基于改进跟踪微分器的增量动态逆控制器设计

doi:10.12305/j.issn.1001-506X.2024.11.24

系统工程与电子技术 ›› 2024, Vol. 46 ›› Issue (11): 3820-3826.doi: 10.12305/j.issn.1001-506X.2024.11.24

基于改进跟踪微分器的增量动态逆控制器设计

符式康¹^,², 刘俊辉¹^,²^,*, 陈昊³, 单家元¹^,²

1. 北京理工大学宇航学院, 北京 100081
2. 北京理工大学飞行器动力学与控制教育部重点实验室, 北京 100081
3. 北京电子工程研究所, 北京 100093

收稿日期:2023-12-18 出版日期:2024-10-28 发布日期:2024-11-30
通讯作者: 刘俊辉
作者简介:符式康 (1999—), 男, 硕士研究生, 主要研究方向为飞行器导航、制导与控制
刘俊辉 (1990—), 男, 预聘助理教授, 博士, 主要研究方向为飞行器导航、制导与控制、系统仿真
陈昊 (1994—), 男, 工程师, 博士, 主要研究方向为多飞行器协同制导与控制
单家元 (1967—), 男, 教授, 博士, 主要研究方向为飞行器导航、制导与控制、系统仿真
基金资助:
国家自然科学基金(62103049);国家自然科学基金(61873031);北京理工大学青年教师学术启动计划(XSQD-6120220106)

Incremental dynamic inverse control based on improved tracking differentiator

Shikang FU¹^,², Junhui LIU¹^,²^,*, Hao CHEN³, Jiayuan SHAN¹^,²

1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China
2. Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education, Beijing Institute of Technology, Beijing 100081, China
3. Beijing Institute of Electronic Engineering, Beijing 100093, China

Received:2023-12-18 Online:2024-10-28 Published:2024-11-30
Contact: Junhui LIU

摘要/Abstract

摘要：

针对大迎角飞行控制过程中存在的强气动非线性和模型不确定性, 提出一种基于改进跟踪微分器的增量动态逆控制方法。考虑飞行器大迎角飞行姿态控制动力学特性, 设计了外环为动态逆、内环为增量动态逆的控制器。针对采用传统跟踪微分器获得增量动态逆所需的角加速度信息时存在的信号颤振和滤波效果差的问题, 采用非线性函数和线性函数结合的方式, 设计了一种改进的跟踪微分器。通过大迎角飞行数值仿真, 验证了设计的跟踪微分器在准确提取角加速度的同时具有一定的抗噪性, 基于此微分器设计的增量动态逆控制器对气动不确定性具有鲁棒性。

关键词: 改进跟踪微分器, 非线性, 增量动态逆控制, 气动不确定性

Abstract:

Aiming at the strong aerodynamic nonlinearity and model uncertainty in high angle of attack flight control processes, an incremental dynamic inverse control method based on an improved tracking differentiator is proposed. Considering the dynamic characteristics of attitude control for aircraft at high angles of attack, a controller is designed with an outer loop for dynamic inversion and an inner loop for incremental dynamic inversion. Aiming at the problems of signal flutter and poor filtering effect when using traditional tracking differentiators to obtain the angular acceleration information required for incremental dynamic inversion, an improved tracking differentiator is designed by combining nonlinear and linear functions. Through high angle of attack flight numerical simulation, it is verified that the designed tracking differentiator has a certain degree of noise resistance while accurately extracting angular acceleration. The incremental dynamic inverse controller designed based on this differentiator enhances robustness to aerodynamic uncertainty.

Key words: improved tracking differentiator, nonlinear, incremental dynamic inverse control, aerodynamic uncertainty

中图分类号:

V249.122

符式康, 刘俊辉, 陈昊, 单家元. 基于改进跟踪微分器的增量动态逆控制器设计[J]. 系统工程与电子技术, 2024, 46(11): 3820-3826.

Shikang FU, Junhui LIU, Hao CHEN, Jiayuan SHAN. Incremental dynamic inverse control based on improved tracking differentiator[J]. Systems Engineering and Electronics, 2024, 46(11): 3820-3826.

图/表 7

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基于改进跟踪微分器的增量动态逆控制器设计

Incremental dynamic inverse control based on improved tracking differentiator

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