积分滑模控制在飞艇舵面故障中的应用

Application of integral sliding mode control in airship actuator failure

针对飞艇运动姿态的小扰动模型,利用极点配置方法设计了积分滑模控制器。对飞艇"×"型舵面出现的故障,给出了期望的特征根,并选择合适的特征向量来构造积分滑模面。给出了一种快速的趋近律形式,并证明了其稳定性。仿真结果表明,与PD控制器相比,积分滑模控制器能使飞艇的运动姿态保持良好。

Based on the small perturbation dynamic mathematical model of an airship,an integral sliding mode control scheme is proposed with pole placement method.A group of expected characteristic roots is given to deal with the failure of airship actuator like ＂×＂,then,an integral sliding mode control scheme will be designed by means of choosing suitable characteristic vectors.A fast rate reaching law is discussed and its stability has been proved.Simulation results indicate that the integral sliding mode control improves system performance and stability of airship compared with the PD control.