基于自校正MPC的舰载机着舰控制技术

doi:10.12305/j.issn.1001-506X.2022.01.31

摘要/Abstract

摘要：

针对模型参数不准确条件下的全自动着舰控制技术进行了研究, 设计了一种基于保辛伪谱算法(symplectic pseudospectral method, SP)和带遗忘因子递推最小二乘法(recursive least squares with forgetting factor, FFRLS)的舰载机着舰自校正模型预测控制方法(self-tuning model predictive control, ST-MPC)。针对舰载机的着舰控制模型, 在MPC方法的框架下, 首先设计了一种基于预测轨迹形状与位置偏差的引导轨迹，用以消除航母甲板运动和实时误差的影响。同时, 基于SP算法设计了滚动优化模块并引入雄鸡尾流扰动补偿以抑制舰尾流干扰; 进一步, 通过FFRLS算法结合巴特沃斯低通滤波器，对模型中影响控制性能的敏感参数进行实时估计用以提高着舰控制算法的鲁棒性。仿真结果表明, 在有多种干扰影响且控制模型参数不准确时, 所设计的ST-MPC算法, 能够将着舰高度误差控制在±0.15 m以内, 其控制精度远高于传统的线性二次型最优调节器和极点配置算法, 且算法的计算效率满足实时在线跟踪的要求。

关键词: 自校正, 保辛伪谱算法, 预测控制, 舰载机着舰, 参数不确定

Abstract:

In this paper, the carrier landing problem under the condition of model uncertainty is studied, and a self-tuning model predictive control method (ST-MPC) based on symplectic pseudospectral method (SP) and recursive least squares with forgetting factor (FFRLS) is established. Aiming at the carrier landing control model and in the framework of MPC method, a guidance trajectory based on the predicted shape and position deviation is designed to eliminate the influence of deck motion and real-time trajectory error. Meanwhile, the rock tail air wake compensation is introduced into the rolling optimization module based on SP algorithm to compensate the carrier air wake disturbance. Then, FFRLS with Butterworth low-pass filter is used to estimate the sensitive parameters in order to improve the robustness of the control algorithm. Simulation results show that the ST-MPC algorithm designed in this paper can control the height error within ±0.15 m with the disturbances are existed and the model parameters are not accurate, and its control accuracy is much higher than the traditional linear quadratic regulator and pole assignment algorithm. The calculation efficiency is also sufficient for real-time online tracking.

Key words: self-tuning, symplectic pseudospectral method, predictive control, carrier landing, parameter uncertainty

中图分类号:

V249.12

韩维, 崔凯凯, 刘洁, 王昕炜, 张勇. 基于自校正MPC的舰载机着舰控制技术[J]. 系统工程与电子技术, 2022, 44(1): 250-261.

Wei HAN, Kaikai CUI, Jie LIU, Xinwei WANG, Yong ZHANG. Carrier landing control technology based on self-tuning MPC[J]. Systems Engineering and Electronics, 2022, 44(1): 250-261.

图/表 16

图1

图2

图3

图4

图5

图6

表1

图7

图8

图9

图10

图11

图12

图13

图14

图15

参考文献 30

1	YANG Z Y , DUAN H B , FAN Y M , et al. Automatic carrier landing system multilayer parameter design based on cauchy mutation pigeon-inspired optimization[J]. Aerospace Science and Technology, 2018, 79, 518- 530. doi: 10.1016/j.ast.2018.06.013
2	史青海. 舰载机着舰控制技术研究[D]. 哈尔滨: 哈尔滨工程大学, 2006.
	SHI Q H. Study on control technology for carrier aircraft landing[D]. Harbin: Harbin Engineering University, 2006.
3	倪灯塔. 舰载飞机动力补偿系统控制律设计研究[D]. 长春: 吉林大学, 2009.
	NI D T. Research on aircraft carrier-based compensation system for flight control law design[D]. Changchun: Jilin University, 2009.
4	DENG Y M , DUAN H B . Control parameter design for automatic carrier landing system via pigeon-inspired optimization[J]. Nonlinear Dynamics, 2016, 85 (1): 97- 106. doi: 10.1007/s11071-016-2670-z
5	DOU R , DUAN H B . Levy flight based pigeon-inspired optimization for control parameters optimization in automatic carrier landing system[J]. Aerospace Science and Technology, 2016, 61, 11- 20.
6	刘强, 袁锁中. 基于TECS\|H_∞的无人机纵向着舰系统设计[J]. 安徽大学学报(自然科学版), 2011, 35 (1): 47- 51. doi: 10.3969/j.issn.1000-2162.2011.01.010
	LIU Q , YUAN S Z . Longitudinal carrier landing system design for UAV based on TECS\|H∞[J]. Journal of Anhui University (Natural Science Edition), 2011, 35 (1): 47- 51. doi: 10.3969/j.issn.1000-2162.2011.01.010
7	朱齐丹, 孟雪, 张智. 基于非线性动态逆滑模的纵向着舰系统设计[J]. 系统工程与电子技术, 2014, 36 (10): 2037- 2042. doi: 10.3969/j.issn.1001-506X.2014.10.23
	ZHU Q D , MENG X , ZHANG Z . Design of longitudinal carrier landing system using nonlinear dynamic inversion and sliding mode control[J]. Systems Engineering and Electronics, 2014, 36 (10): 2037- 2042. doi: 10.3969/j.issn.1001-506X.2014.10.23
8	YU Y , WANG H L , LI N , et al. Automatic carrier landing system based on active disturbance rejection control with a novel parameters optimizer[J]. Aerospace Science and Technology, 2017, 69, 149- 160. doi: 10.1016/j.ast.2017.06.026
9	DING B Z , WANG J Y , TANG X T . MPC-based offset-free tracking control for intermittent transonic wind tunnel[J]. IEEE Access, 2020, 8, 46909- 46916. doi: 10.1109/ACCESS.2020.2977047
10	LI Y , SUN D F , ZHAO M Y , et al. MPC-based switched driving model for human vehicle co-piloting considering human factors[J]. Transportation Research Part C Emerging Technologies, 2020, 115, 102612. doi: 10.1016/j.trc.2020.102612
11	LIU L T , LIU Z L , ZHANG J . LMI-based model predictive control for underactuated surface vessels with input constraints[J]. Abstract and Applied Analysis, 2014, 32 (1): 673256.
12	WU C, LI S H, YANG J, et al. Disturbance observer based constrained multi-model predictive control for Mars entry trajectory tracking[C]//Proc. of the IEEE Chinese Guidance, Navigation and Control Conference, 2014: 2341-2346.
13	LI H C , LIU S . Speed control for PMSM servo system using predictive functional control and extended state observer[J]. IEEE Trans.on Industrial Electronics, 2012, 59 (2): 1171- 1183. doi: 10.1109/TIE.2011.2162217
14	王萌, 施艳艳, 沈明辉, 等. 三相电压型PWM整流器模型自校正预测控制[J]. 电工技术学报, 2014, 29 (8): 151- 157. doi: 10.3969/j.issn.1000-6753.2014.08.019
	WANG M , SHI Y Y , SHEN M H , et al. Predictive control of three-phase voltage source PWM rectifiers based on model self-correction[J]. Transactions of China Electrotechnical Society, 2014, 29 (8): 151- 157. doi: 10.3969/j.issn.1000-6753.2014.08.019
15	RUBAGOTTI M , RAIMONDO D , FERRARA M A , et al. Robust model predictive control with integral sliding mode in continuous-time sampled-data nonlinear systems[J]. IEEE Trans.on Automatic Control, 2011, 56 (3): 556- 570. doi: 10.1109/TAC.2010.2074590
16	BAUMEISTER T , BRUNTON S L , KUTZ J N . Deep learning and model predictive control for self-tuning mode-locked lasers[J]. Journal of the Optical Society of America, B. Optical Physics, 2017, (11): 3214- 3227.
17	刘丽丽, 左继红. 四旋翼飞行器的轨迹跟踪自校正预测控制[J]. 控制工程, 2020, 27 (10): 1838- 1844.
	LIU L L , ZUO J H . Self-tuning trajectory tracking predictive control for four rotor aircraft[J]. Control engineering of China, 2020, 27 (10): 1838- 1844.
18	周帆, 刘辉. 基于无线电能传输的参数自校正电压控制策略[J]. 信息技术, 2020, 44 (10): 121- 126.
	ZHOU F , LIU H . Parameter self correcting voltage control strategy based on wireless energy transmission[J]. Information Technology, 2020, 44 (10): 121- 126.
19	SUBRAHMANYAM M B . H-infinity design of F/A-18A automatic carrier landing system[J]. Journal of Guidance, Control, and Dynamics, 1994, 18 (9): 1106- 1112.
20	杨一栋. 舰载飞机着舰引导与控制[M]. 北京: 国防工业出版社, 2007.
	YANG Y D . Guidance and control of carrier based aircraft landing[M]. Beijing: National Defense Industry Press, 2007.
21	宁昕, 武耀发. 自由漂浮空间机器人轨迹跟踪的模型预测控制[J]. 控制理论与应用, 2019, (5): 687- 696.
	NING X , WU Y F . Model predictive control for trajectory tracking of free-floating space robot[J]. Control Theory and Application, 2019, (5): 687- 696.
22	WANG X W , PENG H J , ZHANG S , et al. A symplectic pseudospectral method for nonlinear optimal control problem with inequality constraints[J]. ISA Transactons, 2017, 68, 335- 352. doi: 10.1016/j.isatra.2017.02.018
23	WANG X W , LIU J , SU X C , et al. A review on carrier aircraft dispatch path planning and control on deck[J]. Chinese Journal of Aeronautics, 2020, 33 (12): 3039- 3057. doi: 10.1016/j.cja.2020.06.020
24	彭海军. 计算最优控制的保辛数值方法及其在平动点附近航天器控制中的应用[D]. 大连: 大连理工大学, 2012.
	PENG H J. Symplectic numerical method for computational optimal control and its application in the control of spacecraft near the libration point[D]. Dalian: Dalian University of Technology, 2012.
25	BAZARAA M S , SHERALI H D , SHETTY C M . Nonlinear programming: theory and algorithms[M]. 3rd ed Hoboken: Wiley, 2006.
26	PENG H J , WANG X W , SHI B Y , et al. Stabilizing constrained chaotic system using a symplectic psuedospectral method[J]. Communications in Nonlinear Science and Numerical Simulations, 2017, 56 (3): 77- 92.
27	MENG Y L , WANG W , HAN H W , et al. A visual/inertial integrated landing guidance method for UAV landing on the ship[J]. Aerospace Science and Technology, 2019, 85, 474- 480. doi: 10.1016/j.ast.2018.12.030
28	STEVENS B , LEWIS F , JOHNSON E N . Aircraft control and simulation: dynamics, controls design, and autonomous systems[M]. 3rd ed Hoboken: Wiley, 2015.
29	庞中华. 系统辨识与自适应控制Matlab仿真[M]. 北京: 北京航空航天大学出版社, 2017.
	PANG Z H . Matlab simulation of system identification and adaptive control[M]. Beijing: Beijing University of Aeronautics and Astronautics Press, 2017.
30	段卓毅, 王伟, 耿建中, 等. 舰载机人工进场着舰精确轨迹控制技术[J]. 航空学报, 2019, 40 (4): 622328.
	DUAN Z Y , WANG W , GENG J Z , et al. Precision trajectory manual control technologies for carrier-based aircraft approaching and landing[J]. Acta Aeronautica et Astronautica Sinica, 2019, 40 (4): 622328.

状态/控制变量	取值约束
Δδ_H/(°)	[-12.14, 22.36]
Δδ_LEF/(°)	[-20.6, 15.4]
Δδ_RT/(°)	[-30, 30]
Δδ_T/rad	[-0.254, 0.756]
$\Delta {\dot \delta _H}$/(°/s)	[-40, 40]
$\Delta {\dot \delta _{{\rm{LEF}}}}$/(°/s)	[-15, 15]
$\Delta {\dot \delta _{{\rm{RT}}}}$/(°/s)	[-56, 56]
$\Delta {\dot \delta _{{\rm{T}}}}$/(rad/s)	[-0.55, 0.55]

[1]	孙田野, 孙伟, 吴建军. 改进Quatre算法的无人机编队快速集结方法[J]. 系统工程与电子技术, 2022, 44(9): 2840-2848.
[2]	胥彪, 李翔, 李爽, 张金鹏. 基于非线性模型预测控制的火星大气进入智能制导方法[J]. 系统工程与电子技术, 2021, 43(7): 1943-1953.
[3]	王晓海, 孟秀云, 李传旭. 基于MPC的无人机航迹跟踪控制器设计[J]. 系统工程与电子技术, 2021, 43(1): 191-198.
[4]	杨宇, 吴达, 高峰, 邓建军. 适用于超低空拦截的复合制导律设计方法[J]. 系统工程与电子技术, 2021, 43(1): 208-215.
[5]	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.
[6]	朱梦圆, 吕娜, 陈柯帆, 钟赟, 刘创, 高维廷. 航空集群协同搜索马尔可夫运动目标方法[J]. 系统工程与电子技术, 2019, 41(9): 2041-2047.
[7]	宋敏, 戴静, 孔韬. 基于NMPC的无人机自主防撞控制方法[J]. 系统工程与电子技术, 2019, 41(9): 2092-2099.
[8]	赵国荣, 刘伯彦, 高超. 数据丢包的参数不确定下无人机滚动时域估计[J]. 系统工程与电子技术, 2019, 41(12): 2849-2854.
[9]	韩云霞, 马义中, 欧阳林寒, 汪建均, 顾晓光. 模型参数不确定的多响应参数和容差并行设计[J]. 系统工程与电子技术, 2019, 41(1): 131-140.
[10]	汪建均, 屠雅楠. 考虑预测响应值波动的多响应优化设计[J]. 系统工程与电子技术, 2018, 40(8): 1794-1802.
[11]	张佳佳, 陆晓飞, 陈辉, 季正燕. 非均匀线阵的互耦自校正[J]. 系统工程与电子技术, 2018, 40(7): 1429-1435.
[12]	霍立寰, 廖桂生, 杨志伟. 基于形变模型的空间阵列位置误差估计方法[J]. 系统工程与电子技术, 2018, 40(3): 504-508.
[13]	张杨, 吴文海, 胡云安, 高丽. 舰载机着舰纵向非仿射模型控制器设计[J]. 系统工程与电子技术, 2018, 40(3): 635-642.
[14]	王超, 张胜修, 宋仔标, 杨建业, 吴晓露. 飞行器抗饱和鲁棒自适应非线性模型预测控制[J]. 系统工程与电子技术, 2018, 40(2): 393-400.
[15]	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.