基于积分滑模控制的飞行器主动容错控制技术研究
|
摘要
基于容错控制和积分滑模控制理论的研究,对飞行器姿态进行控制,使其具有容错性能。飞行器模型考虑一类具有不确定性以及可能存在执行器故障的非线性系统,针对该系统设计积分滑模控制器,使系统即使在执行器故障情况下也能保持较理想的控制特性。同时也对该系统分别设计基于Lyapunov直接法和常规滑模理论的控制器,便于仿真验证中作为比较。在有无执行器故障的情况下,观察3种控制对状态变量的影响效果,比较常规滑模和积分滑模控制下的抖振情况,结果表明积分滑模控制在控制效果和减弱抖振方面表现更好。
The attitude of the aircraft is controlled based on the theory of fault-tolerant control and integral sliding mode control to make it fault-tolerant. Taking a class of nonlinear system with uncertainties and possibility of actuator faults as the aircraft model, an integral sliding mode controller was designed for the system, which can keep an ideal control performance even in the case of actuator faults. For comparison, the controller was also designed for the system based on Lyapunov's direct method and sliding mode control theory respectively. Simulation was made in the presence or absence of actuator faults, to observe the effects of the three kinds of control methods on the state variables, and to compare the chattering condition under normal sliding mode control and integral sliding mode control. The results show that integral sliding mode control performs better in control effect and chattering reduction.
The attitude of the aircraft is controlled based on the theory of fault-tolerant control and integral sliding mode control to make it fault-tolerant. Taking a class of nonlinear system with uncertainties and possibility of actuator faults as the aircraft model, an integral sliding mode controller was designed for the system, which can keep an ideal control performance even in the case of actuator faults. For comparison, the controller was also designed for the system based on Lyapunov's direct method and sliding mode control theory respectively. Simulation was made in the presence or absence of actuator faults, to observe the effects of the three kinds of control methods on the state variables, and to compare the chattering condition under normal sliding mode control and integral sliding mode control. The results show that integral sliding mode control performs better in control effect and chattering reduction.
引文
[1]胡寿松,刘亚.复杂工程系统的可靠控制[J].华北电力大学学报,2003,30(2):34-40.
[2]金小峥,原忠虎,李彦平.主动容错控制理论:自适应方法[M].北京:电子工业出版社,2014.
[3]刘金琨.滑模变结构控制MATLAB仿真[M].北京:清华大学出版社,2005.
[4] SIDIM J. Spacecraft dynamics and control:a practical engi-neering approach[M]. Cambridge:Cambridge UniversityPress,1997.
[5]宋筱祺.基于自适应技术的不确定系统容错控制研究[D].南京:南京航空航天大学,2016.
[6]胡寿松.自动控制原理[M]. 3版.北京:国防工业出版社,1994.
[7]胡寿松,王执铨,胡维礼.最优控制理论与系统[M]. 2版.北京:科学出版社,2005.
[8] XU J X,PAN Y J,LEE T H. Analysis and design of inte-gral sliding mode control based on Lyapunov's direct meth-od[C]//American Control Conference,Denver,2003:192-196.
[9]傅健.近空间飞行器非线性飞控系统鲁棒滑模控制[D].南京:南京航空航天大学,2013.
[10]姚琼荟,黄继起,吴汉松.变结构控制系统[M].重庆:重庆大学出版社,1997.
[11]董文瀚,马振强,解武杰,等.非匹配不确定离散系统的无抖振积分滑模控制[J].控制与决策,2015,30(12):2181-2186.
[12]丛炳龙,刘向东,陈振.刚体航天器姿态跟踪系统的自适应积分滑模控制[J].航空学报,2013,34(3):620-628.
[2]金小峥,原忠虎,李彦平.主动容错控制理论:自适应方法[M].北京:电子工业出版社,2014.
[3]刘金琨.滑模变结构控制MATLAB仿真[M].北京:清华大学出版社,2005.
[4] SIDIM J. Spacecraft dynamics and control:a practical engi-neering approach[M]. Cambridge:Cambridge UniversityPress,1997.
[5]宋筱祺.基于自适应技术的不确定系统容错控制研究[D].南京:南京航空航天大学,2016.
[6]胡寿松.自动控制原理[M]. 3版.北京:国防工业出版社,1994.
[7]胡寿松,王执铨,胡维礼.最优控制理论与系统[M]. 2版.北京:科学出版社,2005.
[8] XU J X,PAN Y J,LEE T H. Analysis and design of inte-gral sliding mode control based on Lyapunov's direct meth-od[C]//American Control Conference,Denver,2003:192-196.
[9]傅健.近空间飞行器非线性飞控系统鲁棒滑模控制[D].南京:南京航空航天大学,2013.
[10]姚琼荟,黄继起,吴汉松.变结构控制系统[M].重庆:重庆大学出版社,1997.
[11]董文瀚,马振强,解武杰,等.非匹配不确定离散系统的无抖振积分滑模控制[J].控制与决策,2015,30(12):2181-2186.
[12]丛炳龙,刘向东,陈振.刚体航天器姿态跟踪系统的自适应积分滑模控制[J].航空学报,2013,34(3):620-628.