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针对双舵面的高超声速飞行器的纵向模型,并且考虑到舵面故障和系统参数不确定的问题,设计自适应容错跟踪控制器。首先,对于高度子系统,由于系统中存在不确定量,对其参数化并设计自适应估计律,再通过反馈线性化设计理想控制信号。其次,考虑到舵面故障,根据推导得到的容错参数与故障参数的匹配条件,得到对容错参数的约束条件,并且运用Nussbaum增益函数自适应估计由舵面故障引起的不确定控制方向。自适应容错高度跟踪控制律设计完成后,运用Lyapunov稳定性理论验证了整个闭环控制系统的稳定性。同样的控制方案也可被应用在速度跟踪控制器的设计上。最后,仿真结果进一步说明控制器设计的合理有效性。
A longitudinal model of the hypersonic vehicle with dual rudder surfaces is designed, and an adaptive fault-tolerant tracking controller is designed considering the problems of rudder surface faults and uncertain system parameters. First of all, for the height subsystem, due to the existence of uncertainties in the system, it is parameterized and adaptive estimation law is designed. Then the ideal control signal is designed by feedback linearization. Secondly, considering the failure of the control surface, the constraint conditions of the fault tolerance parameters are obtained according to the matching conditions between the fault-tolerant parameters and the fault parameters, and the uncertain control directions caused by the fault of the control surface are adaptively estimated by the Nussbaum gain function. After the design of adaptive fault-tolerant altitude tracking control law is completed, the stability of the whole closed-loop control system is verified by Lyapunov stability theory. The same control scheme can also be applied to the design of the speed tracking controller. Finally, the simulation results further illustrate the reasonable and effective controller design.