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非线性严反馈系统的控制中,由于迭代和系统的设计过程,反步法成为研究热点之一。然而,由于需要推导虚拟控制的解析导数,传统反步法存在“计算膨胀”问题,当被控对象的系统阶数较高或模型较复杂时,“计算膨胀”问题更为严重,这限制了反步法在实际工程中的应用。因此,提出一类新型的指令滤波反步法,避免传统反步法中“计算膨胀”问题。该方法采用输入状态稳定性(Input-to-State Stability,ISS)和小增益定理保证闭环系统的稳定性,为严反馈系统的控制器设计提供了简洁有效的方式。针对高超声速飞行器巡航段纵向的速度和高度跟踪问题,综合指令滤波反步法和动态逆方法设计有效的状态反馈控制器,最后在数值仿真中验证了所设计的控制器能实现高超声速飞行器在爬升机动中对速度和高度的稳定跟踪。
Due to the iterative and system design process, the backstepping method becomes one of the hot topics in the control of nonlinear strict feedback systems. However, due to the need to derive the analytic derivatives of the virtual control, the traditional backstepping method has the problem of “calculating the expansion ”, and the problem of “calculating the expansion ” becomes more serious when the controlled object has a higher system order or a more complicated model , Which limits the application of backstepping in practical engineering. Therefore, a new kind of instruction filter back-up method is proposed, which avoids the problem of “calculating expansion ” in the traditional backstepping method. This method uses the Input-to-State Stability (ISS) and small gain theorem to ensure the stability of the closed-loop system, which provides a concise and effective way for the controller design of the strict feedback system. Aiming at the longitudinal velocity and altitude tracking of the hypersonic vehicle’s cruise section, an effective state feedback controller is designed by the integrated command and feedback method and the dynamic inverse method. Finally, the numerical simulation verifies that the designed controller can realize the hypersonic vehicle’s Climbing maneuvering in the speed and height of the stable tracking.