襟翼控制的欠驱动飞行器自抗扰/鲁棒控制系统设计

Active-Disturbance-Rejection/Robust Attitude Control System Design of Underactuated Vehicle Based on Flap Control

针对含不稳定内动态的襟翼控制欠驱动高超声速飞行器现有控制策略普遍存在的机动性能不足、工程应用困难等问题,设计欠驱动飞行器的自抗扰/鲁棒控制系统。提出一种基于通道级联的欠驱动控制策略,令偏航通道作为滚转通道的内回路,利用±1.5°的侧滑角合法波动范围,提升滚转角的指令跟踪速度。结合自抗扰与鲁棒控制理论设计自动驾驶仪,该自动驾驶仪不仅适用于过载反馈/欠驱动的非最小相位对象,还在摆脱自抗扰系统对关键模型参数依赖的同时减小了鲁棒控制器的降阶难度,有广阔的工程应用前景。为验证方案有效性,以参数存在±20%随机摄动的欠驱动高超声速飞行器模型为对象进行了1000次蒙特卡洛仿真,结果表明新的欠驱动策略能够在保证侧滑角不越界的同时提高滚转通道的响应速度,自抗扰/鲁棒控制系统在面对模型摄动与复合干扰时均有较好的鲁棒性。

To solve the problems of insufficient maneuverability and difficulties in engineering applications that are commonly seen in existing underactuated hypersonic vehicle control strategies,an active disturbance rejection/robust control system with new underactuated control strategies is proposed.Firstly,an underactuated control strategy based on channel cascade is presented an important feature is that the yaw channel acts as the inner loop of the roll channel in the new strategy,and the introduction of the±1.5°legal range of sideslip angle also improves the command tracking speed of the roll angle.Then,the control law is constructed by the combination of active disturbance rejection control(ADRC)and robust control theory.It is not only suitable for non-minimum phase systems with overload feedback/underactuation,but also reduces model parameters dependence in ADRC as well as order reduction difficulty in robust control,thus broadening the controller s application in engineering.Finally,1000 times Monte Carlo simulations are carried out on the hypersonic vehicle model with±20%random perturbation in parameters,and the results show that the proposed strategy can improve the response speed of the roll channel while ensuring the sideslip angle does not cross the boundary.In addition,the control system also has good robustness when confronted with model perturbation and compound interference.