欠驱动飞行器横侧向通道的自耦PD控制方法  

Auto-Coupling PD Control Method for Lateral Channel of Underactuated Vehicle

作　　者：喻乐言 曾喆昭[1] 唐钰淇 YU Leyan;ZENG Zhezhao;TANG Yuqi(Changsha University of Science and Technology,Changsha 410076,China)

机构地区：[1]长沙理工大学,长沙410076

出　　处：《空间控制技术与应用》2024年第3期60-67,共8页Aerospace Control and Application

基　　金：湖南省教育厅重点资助项目(21A0183)。

摘　　要：针对欠驱动高超声速飞行器横侧向通道的姿态控制问题,提出一种基于自耦PD(proportional-differential)控制理论的控制方法.该方法将欠驱动飞行器横侧向姿态模型转换为由速度倾斜角与侧滑角两个通道组成的二阶动态模型,并在速度倾斜角通道中引入一个侧滑角虚拟指令,再对速度倾斜角与侧滑角两个通道的内部动态与外部扰动分别定义两个总扰动,从而将非线性欠驱动扰动系统等价映射为虚拟全驱动线性扰动系统.使用最小速度因子及其自适应速度因子来设计外环速度倾斜角的自耦PD控制器,以便获得侧滑角虚拟指令,并根据该虚拟指令来设计内环侧滑角的自耦PD控制器,从而获得副翼偏角的控制力.分析了自耦PD控制系统的鲁棒稳定性和抗扰动鲁棒性.仿真结果表明,本文设计的自耦PD控制器不仅具有良好的抗扰动鲁棒性,而且具有良好的动态品质和稳态性能.Aiming at the problem of attitude control for lateral channel of underactuated hypersonic vehicle,a con-trol method based on the auto-coupling PD(proportional-differential)control theory is proposed.Firstly,the lateral attitude model of the underactuated vehicle is transformed into a second-order dynamic model composed of two channels of velocity inclination angle and sideslip angle,and a virtual command of sideslip angle is introduced into the velocity inclination angle channel,and then two total perturbations are defined respectively for the internal dy-namics and external perturbations of the two channels.The nonlinear underactuated perturbed system is equivalent to the linear perturbed system with virtual full actuated system.Then,the minimum speed factor and its adaptive speed factor are used to design the auto-coupling PD controller of the outer ring velocity inclination angle,so as to obtain the virtual instruction of sideslip angle.According to the virtual instruction,the auto-coupling PD controller of the inner ring sideslip angle is designed to obtain the control of aileron deflection angle.Finally,the robust sta-bility and anti-disturbance robustness of the auto-coupling PD control system are analyzed.The simulation results show that the auto-coupling PD controller designed in this paper not only has good anti-disturbance robustness,but also has good dynamic quality and steady state performance,which has great application value in the control field of underactuated hypersonic vehicle.

关 键 词：欠驱动飞行器 横侧向姿态模型 自耦PD控制 自适应速度因子 抗扰动鲁棒性 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]