基于干扰观测器的飞行器主动抗干扰控制方法

doi:10.12305/j.issn.1001-506X.2024.11.30

摘要/Abstract

摘要：

针对高速飞行器模型参数不确定和外界干扰对飞行控制系统的影响, 提出一种基于干扰观测器(disturbance observer, DOB) 的主动抗干扰控制方法。所提方法将外部干扰和模型不确定性造成的实际对象与标称模型之间的差异等效到控制器输入端, 从而实现对系统总干扰的补偿控制。通过六自由度仿真验证所提方法的有效性和正确性, 仿真结果表明所提方法能够有效地实现高速飞行器姿态跟踪控制, 且能够提高系统的控制品质。所提方法结构简单, 可以在不影响现有控制回路的前提下提高系统对低频干扰的抑制能力, 具有较强的工程可实现性, 为高速飞行器姿态控制系统设计提供了一种设计方法。

关键词: 主动抗干扰, 干扰观测器, 飞行控制, 姿态

Abstract:

Aiming at the influence of the uncertainty of high-speed aircraft model parameters and external disturbances on the flight control system, an active disturbance rejection control method based on disturbance observer (DOB) is presented. The proposed method the difference between the actual object and the nominal model caused by external disturbances and model uncertainties to the controller input, so as to realize the compensation control of the total disturbances of system. The effectiveness and correctness of the proposed method are verified through six degree of freedom simulation. Simulation results show that the proposed method can effectively achieve attitude tracking control of high-speed aircraft and improve control quality of the system. The proposed method has a simple structure and improves the system's ability to suppress low-frequency interference without affecting the existing control circuit. It has strong engineering feasibility and provides a design method for high-speed aircraft attitude control systems.

Key words: active disturbance rejection, disturbance observer (DOB), flight control, attitude

中图分类号:

V448.222

姜丽敏, 陈曙暄, 路坤峰. 基于干扰观测器的飞行器主动抗干扰控制方法[J]. 系统工程与电子技术, 2024, 46(11): 3883-3892.

Limin JIANG, Shuxuan CHEN, Kunfeng LU. Method of aircraft active disturbance rejection control based on disturbance observer[J]. Systems Engineering and Electronics, 2024, 46(11): 3883-3892.

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特征点	a₁₁	a₁₂	B₁	a₂₁	a₂₂	B₂
特征点1	0.220 4	0.003 1	0.025 7	0.258 7	-56.687 0	39.229 3
特征点2	0.237 0	-0.001 6	0.027 8	0.219 6	-9.957 4	16.304 6

参数	特征点1	特征点2
上幅值裕度/dB	10.03(无DOB)	17.92(无DOB)
上幅值裕度/dB	8.94(本文方法)	17.42(本文方法)
下幅值裕度/dB	3.33(无DOB)	5.08(无DOB)
下幅值裕度/dB	3.30(本文方法)	5.05(本文方法)
相位裕度/(°)	13.73(无DOB)	17.62(无DOB)
相位裕度/(°)	13.75(本文方法)	17.46(本文方法)
截频/(rad/s)	21.16(无DOB)	18.22(无DOB)
截频/(rad/s)	21.26(本文方法)	18.39(本文方法)

工况	质心偏差	推力偏差/%	风干扰
工况1	正	-9	有
工况2	无	0	有
工况3	负	9	有

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