基于挠性吸气式高超声速飞行器的传感器容错控制

Sensor Fault-Tolerance Control of a Flexible Air-Breathing Hypersonic Flight Vehicle

针对一类带有挠性的吸气式高超声速飞行器设计具有传感器容错能力的控制器。飞行器机体的刚性模态和挠性模态之间的强耦合作用不仅仅会直接影响到气动力和气动力矩,而且还会造成传感器的测量误差,尤其是给攻角测量带来加性扰动的影响,这给基于状态反馈控制器的设计带来了极大挑战。因此,为了解决这个问题,引入了比例积分型状态观测器,利用系统的输入和受干扰的输出重构出原系统的状态,然后利用重构的状态设计保性能控制器,在稳定该高超声速飞行器模型的同时,也使得给定的二次性能指标达到其最小的上界。本文的主要贡献在于成功地改进了传统意义上的状态反馈方法,并消除了因为挠性模态影响造成的传感器测量误差所带来的影响,这在实际工程中具有重要的意义。文章最后给出的仿真结果显示出了比例积分型状态观测器具有较好的动态性能,以及保性能控制器出色地完成了该模型高度和速度通道对指令信号的跟踪任务。

This paper is devoted to the controller design for a flexible air-breathing hypersonic flight vehicle （FAHFV） with sensor fault-tolerance. The curve-fit model of the FAHFV developed by Sigthorsson introduces strong bilateral coupling between the rigid and flexible modes. The flexible modes not only influence the aerodynamic forces and moments directly, but also create unexpected sensor measurement fault, especially for the additive turbulence for angle-of-attack measurement which brings great challenge for controller design. Thus, in order to solve this problem, firstly, a linear model is established by using small-perturbation method around the given trim condition. Secondly, a PI observer is introduced to recortfigure all the states without static error on the basis of the system inputs and contaminated outputs. Finally, a guarantee cost controller based on the recortfigured states feedback is designed to make the FAHFV stabilized and make the given quadratic performance index function get to its least upper boundary. What contributes is that the traditional state feedback method is ameliorated and the effects of sensor fault caused by flexible modes are eliminated successfully, which is great significance in actual engineering. Simulation results show that the PI observer achieves good transient performance and the guarantee cost controller successfully makes the altitude and the velocity of the FAHFV track the reference trajectory excellently.