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以某型高超声速飞行器为研究对象,针对巡航状态下气动参数不确定的姿态控制问题,提出了一种结合非线性动态逆控制与PID控制的姿态控制方法。首先,对高超声速飞行器非线性模型进行精确反馈线性化,得到了飞行器纵向姿态仿射非线性方程;接着,为速率变化快慢不同的迎角和俯仰角速率分别设计了动态逆控制律以抵消对象的非线性特性;然后,在动态逆控制的基础上,采用工程上易于实现的PID控制补偿由于未精确建模带来的系统逆误差,实现了迎角对指令信号的有效跟踪;最后,进行了数值仿真验证。结果表明,所设计的高超声速飞行器动态逆-PID姿态控制器具有良好的跟踪性能和鲁棒性能。
Taking a hypersonic vehicle as an example, aiming at the problem of attitude control with uncertain aerodynamic parameters under cruising conditions, a attitude control method combining nonlinear dynamic inverse control and PID control is proposed. First of all, the feedback linearization of the hypersonic vehicle nonlinear model is carried out, and the affine nonlinear equations of the longitudinal attitude of the aircraft are obtained. Then, dynamic inverse control law is designed for the different angles of attack and the pitch rate respectively to compensate the object Then, on the basis of dynamic inverse control, the PID error control which is easy to realize in the engineering is used to compensate the system inverse error caused by the inexact modeling, so as to effectively track the command signal at the angle of attack. Finally, Numerical simulation verification. The results show that the designed hypersonic dynamic inverse-PID attitude controller has good tracking performance and robust performance.