基于ESO补偿的故障舰载机滑模容错着舰控制技术

Research on Fault Tolerant Control Technology of Carrier Aircraft Based on ESO Compensation

舰载机着舰是一项具有强非线性、强耦合性、环境干扰复杂等特点的系统工程。舰载机故障状态下的自动着舰任务更是极具风险与挑战。针对舰载机着舰过程中执行器随机漂移故障、部分损伤故障所引起的控制系统性能恶化问题,提出了一种基于扩张状态观测器(ESO)补偿的滑模容错控制方法。该方法通过ESO对系统的未建模动态、舰尾流扰动以及故障状态进行实时精确估计,进而设计滑模控制律确保误差收敛,采用高阶线性微分跟踪器(LTD)获取控制律所需的各阶微分信号。仿真结果表明,所设计的方法具有良好的跟踪性能、抗干扰能力以及故障容错性能。

Carrier aircraft landing is a system engineering with strong nonlinearity,strong coupling,and complex environmental interference.The automatic landing task under the fault condition of the carrier aircraft is extremely risky and challenging.A sliding mode fault-tolerant control method based on Extended State Observer(ESO)compensation is proposed for the deterioration of control system performance caused by random actuator drift failures and partial damage failures during landing.The method adopts ESO to accurately estimate the unmodeled dynamics of the system,the aft wake disturbance and the fault state in real time,and then a sliding mode control law is designed to ensure error convergence,and the differential signals of all orders required by the control law are obtained by using a high-order Linear Tracking Differentiator(LTD).The simulation results show that the method designed in this paper has good tracking performance,anti-interference ability and fault tolerance.