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针对当前轨迹线性化控制(TLC)方法对系统中的不确定性存在鲁棒性不足的问题,受非线性跟踪微分器设计思路的启发,提出了一种基于微分器设计原则的轨迹线性化控制方法.首先,引入二阶线性微分器(SOLD)的概念,通过理论分析指出了当前轨迹线性化控制方法中采用一阶惯性+伪微分器求取标称指令的微分信号时,会存在与二阶线性微分器类似的峰值现象,随后利用韩式跟踪微分器(TD)求取标称指令及其微分信号,避免了该现象的同时又赋予了系统在控制量的约束范围内调节响应快慢的能力;其次,通过构造期望的闭环系统,跟踪误差动态,直接获取线性时变(LTV)系统的控制量,使得参数整定不再依赖于并行微分(PD)谱理论,在此基础上,将混合微分器(HD)的非摄动形式等价为期望的闭环系统跟踪误差动态,以提升轨迹线性化控制方法的鲁棒性,同时借助Lyapunov稳定性理论证明了受扰系统的跟踪误差最终一致有界;最后,利用所提出的轨迹线性化控制方法设计了高超声速飞行器的姿控系统并进行了相应的仿真.结果表明:存在大范围气动参数摄动的情况下,本方法仍具有较好的控制性能及抗干扰能力,能够满足高超声速飞行器快时变、高精度以及强鲁棒的控制需求.
Aiming at the problem of the current trajectory linearization control (TLC) method is not robust to the uncertainty in the system, inspired by the design idea of nonlinear tracking differentiator, a trajectory linearization control based on the design principle of differentiator Firstly, the concept of second order linear differentiator (SOLD) is introduced, and the theoretical analysis shows that when the first order inertia + pseudo differentiator is used to obtain the nominal differential signal of the current trajectory linearization control method, Order linear differentiator similar peak phenomenon, and then use the Korean tracking differentiator (TD) to obtain the nominal command and its differential signal, to avoid this phenomenon while giving the system to control the amount of constraints within the scope of the response speed Secondly, the control of the linear time-varying (LTV) system is obtained directly by constructing the desired closed-loop system and tracking error dynamics so that the parameter tuning no longer depends on the theory of parallel differential (PD) spectroscopy. On the basis of this, The non-perturbative form of the differentiator (HD) is equivalent to the desired tracking system dynamics of the closed-loop system to enhance the robustness of the trajectory linearization control method and to prove it with Lyapunov stability theory Finally, the attitude control system of the hypersonic vehicle is designed and simulated with the proposed trajectory linearization control method. The results show that there is a large range of aerodynamic parameters perturbation , This method still has better control performance and anti-interference ability, which can meet the requirements of fast, high precision and robust control of hypersonic vehicles.