基于SDRE的变体飞行器LPV稳定控制

doi:10.12305/j.issn.1001-506X.2023.12.32

系统工程与电子技术 ›› 2023, Vol. 45 ›› Issue (12): 4013-4020.doi: 10.12305/j.issn.1001-506X.2023.12.32

• 制导、导航与控制 • 上一篇

基于SDRE的变体飞行器LPV稳定控制

蔡光斌¹^,*, 毛定坤¹, 杨芊¹, 李欣¹, 侯明哲²

1. 火箭军工程大学导弹工程学院, 陕西西安 710025
2. 哈尔滨工业大学航天学院, 黑龙江哈尔滨 150001

收稿日期:2022-07-04 出版日期:2023-11-25 发布日期:2023-12-05
通讯作者: 蔡光斌
作者简介:蔡光斌 (1982—), 男, 副教授, 博士, 主要研究方向为新型飞行器制导与控制、智能控制技术及应用
毛定坤 (1999—), 男, 硕士研究生, 主要研究方向为飞行器故障诊断与容错控制
杨芊 (1997—), 男, 硕士研究生, 主要研究方向为变体飞行器建模与控制
李欣 (1999—), 女, 博士研究生, 主要研究方向为飞行器协同制导与控制
候明哲 (1981—), 男, 副教授, 博士, 主要研究方向为非线性控制理论、飞行器制导与控制
基金资助:
国家自然科学基金(61773387);国家自然科学基金(62073096)

LPV stability control of morphing aircraft based on SDRE

Guangbin CAI¹^,*, Dingkun MAO¹, Qian YANG¹, Xin LI¹, Mingzhe HOU²

1. College of Missile Engineering, Rocket Force University of Engineering, Xi'an 710025, China
2. College of Astronautics, Harbin Institute of Technology, Harbin 150001, China

Received:2022-07-04 Online:2023-11-25 Published:2023-12-05
Contact: Guangbin CAI

摘要/Abstract

摘要：

针对变体飞行器飞行过程中存在的外部扰动和参数不确定性问题, 提出一种基于状态相关黎卡提方程(state-dependent Riccati equation, SDRE)的线性变参数(linear parameter varying, LPV)稳定飞行控制方法。首先, 基于变体飞行器的气动参数模型和纵向非线性动力学模型, 综合考虑外部扰动、系统参数误差以及变形产生的附加干扰, 并通过雅克比线性化方法, 得到LPV系统模型。其次, 针对考虑复合干扰的LPV模型, 设计基于SDRE的控制律, 并利用θ-D方法进行求解。最后, 利用蒙特卡罗方法仿真验证了所提方法能够有效抑制复合干扰, 实现飞行器的稳定飞行控制, 具有较强的鲁棒性能和抗干扰能力。

Abstract:

Aiming at the problems of external disturbance and parameter uncertainty in the flight process of morphing aircraft, a linear parameter varying (LPV) stable flight control method based on state-dependent Riccati equation (SDRE) is proposed. Firstly, based on the aerodynamic parameter model and longitudinal nonlinear dynamic model of morphing aircraft, considering external disturbance, system parameter error and additional disturbance caused by deformation, the LPV system model is obtained by Jacobi linearization method. Then, for the LPV model considering composite interference, the control law based on SDRE is designed and solved by the θ-Dmethod. Finally, the Monte Carlo simulation verifies that the proposed method can effectively suppress the compound interference, realize the stable flight control of the aircraft, and has strong robustness and anti-interference ability.

Key words: morphing aircraft, state-dependent Riccati equation (SDRE), linear parameter varying (LPV), θ-D method, external disturbance, parameter uncertainty

中图分类号:

V249.1

蔡光斌, 毛定坤, 杨芊, 李欣, 侯明哲. 基于SDRE的变体飞行器LPV稳定控制[J]. 系统工程与电子技术, 2023, 45(12): 4013-4020.

Guangbin CAI, Dingkun MAO, Qian YANG, Xin LI, Mingzhe HOU. LPV stability control of morphing aircraft based on SDRE[J]. Systems Engineering and Electronics, 2023, 45(12): 4013-4020.

图/表 5

图1

表1

图2

图3

图4

参考文献 31

14	SHAO P Y , WU J , WU C F , et al. Model and robust gain-scheduled PID control of a bio-inspired morphing UAV based on LPV method[J]. Asian Journal of Control, 2019, 21 (4): 1681- 1705. doi: 10.1002/asjc.2187
15	WU Z H , LU J C , ZHAO Q , et al. Modified adaptive neural dynamic surface control for morphing aircraft with input and output constraints[J]. Nonlinear Dynamics, 2017, 87 (4): 2367- 2383. doi: 10.1007/s11071-016-3196-0
16	LIU C S , ZHANG S J . Novel robust control framework for morphing aircraft[J]. Journal of Systems Engineering and Electronics, 2013, 24 (2): 281- 287. doi: 10.1109/JSEE.2013.00035
17	LU Y , SUN Y , LIU X D , et al. Control allocation for a class of morphing aircraft with integer constraints based on Lévy flight[J]. Journal of Systems Engineering and Electronics, 2020, 31 (4): 826- 840. doi: 10.23919/JSEE.2020.000056
18	刘正华, 温暖, 祝令谱. 变体飞行器有限时间收敛LPV鲁棒控制[J]. 系统工程与电子技术, 2018, 40 (6): 1325- 1330.
	LIU Z H , WEN N , ZHU L P . Robust LPV control for morphing aircraft with finite-time convergence[J]. Systems Engineering and Electronics, 2018, 40 (6): 1325- 1330.
19	殷明, 陆宇平, 何真, 等. 变体飞行器变形辅助机动的建模与滑模控制[J]. 系统工程与电子技术, 2015, 37 (1): 128- 134.
	YIN M , LU Y P , HE Z , et al. Modeling and sliding mode control of morphing-aided maneuver for morphing aircraft[J]. Systems Engineering and Electronics, 2015, 37 (1): 128- 134.
20	WEN N , LIU Z H , ZHU L P . Linear parameter varying based adaptive sliding mode control with bounded L₂ gain performance for a morphing aircraft[J]. Proceedings of the Institution of Mechanical Engineers, 2019, 233 (5): 1847- 1864. doi: 10.1177/0954410018764472
21	HE W , YAN Z C , SUN C Y , et al. Adaptive neural network control of a flapping wing micro aerial vehicle with disturbance observer[J]. IEEE Trans.on Cybernetics, 2017, 47 (10): 3452- 3465. doi: 10.1109/TCYB.2017.2720801
1	LI D , ZHAO S , DA R A , et al. A review of modelling and ana-lysis of morphing wings[J]. Progress in Aerospace Sciences, 2018, 100 (6): 46- 62.
2	AJAJ R M , PARANCHEERIVILAKATHIL M S , AMOOZGAR M , et al. Recent developments in the aeroelasticity of morphing aircraft[J]. Progress in Aerospace Sciences, 2021, 120 (1): 100682.
3	KAMBAYASHI K , KOGISO N , YAMADA T , et al. Multiobjective topology optimization for a multi-layered morphing flap considering multiple flight conditions[J]. Trans.of the Japan Society for Aeronautical and Space Sciences, 2020, 63 (3): 90- 100. doi: 10.2322/tjsass.63.90
4	CHU L L , LI Q , GU F , et al. Design, modeling, and control of morphing aircraft: a review[J]. Chinese Journal of Aeronautics, 2022, 35 (5): 220- 246. doi: 10.1016/j.cja.2021.09.013
5	TSUSHIMA N , TAMAYAMA M . Recent researches on morphing aircraft technologies in Japan and other countries[J]. Mechanical Engineering Reviews, 2019, 6 (2): 19- 00197.
6	HARVEY C , GAMBLE L L , BOLANDER C R , et al. A review of avian-inspired morphing for UAV flight control[J]. Progress in Aerospace Sciences, 2022, 132 (7): 100825.
7	LIVNE E . Aircraft active flutter suppression: state of the art and technology maturation needs[J]. Journal of Aircraft, 2018, 55 (1): 410- 452. doi: 10.2514/1.C034442
8	GONG L G , WANG Q , DONG C Y . Disturbance rejection control of morphing aircraft based on switched nonlinear systems[J]. Nonlinear Dynamics, 2019, 96 (2): 975- 995. doi: 10.1007/s11071-019-04834-9
9	GIULIANI M , DIMINO I , AMEDURI S , et al. Status and perspectives of commercial aircraft morphing[J]. Biomimetics, 2022, 7 (11): 11.
10	殷明. 变体飞行器变形与飞行的协调控制问题研究[D]. 南京: 南京航空航天大学, 2016.
	YIN M. Coordinated control of deformation and flight for morphing aircraft[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2016.
11	YAN B B , LI Y , DAI P , et al. Aerodynamic analysis, dynamic modeling, and control of a morphing aircraft[J]. Journal of Aerospace Engineering, 2019, 32 (5): 04019058. doi: 10.1061/(ASCE)AS.1943-5525.0001047
12	殷明, 陆宇平, 何真. 变体飞行器LPV建模与鲁棒增益调度控制[J]. 南京航空航天大学学报, 2013, 45 (2): 202- 208. doi: 10.16356/j.1005-2615.2013.02.018
	YIN M , LU Y P , HE Z . LPV modeling and robust gain schedu-ling control for morphing aircraft[J]. Journal of Nanjing University of Aeronautics and Astronautics, 2013, 45 (2): 202- 208. doi: 10.16356/j.1005-2615.2013.02.018
13	JIANG W L , DONG C Y , WANG Q . A systematic method of smooth switching LPV controllers design for a morphing aircraft[J]. Chinese Journal of Aeronautics, 2015, 28 (6): 1640- 1649. doi: 10.1016/j.cja.2015.10.005
22	ZHANG J. H_∞ robust adaptive controller for a morphing aircraft based on SRAD and LPV model[C]//Proc. of the IEEE Chinese Control and Decision Conference, 2018: 1098-1103.
23	SHAHRADFAR E , FAKHARIAN A . Optimal controller design for DC microgrid based on state-dependent Riccati equation approach[J]. Cyber-Physical Systems, 2021, 7 (1): 41- 72. doi: 10.1080/23335777.2020.1811381
24	CAPANNOLO A , LAVAGNA M . Adaptive state-dependent Riccati equation control for formation reconfiguration in cislunar space[J]. Journal of Guidance, Control, and Dynamics, 2022, 45 (5): 982- 989. doi: 10.2514/1.G006540
25	BAVARSAD A , FAKHARIAN A , MENHAJ M B . Optimal sliding mode controller for an active transfemoral prosthesis using state-dependent Riccati equation approach[J]. Arabian Journal for Science and Engineering, 2020, 45 (8): 6559- 6572. doi: 10.1007/s13369-020-04563-x
26	ROUDKENARY K A, KHALOOZADEH H, SEDIGH A K. SDRE control of non-affine systems[C]//Proc. of the 4th International Conference on Control, Instrumentation, and Automation, 2016: 239-244.
27	ROVEDA L , PIGA D . Robust state-dependent Riccati equation variable impedance control for robotic force-tracking tasks[J]. International Journal of Intelligent Robotics and Applications, 2020, 4 (4): 507- 519. doi: 10.1007/s41315-020-00153-0
28	BATMANI Y , TAKHTABNUS M , MIRZAEI R . DC microgrid fault-tolerant control using state-dependent Riccati equation techniques[J]. Optimal Control Applications and Methods, 2022, 43 (1): 123- 137.
29	DOSSANTOS C H F , CARVALHO E A , MATINS D , et al. Virtual strategies in the kinematic and dynamical models applied to fault-tolerant strategy of underwater vehicles by using state-dependent Riccati equations[J]. International Journal of Control, 2021, 94 (10): 2741- 2757.
30	YAO J, XIN M. Suboptimal control design for differential wheeled mobile robots with θ-D technique[C]//Proc. of the 60th IEEE Conference on Decision and Control, 2021: 1444-1449.
31	GHADAMI S M . Optimization of energy for tracking of the magnetic levitation ball using the SDRE technique[J]. Journal of Applied Dynamic Systems and Control, 2021, 4 (2): 79- 84.

参数	符号/量纲	数值
质量	m/kg	1 247
转动惯量	I_y/(kg·m²)	4 067.5
气动弦长	c_A/m	1.74
参考面积	S_w/m²	17.09
最短翼展	b_min/m	10.18
最长翼展	b_max/m	20.36
推力	T/N	2 130
机翼翼型	-	NACA643.618

[1]	李硕, 张绍杰, 严鹏, 张涵, 鲁可. 考虑输入饱和的直升机机动飞行LPV控制[J]. 系统工程与电子技术, 2022, 44(2): 637-643.
[2]	李宗星, 张锐. 基于Riccati方程的导弹自适应姿态控制[J]. 系统工程与电子技术, 2020, 42(6): 1358-1365.
[3]	刘正华, 温暖, 祝令谱. 变体飞行器有限时间收敛LPV鲁棒控制[J]. 系统工程与电子技术, 2018, 40(6): 1325-1330.
[4]	刘振亚, 高敏, 程呈. 基于理想弹道鲁棒容积卡尔曼滤波视线角估计[J]. 系统工程与电子技术, 2018, 40(2): 409-416.
[5]	朱威, 马伟明, 阳习党, 肖欢. 基于鲁棒故障诊断LPV模型的舰载QUAV跟踪控制[J]. 系统工程与电子技术, 2018, 40(11): 2540-.
[6]	郭建国1, 陈惠娟1, 周军1, 蒋瑞民1, 王国庆2. 非对称伸缩翼飞行器动力学建模及特性分析[J]. 系统工程与电子技术, 2016, 38(8): 1951-1957.
[7]	李伟, 黄瑞松, 王芳, 崔乃刚. 基于SDRE具有终端碰撞角约束的非线性微分对策制导律[J]. 系统工程与电子技术, 2016, 38(7): 1606-1613.
[8]	韩云涛, 强宝琛, 孙尧, 白涛. 基于LPV的超空泡航行体H∞抗饱和控制[J]. 系统工程与电子技术, 2016, 38(2): 357-361.
[9]	江未来, 董朝阳, 王通, 王青. 变体飞行器连续平滑切换LPV控制[J]. 系统工程与电子技术, 2015, 37(6): 1347-1353.
[10]	殷明, 陆宇平, 何真, 姚克明. 变体飞行器变形辅助机动的建模与滑模控制[J]. 系统工程与电子技术, 2015, 37(1): 128-134.
[11]	王俭臣, 齐晓慧, 单甘霖. 一类参数不确定非线性系统的故障检测与重构[J]. 系统工程与电子技术, 2015, 37(1): 155-162.
[12]	王青，王通，后德龙，董朝阳. 基于速度线性化的变体飞行器鲁棒LPV控制[J]. 系统工程与电子技术, 2014, 36(6): 1130-1136.
[13]	贺跃帮，裴海龙，周洪波. 无人直升机局部H_∞最优LPV 速度控制器设计[J]. Journal of Systems Engineering and Electronics, 2013, 35(6): 1268-1274.
[14]	方洁, 邓玮, 姜长生, 文杰. 具有扇区非线性输入的混沌系统函数投影同步[J]. Journal of Systems Engineering and Electronics, 2012, 34(9): 1872-1877.
[15]	王振华, 沈毅, 张筱磊, 王强. 不确定线性描述系统的鲁棒H_∞滤波器[J]. Journal of Systems Engineering and Electronics, 2012, 34(9): 1878-1883.

基于SDRE的变体飞行器LPV稳定控制

LPV stability control of morphing aircraft based on SDRE

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 5

参考文献 31

相关文章 15

编辑推荐

Metrics

本文评价