摘要
针对变体飞行器姿态控制问题,考虑气动参数不确定性和外部干扰的影响,文章提出了一种基于气动参数在线辨识的自适应控制方法。首先,基于变体飞行器运动模型,建立了气动参数辨识模型和面向控制的模型;接着,提出了一种基于气动参数在线辨识的自适应控制方法,其基于扩展卡尔曼滤波算法设计了一种气动参数在线辨识方法,在存在系统噪声和量测噪声的条件下实现了对未知气动参数的高精度在线辨识;然后提出一种基于滑模控制和干扰观测器的控制方案,并将气动参数在线辨识结果用于控制器中模型参数的更新,从而实现对变体飞行器姿态的自适应控制。基于所提出的气动参数在线辨识方法,在气动参数可辨识性分析的基础上对可辨识气动参数进行了在线辨识仿真,结果表明,所提方法可保证90%以上气动参数的辨识相对误差小于5%,表现出较高的辨识精度;最后进行了姿态自适应控制仿真,并将所提出的基于气动参数在线辨识的自适应控制方法与滑模控制方法、动态面控制方法和基于干扰观测器的控制方法进行对比,结果表明,所提出的自适应控制方法在存在较大的气动参数不确定性和外部干扰条件下,具有最强的抗干扰能力和最高的控制精度。
Aiming at the attitude control problem of morphing vehicle,a novel adaptive control method based on online identification of aerodynamic parameters is proposed,considering the influence of aerodynamic parameter uncertainty and external disturbance.Firstly,aerodynamic parameter identification model and control-oriented model are established based on the motion model of morphing vehicle.Then,an adaptive control method based on online identification of aerodynamic parameters is proposed.Specifically,an online identification method of aerodynamic parameters is designed based on the extended Kalman filter algorithm,which realizes high-precision online identification of unknown aerodynamic parameters in the presence of system noise and measurement noise.A control scheme based on sliding mode control and disturbance observer is proposed,and the online identification results of aerodynamic parameters are used to update the model parameters in the controller,realizing the adaptive attitude control of the morphing vehicle.By the proposed online identification method of aerodynamic parameters,an online identification simulation of identifiable aerodynamic parameters is carried out on the basis of the identifiability analysis of aerodynamic parameters,and the simulation results show that the identification method can ensure that the identification relative error of more than 90%of aerodynamic parameters is less than 5%,which shows high identification accuracy.Finally,the reentry attitude adaptive control simulation is carried out,and the proposed adaptive control method based on online identification of aerodynamic parameters is compared with the sliding mode control method,dynamic surface control method and the control method based on disturbance observer.The results show that the proposed method has the strongest disturbance rejection capability and the highest control accuracy under the condition of large aerodynamic parameter uncertainty and external disturbance.
作者
曹承钰
廖宇新
曹玉腾
李珺
CAO Chengyu;LIAO Yuxin;CAO Yuteng;LI Jun(School of Aeronautics and Astronautics,Central South University,Changsha,Hunan 410083,China;Beijing Aerospace Automatic Control Institute,Beijing 100854,China)
出处
《控制与信息技术》
2022年第3期8-16,共9页
CONTROL AND INFORMATION TECHNOLOGY
基金
一院高校联合创新基金(CALT2020-TS03)
湖南省研究生科研创新项目(CX20200257)
中南大学中央高校基本科研业务费专项资金资助课题(2020zzts757)。
关键词
变体飞行器
气动参数辨识
扩展卡尔曼滤波
自适应控制
morphing vehicle
aerodynamic parameter identification
extended Kalman filter
adaptive control
