摘要
分析双旋飞行器参数快时变性与不确定性特征,并提出一种基于时间尺度分离架构的非线性动态逆解耦控制方法。首先,构建了双旋飞行器七自由度多刚体耦合动力学模型,将气动参数不确定性视为归一化扰动,继而将动力学模型分解为滚转通道和俯仰/偏航通道动力学子系统。采用时间尺度分离方法,进一步将俯仰和偏航通道解耦为包含快速和慢速动力学特性的级联子系统。设计了能够精确估计姿态角变化并补偿扰动的扩张状态观测器;引入积分滑模面以增强系统对扰动和模型不确定性的鲁棒性;并据此分别设计非线性动态逆控制器。仿真结果表明,所提控制方法在频率1000 Hz、幅值拉偏±30%气动参数摄动的情况下,能够实现俯仰和偏航过载的平均跟踪误差不大于2%,展现出良好的控制性能和鲁棒性。
An analysis of the rapidly varying parameters and uncertainty characteristics of dual-spin projectiles is conducted,and a nonlinear dynamic inversion decoupling control method based on a time-scale separation architecture is proposed.Initially,a seven-degree-of-freedom coupled multi-rigid body dynamics model of the dual-spin projectile is constructed,with aerodynamic parameter uncertainty considered as normalized disturbances.Subsequently,the dynamics model is decomposed into roll channel and pitch/yaw channel subsystems.Utilizing the time-scale separation approach,the pitch and yaw channels are further decoupled into cascaded subsystems featuring fast and slow dynamic characteristics.An extended state observer is designed to accurately estimate changes in attitude angles and compensate for disturbances.Additionally,an integral sliding mode surface is introduced to enhance the system's robustness against disturbances and model uncertainties.Based on these developments,nonlinear dynamic inversion controllers are separately designed.Simulation results indicate that the proposed control method,under conditions of 1000 Hz frequency and±30%aerodynamic parameter perturbation,can achieve an average tracking error of no more than 2%in pitch and yaw overload,demonstrating excellent control performance and robustness.
作者
李亚峰
唐文桃
纪毅
范军芳
王伟
张思幸
LI Yafeng;TANG Wentao;JI Yi;FAN Junfang;WANG Wei;ZHANG Sixing(School of Automation,Beijing Information Science and Technology University,Beijing 100192,China;Beijing Key Laboratory of High Dynamic Navigation Technology,Beijing 100192,China;School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China)
出处
《中国惯性技术学报》
北大核心
2025年第6期622-630,共9页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(52402442)
中国科协青年人才托举工程(YESS20230098)
北京市科协青年人才托举工程(BYESS2023310)
十四五高水平科研团队建设支持计划(BPHR20220123)。
关键词
双旋飞行器
时间尺度分离
非线性动态逆
解耦控制
dual-spin projectile
time-scale separation
nonlinear dynamic inversion
decoupling control
