value and the longitudinal rolling angle value of the hypersonic aircraft,so that the aircraft components show a relatively stable motion state,a hypersonic aircraft control system based on differential geometric feedback linearization is designed.The power management module circuit is used to change the connection form of the motor driver components,and debugs the real-time operating status of the three subordinate hardware devices of the IMU inertial sensor,GPS positioning,and PID controller according to the rotation rate of the propeller,and the main application structure of the hypersonic aircraft control system is completed.According to the differential processing result of the aircraft motion trajectory,the specific numerical level of the control vector feedback index is calculated,and then the linearized attitude solution expression is determined by the processing method of the analytical geometric signal,and the aircraft control program design based on the differential geometric feedback linearization is realized.Combined with the relevant hardware application equipment,the research on the control system of the hypersonic aircraft is completed.The experimental results show that when the experimental time is 14 s,the maximum difference between the rolling angle value and the ideal angle value of the experimental group is 3°;When the experimental time is 6 s,the maximum difference between the longitudinal rolling angle value and the ideal angle value of the experimental group is 4°,the differential geometric feedback linearization principle can effectively control the roll angle value,the difference level between the pitch roll angle value and the ideal angle value,which has strong feasibility value in promoting the smooth motion of the hypersonic aircraft.

关 键 词：微分几何 反馈线性化 高超声速飞行器 电机驱动器 惯性传感器 PID控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]