刚弹性耦合的高超声速飞行器自适应有限时间控制  

Adaptive finite time control for rigid-elastic coupled hypersonic vehicles

作　　者：范军芳 唐文桃 纪毅 李亚峰 王伟[3,4] FAN Junfang;TANG Wentao;JI Yi;LI Yafeng;WANG Wei(School of Automation,Beijing Information Science and Technology University,Beijing 100192,China;Beijing Key Laboratory of High Dynamic Navigation Technology,Beijing 100192,China;School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China;Beijing Key Laboratory of UAV Autonomous Control,Beijing 100081,China)

机构地区：[1]北京信息科技大学自动化学院,北京100192 [2]高动态导航技术北京市重点实验室,北京100192 [3]北京理工大学宇航学院,北京100081 [4]无人机自主控制技术北京市重点实验室,北京100081

出　　处：《中国惯性技术学报》2023年第11期1132-1141,共10页Journal of Chinese Inertial Technology

基　　金：国家重点研发计划(2020YFC1511705);北京市科协青年人才托举工程(BYESS2023310);北京市属高等学校高水平科研创新团队建设支持计划项目(BPHR20220123)。

摘　　要：针对高超声速飞行器刚性-弹性耦合动力学特性诱发的再入姿态稳定控制难题,提出了一种具有有限时间收敛功能的自适应积分Lyapunov控制方法。建立了刚性-弹性耦合动力学模型,将弹性模态与外部不确定性视为归一化扰动,构造辅助误差补偿子系统。设计自适应律跟踪归一化扰动,可使姿态跟踪误差在有限时间内收敛,同时增强积分Lyapunov控制方法的鲁棒性。此外,为解决传统反步法控制的“微分爆炸”问题,引入一阶线性滤波器,避免了直接求导,得到了平滑且可执行的控制指令。仿真结果表明:所提控制方法在气动参数摄动±20%的条件下,实现速度跟踪误差不大于0.1 m/s,高度跟踪误差不大于0.5 m,可有效抑制弹性模态和外部扰动对姿态控制的不利影响。An adaptive integral Lyapunov control method with finite-time convergence capability is proposed to address the challenging problem of attitude stabilization control problem induced by the rigid-elastic coupling dynamic characteristics of hypersonic vehicles.The rigid-elastic coupling dynamic model is constructed,and the elastic mode and external uncertainty are regarded as normalized perturbations,and an auxiliary error compensation subsystem is constructed.An adaptive law is designed to track the normalized perturbations,which can make the attitude tracking error converge in finite time and enhance the robustness of the integral Lyapunov control method.In addition,to solve the"differential explosion"problem of traditional backstepping control,a first-order linear filter is introduced to avoid direct differentiation and obtain a smooth and executable control command.Simulation results show that under the condition of aerodynamic parameter perturbation of±20%,the proposed control method can achieve a velocity tracking error of no more than 0.1 m/s and a height tracking error of no more than 0.5 m,and effectively suppress the adverse effects resulted from elastic modes and external disturbances on attitude control.

关 键 词：高超声速飞行器 刚性-弹性耦合 自适应方法 积分Lyapunov控制 有限时间收敛 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]