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针对存在扰动、执行机构死区非线性以及系统不确定性的高超声速飞行器巡航飞行纵向通道模型,提出了带有新型非线性扰动观测器的递阶滑模控制器。递阶滑模控制器采用多层终端滑模面的回归结构,能够保证系统跟踪误差在有限时间内收敛到0.将执行机构的死区非线性简化为输入的未知扰动,对于系统中存在的由扰动和不确定性产生的复合扰动,设计了新型非线性扰动观测器,补偿作用避免了通过增大系统增益提高控制系统抗扰动性能,同时观测器可以对死区非线性产生的系统扰动进行观测,消除死区非线性对控制系统的影响。理论证明了观测值误差为渐进收敛。基于Lyapunov理论对带有扰动观测器的综合控制系统进行稳定性证明。理论分析和仿真结果表明,该控制策略对高超声速飞行器具有较好的控制作用。
Aiming at the longitudinal channel model of a hypersonic vehicle cruise flight with disturbance, dead zone nonlinearity of the actuator and system uncertainty, a hierarchical sliding mode controller with a new type of nonlinear disturbance observer is proposed. The hierarchical sliding mode controller adopts the regression structure of multi-layer terminal slip surface to ensure that the tracking error of the system converges to zero within a finite period of time. The dead time nonlinearity of the actuator is reduced to the input unknown disturbance. For the existence of A new type of nonlinear perturbation observer is designed by the complex disturbance caused by disturbance and uncertainty. The compensation avoids the disturbance rejection by increasing the system gain. At the same time, the observer can perform the system disturbance caused by the nonlinearity of the dead zone Observing and eliminating the influence of dead zone non-linearity on the control system. The theory proves that the observed error is asymptotic convergence. Based on Lyapunov theory, the stability of the integrated control system with disturbance observer is proved. Theoretical analysis and simulation results show that this control strategy has a good control effect on hypersonic vehicles.