基于事件触发采样的无尾翼飞机自适应容错姿态控制

doi:10.12305/j.issn.1001-506X.2024.03.32

系统工程与电子技术 ›› 2024, Vol. 46 ›› Issue (3): 1058-1066.doi: 10.12305/j.issn.1001-506X.2024.03.32

基于事件触发采样的无尾翼飞机自适应容错姿态控制

禹志龙¹, 李颖晖¹^,*, 裴彬彬¹, 段效聪², 张喆³

1. 空军工程大学航空工程学院, 陕西西安 710038
2. 中国人民解放军94657部队, 江西九江 332024
3. 中国飞行试验研究院, 陕西西安 710089

收稿日期:2023-03-08 出版日期:2024-02-29 发布日期:2024-03-08
通讯作者: 李颖晖
作者简介:禹志龙(1996—), 男, 博士研究生, 主要研究方向为非线性控制、深度学习
李颖晖(1966—), 女, 教授, 博士, 主要研究方向为非线性控制
裴彬彬(1991—), 男, 讲师, 博士, 主要研究方向为飞机建模与仿真、飞机电磁隐身
段效聪(1996—), 男, 助理工程师, 硕士, 主要研究方向为飞机飞行安全、飞行模拟仿真
张喆(1985—), 男, 高级工程师, 硕士, 主要研究方向为飞行力学、飞机建模与仿真
基金资助:
国家自然科学基金(62103440);陕西省自然科学基础研究计划(2022-JM-011)

Adaptive fault-tolerant attitude control of tailless aircraft based on event-triggered sampling

Zhilong YU¹, Yinghui LI¹^,*, Binbin PEI¹, Xiaocong DUAN², Zhe ZHANG³

1. Aviation Engineering School, Air Force Engineering University, Xi'an 710038, China
2. Unit 94657 of the PLA, Jiujiang 332024, China
3. Chinese Flight Test Establishment, Xi'an 710089, China

Received:2023-03-08 Online:2024-02-29 Published:2024-03-08
Contact: Yinghui LI

摘要/Abstract

摘要：

针对具有通信带宽受限的无尾翼飞机姿态跟踪控制问题, 考虑模型不确定、外部扰动及执行器故障的影响, 提出一种基于事件触发采样与自适应的容错姿态控制方法。首先, 在无尾翼飞机六自由度动力学与运动学模型基础上建立了面向控制的姿态控制模型。通过引入事件触发机制成功降低了控制器与执行器通道之间通信频率, 缓解了总线的通信压力同时避免了Zeno现象的发生。然后, 通过自适应的有界估计成功补偿了执行器故障及事件触发引起的采样误差的影响。最后, 基于Lyapunov稳定性分析证明了所提出的控制方法能够保证系统所有信号一致最终有界。数值仿真结果表明, 所提出的控制方法能够有效降低控制器的更新频率, 同时实现无尾翼飞机姿态对于控制指令的跟踪。

关键词: 无尾翼飞机, 姿态跟踪, 事件触发, 自适应控制, 容错控制

Abstract:

In view of the attitude tracking control problem of tailless aircraft with limited communication bandwidth, an event-triggered-based adaptive fault-tolerant attitude control method is proposed, in the presence of model uncertainties, external disturbances, and actuator faults. Firstly, a control-oriented attitude control model is established based on the six-degree-of-freedom dynamics and kinematics model of the tailless aircraft. By adopting the event-triggered mechanism, the communication frequency between the controller and the actuator channel is successfully reduced, which relieves the communication burden of the bus and avoids the occurrence of the Zeno phenomenon. Then, the effects of actuator failure and sampling errors caused by the event trigger are successfully compensated by adaptive bounded estimation. Finally, the Lyapunov stability analysis is conducted to demonstrate that the proposed control method ensures the ultimate boundedness of all system signals. Numerical simulation results show that the proposed control method effectively reduces the update frequency of the controller while achieving attitude tracking of the tailless aircraft with respect to control commands.

Key words: tailless aircraft, attitude tracking, event triggered, adaptive control, fault-tolerant control

中图分类号:

V249

禹志龙, 李颖晖, 裴彬彬, 段效聪, 张喆. 基于事件触发采样的无尾翼飞机自适应容错姿态控制[J]. 系统工程与电子技术, 2024, 46(3): 1058-1066.

Zhilong YU, Yinghui LI, Binbin PEI, Xiaocong DUAN, Zhe ZHANG. Adaptive fault-tolerant attitude control of tailless aircraft based on event-triggered sampling[J]. Systems Engineering and Electronics, 2024, 46(3): 1058-1066.

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控制方法	姿态		角速度		采样次数
控制方法	RMSE	IAE	RMSE	IAE	采样次数
ETM	0.091	1.415	1.158	22.024	2 626
TTM	0.088	1.388	1.107	21.553	28 000
PID	0.161	4.234 3	2.251	67.644 1	28 000

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基于事件触发采样的无尾翼飞机自适应容错姿态控制

Adaptive fault-tolerant attitude control of tailless aircraft based on event-triggered sampling

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