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针对高超声速飞行器的姿态控制问题,考虑系统模型不确定性以及外界干扰的影响,基于快速终端滑模设计了连续的姿态跟踪控制器。将飞行器姿态控制系统模型按时间尺度划分为快回路和慢回路,其中慢回路的控制器设计目标是给出期望角速度作为快回路的制导指令,快回路控制器的设计目标是给出系统需求的控制力矩。基于有限时间控制理论分别针对各回路设计了连续的快速终端滑模姿态控制器,通过严格的数学证明,该控制器可以在系统模型存在不确定性以及外界干扰的情况下,使得姿态跟踪误差在有限时间内收敛。仿真结果表明本文的控制算法可以在短时间内使飞行器的姿态角均以较高的精度收敛至期望状态,且三个方向的控制力矩曲线均变化平滑,无抖振现象产生。
Aiming at the hypersonic vehicle attitude control problem, considering the uncertainty of the system model and the influence of external disturbance, a continuous attitude tracking controller is designed based on the rapid terminal sliding mode. The model of aircraft attitude control system is divided into fast loop and slow loop according to time scale. The design goal of slow loop controller is to give the desired angular velocity as the guidance of fast loop. The design goal of fast loop controller is to give system requirements Control torque. Based on the finite-time control theory, a continuous fast terminal sliding mode attitude controller is designed for each loop respectively. The rigorous mathematic proof shows that the controller can make the attitude tracking error in the presence of system model uncertainties and external disturbances Convergence within a limited time. The simulation results show that the proposed control algorithm can make the attitude angles of the aircraft converge to the desired state with high precision in a short time, and the control torque curves in all three directions change smoothly without chattering.