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针对超低空空投拉平阶段地面效应、传感器测量误差以及低空气流等不确定性因素干扰轨迹精确跟踪,威胁载机的安全性和任务完成性等问题,设计了二级混合迭代滑模变结构飞行控制律.第1级滑模采用全局动态切换函数,消除了滑模运动的到达阶段,保证了系统在响应全程的鲁棒性;第2级滑模采用非线性积分切换函数,将积分项产生的超调转移到第1级滑模,保证轨迹跟踪精度的同时改善了动态性能.应用Lyapunov稳定性理论和Barbalat引理证明了该飞行控制律能完全抑制常值的模型摄动和外界扰动,可以控制动态模型摄动和外界干扰下稳态误差的上界.仿真验证了所提控制方法的良好跟踪性能和强鲁棒性.
Aiming at the problems such as ground track effect at ultra-low-altitude air-to-ground stage, sensor measurement errors and accurate tracking of uncertainties such as low air flow, and the safety and mission completeness of submarine-borne aircraft, a two-stage hybrid iterative sliding mode variable structure flight control The first order sliding mode uses the global dynamic switching function to eliminate the arrival phase of sliding mode motion and ensure the robustness of the system in response to the whole system. The second stage sliding mode uses the nonlinear integral switching function, The overshoot is transferred to the first order sliding mode to improve the tracking performance while improving the dynamic performance. The Lyapunov stability theory and the Barbalat lemma are used to prove that the flight control law can completely restrain the model perturbation and external perturbation of the constant value. The upper bound of the steady-state error is controlled by the perturbation of the dynamic model and the disturbance of the outside world.The simulation results show the good tracking performance and strong robustness of the proposed control method.