高超声速飞行器气动耦合分析及协调控制研究
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摘要
为解决高超声速飞行器姿态运动之间存在的强耦合问题,针对飞行器的气动耦合进行分析,并在此基础上设计了削弱气动耦合的姿态协调控制器。在分析高超声速飞行器状态三通道气动力矩之间的关系基础上,运用动态方程的耦合分析方法得到三通道之间气动耦合关系,求解出耦合度矩阵,引入耦合熵的概念,根据耦合熵判断耦合是否可忽略,并对飞行器姿态协调滑模控制器进行了设计。仿真结果表明,所设计的控制器可有效削弱飞行器三通道之间的气动耦合,在保证姿态稳定的前提下提高系统的动态响应能力。
There are strong couplings between the attitude motion of a hypersonic vehicle,which can be divided into motion coupling,aerodynamic coupling,and inertial coupling. The aerodynamic coupling of aircraft is analyzed,the attitude controller is designed to weaken aerodynamic coupling. Firstly,the relationship between the aerodynamic moments of the hypersonic vehicle's three channels is analyzed. Secondly,by using the coupling analysis method of dynamic equations,the coupling relationship between the channels is obtained and the coupling matrices are solved. Then,combining the coupling matrices to judge whether coupling can be ignored,an attitude coordination controller is designed. The simulation results show that the designed controller can effectively weaken the aerodynamic coupling between the three channels of the aircraft,and improve the dynamic response ability of the system on the premise of ensuring the stability of the attitude.
There are strong couplings between the attitude motion of a hypersonic vehicle,which can be divided into motion coupling,aerodynamic coupling,and inertial coupling. The aerodynamic coupling of aircraft is analyzed,the attitude controller is designed to weaken aerodynamic coupling. Firstly,the relationship between the aerodynamic moments of the hypersonic vehicle's three channels is analyzed. Secondly,by using the coupling analysis method of dynamic equations,the coupling relationship between the channels is obtained and the coupling matrices are solved. Then,combining the coupling matrices to judge whether coupling can be ignored,an attitude coordination controller is designed. The simulation results show that the designed controller can effectively weaken the aerodynamic coupling between the three channels of the aircraft,and improve the dynamic response ability of the system on the premise of ensuring the stability of the attitude.
引文
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[14]韩钊,宗群,田柏苓,等.基于Terminal滑模的高超声速飞行器姿态控制[J].控制与决策,2013,28(2):259-263.HAN Zhao,ZONG Qun,TIAN Bailing,et al. Hypersonic Vehicle Attitude Control Using Terminal Sliding Mode Control[J].Control and Decision,2013,28(2):259-263.
[15]CHEN M,YU J. Disturbance Observer-Based Adaptive Sliding Mode Control for Near-Space Vehicles[J]. Nonlinear Dynamics,2015,82(4):1671-1682.
[16]FU J,WANG L,CHEN M,et al. Robust Adaptive Attitude Control for Airbreathing Hypersonic Vehicle with Attitude Constraints and Propulsive Disturbance[J]. Mathematical Problems in Engineering,2015,24(2):1-11.
[17]WANG P,TANG G J,WU J. Sliding Mode Decoupling Control of a Generic Hypersonic Vehicle Based on Parametric Commands[J]. Science China Information Sciences,2015,58(5):1-14.
[18]李蹬珺,张庆振,程琳,等.基于TLC与ADRC的耦合利用控制技术[C]∥中国控制与制导会议.南京:[s. n.],2016:263-269.LI Dengjun,ZHANG Qingzhen,CHENG Lin,et al. Coupling Control Technology Based on TLC and ADRC[C]∥China Control and Guidance Conference. Nanjing:[s. n.],2016:263-269.
[19]刘金琨.滑模变结构控制控制MATLAB仿真(第3版)[M].北京:清华大学出版社,2015.LIU Jinkun. Sliding Mode Control Design and MATLAB Simulation[M]. 3rd ed. Beijing:Tsinghua University Press,2015.
[2]HELLER M,SACHS G. Flight Dynamics and Robust Control of a Hypersonic Test Vehicle with Ramjet Propulsion[C]∥8th AIAA International Space Planes and Hypersonic Systems and Technologies Conference. Norfolk,VA,USA:[s. n.],1998:3-10.
[3]郭宗易,周军,郭建国.新型高超声速飞行器耦合姿态控制系统设计[J].宇航学报,2017,38(3):270-278.GUO Zongyi,ZHOU Jun,GUO Jianguo. Design of Coupling Attitude Control System for a New Hypersonic Vehicle[J]. Acta Astronautica,2017,38(3):270-278.
[4]方家为.高超声速飞行器姿态控制先进方法研究[D].杭州:浙江大学航空航天学院,2017.FANG Jiawei. Advanced Method for Attitude Control of Hypersonic Vehicle[D]. Hangzhou:College of Aeronautics and Astronautics,Zhejiang University,2017.
[5]杜立夫,陈宜成,闵勇.基于LQG/LTR的高超声速飞行器全通道姿态控制[J].飞行力学,2017,35(5):66-69.DU Lifu,CHEN Yicheng,MIN Yong. Attitude Control of Hypersonic Vehicle Based on LQG/LTR[J]. Flight Mechanics,2017,35(5):66-69.
[6]李帆,周凤岐,周军.大迎角下导弹气动耦合控制系统分析[J].飞行力学,2001,19(1):63-66.LI Fan,ZHOU Fengqi,ZHOU Jun. Analyses on the Missile's Aerodynamic Coupling Control System with Large Angle of Attack[J]. Flight Mechanics,2001,19(1):63-66.
[7]朱多宾,呼卫军,林鹏,等.面向控制的飞行器气动耦合模型解耦方法研究[J].飞行力学,2013,31(5):402-406.ZHU Duobin,HU Weijun,LIN Peng,et al. Research on Control-Oriented Decoupling Method for Vehicle Aerodynamic Coupling Model[J]. Flight Mechanics,2013,31(5):402-406.
[8]张珂珂.飞行器耦合机理及耦合补偿研究[D].武汉:华中科技大学自动化学院,2013.ZHANG Keke. Coupling Mechanism and Decoupling Study of Vehicle[D]. Wuhan:College of Automation,Huazhong University of Science and Technology,2013.
[9]郭建国,刘宇超,郑强,等.含干扰观测器的高超声速飞行器新型滑模姿态控制[J].西北工业大学学报,2017,35(6):941-947.GUO Jianguo,LIU Yuchao,ZHENG Qiang,et al. A Novel Sliding Mode Attitude Control for Hypersonic Vehicle with Mismatched Uncertainties[J]. Journal of Northwestern Polytechnical University,2017,35(6):941-947.
[10]谢克明,杨博,谢刚.一种基于概率统计算法的耦合度分析法[J].太原理工大学学报,1999,30(2):111-114.XIE Keming,YANG Bo,XIE Gang. An Analysis Method for Couple Degrees Based on Probability and Statistics Theory[J].Journal of Taiyuan University of Technology,1999,30(2):111-114.
[11]ZHEN W,WANG Y,WU Q,et al. Coordinated Attitude Control of Hypersonic Flight Vehicles Based on the Coupling Analysis[J]. Proceedings of the Institution of Mechanical Engineers Part G:Journal of Aerospace Engineering,2018,232(5):1002-1011.
[12]牟金震,王玉惠,吴庆宪,等.高超声速飞行器姿态运动协调研究[J].电光与控制,2017(10):17-21.MU Jinzhen,WANG Yuhui,WU Qingxian,et al. Attitude Coordinated Control for Hypersonic Flight Vehicle[J]. Electronics Optics&Control,2017(10):17-21.
[13]冯星凯,王玉惠,秦晅,等.基于动态方程的高超声速飞行器姿态协调控制[J].吉林大学学报:信息科学版,2018,36(2):133-141.FENG Xingkai,WANG Yuhui,QIN Xuan,et al. Attitude Coordination Control of Hypersonic Vehicle Based on Dynamical Equation[J]. Journal of Jilin University:Information Science Edition,2018,36(2):133-141.
[14]韩钊,宗群,田柏苓,等.基于Terminal滑模的高超声速飞行器姿态控制[J].控制与决策,2013,28(2):259-263.HAN Zhao,ZONG Qun,TIAN Bailing,et al. Hypersonic Vehicle Attitude Control Using Terminal Sliding Mode Control[J].Control and Decision,2013,28(2):259-263.
[15]CHEN M,YU J. Disturbance Observer-Based Adaptive Sliding Mode Control for Near-Space Vehicles[J]. Nonlinear Dynamics,2015,82(4):1671-1682.
[16]FU J,WANG L,CHEN M,et al. Robust Adaptive Attitude Control for Airbreathing Hypersonic Vehicle with Attitude Constraints and Propulsive Disturbance[J]. Mathematical Problems in Engineering,2015,24(2):1-11.
[17]WANG P,TANG G J,WU J. Sliding Mode Decoupling Control of a Generic Hypersonic Vehicle Based on Parametric Commands[J]. Science China Information Sciences,2015,58(5):1-14.
[18]李蹬珺,张庆振,程琳,等.基于TLC与ADRC的耦合利用控制技术[C]∥中国控制与制导会议.南京:[s. n.],2016:263-269.LI Dengjun,ZHANG Qingzhen,CHENG Lin,et al. Coupling Control Technology Based on TLC and ADRC[C]∥China Control and Guidance Conference. Nanjing:[s. n.],2016:263-269.
[19]刘金琨.滑模变结构控制控制MATLAB仿真(第3版)[M].北京:清华大学出版社,2015.LIU Jinkun. Sliding Mode Control Design and MATLAB Simulation[M]. 3rd ed. Beijing:Tsinghua University Press,2015.
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