CN111061283A - Air-breathing hypersonic aircraft height control method based on characteristic model - Google Patents
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Abstract
A method for controlling the height of an air-breathing hypersonic aerocraft based on a characteristic model belongs to the field of flight control of air-breathing hypersonic aerocrafts. The method comprises the following steps: firstly, feature modeling is carried out on a longitudinal plane, and then self-adaptive control law design is carried out based on the obtained feature model. Compared with the prior art, the method provided by the invention is simple and effective, can not only cope with uncertainty of various forms, but also is suitable for the condition of large-maneuvering flight.
Description
Technical Field
The invention belongs to the field of flight control of air-breathing hypersonic aircrafts, and relates to a characteristic model-based height control method of an air-breathing hypersonic aircraft.
Background
The dynamics model of the air-breathing hypersonic aircraft has the characteristics of strong coupling, strong nonlinearity, large uncertainty and the like. In order to solve the problem of large uncertainty, the existing flight control methods have more self-adaptive control methods. However, these adaptive control methods assume that the uncertainty of the system is only a few constant or slowly varying parameters and is in the form of linearization (i.e., linear parameterization is uncertain). This assumption greatly limits the application of these methods because the forms of uncertainty in real systems are diverse, both parameterized uncertainty and unparameterized uncertainty, and further, parameterized uncertainty and nonlinear parameterized uncertainty. Therefore, these adaptive control methods are only studied in a small category of uncertainty. In addition, the existing adaptive controller of the air-breathing hypersonic aircraft characteristic model is only suitable for the condition of stable flight.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method for controlling the height of the air-breathing hypersonic flight vehicle based on the characteristic model is characterized by firstly carrying out characteristic modeling on a longitudinal plane and then carrying out adaptive control law design based on the obtained characteristic model. Compared with the prior art, the method provided by the invention is simple and effective, can not only cope with uncertainty of various forms, but also is suitable for the condition of large-maneuvering flight.
The technical scheme of the invention is as follows:
an air-breathing hypersonic aircraft altitude control method based on a characteristic model comprises the following steps:
s1, setting the flight envelope of the aircraft and the boundary of the uncertain parameters;
s2, selecting the height as output, selecting an attack angle, an elevator deflection angle and a canard wing deflection angle as input, and establishing a second-order characteristic model of the outer ring subsystem based on the outer ring subsystem consisting of the height and the flight path angle; determining the boundary of the characteristic parameters of the second-order characteristic model of the outer ring subsystem according to the flight envelope and the boundary of the uncertain parameters;
s3, selecting a pitch angle as output and selecting an elevator deflection angle, a canard wing deflection angle and a gas ratio as input based on an inner ring subsystem consisting of the pitch angle and a pitch angle rate, and establishing a second-order characteristic model of the inner ring subsystem; determining the boundary of the characteristic parameters of the second-order characteristic model of the inner ring subsystem according to the flight envelope and the boundary of the uncertain parameters;
s4, according to the second-order characteristic model of the outer ring subsystem, selecting an attack angle and a canard wing deflection angle as control inputs, and obtaining an attack angle instruction and a canard wing deflection angle control law for height tracking;
s5, obtaining a pitch angle instruction by utilizing the track angle and the attack angle instruction according to the relationship between the longitudinal plane attack angle and the pitch angle;
s6, selecting an elevator deflection angle as a control input according to the second-order characteristic model of the inner ring subsystem, and obtaining an elevator deflection angle control law for tracking the pitch angle instruction in the S5; and completing the height control of the aircraft by utilizing the canard wing deflection angle control law and the elevator deflection angle control law.
Preferably, the bounds of the characteristic parameters of the second-order feature model of the outer ring subsystem in step S2 and the bounds of the characteristic parameters of the second-order feature model of the inner ring subsystem in step S3 are calculated by using, but not limited to, a monte carlo targeting method.
Preferably, in S2, the feature parameters in the second-order feature model of the outer ring subsystem are identified by using a projection gradient identification algorithm or a least square identification algorithm.
Preferably, in S2, the second-order feature model of the outer ring subsystem is:
h(k+1)＝f1h(k)h(k)+f2h(k)h(k-1)+g1h(k)u1(k)+g2h(k)u2(k)+g3h(k)u3(k)
where k corresponds to the kth sampling period, u1、u2、u3Is a control input, f1h(k)、f2h(k)、g1h(k)、g2h(k) And g3h(k) All are time-varying characteristic parameters, and the system output of the outer ring subsystem is h (k).
Preferably, in S3, the second-order feature model of the inner ring subsystem is:
θ(k+1)＝2θ(k)-θ(k-1)+g1θ(k)u2(k)+g2θ(k)u3(k)+g3θ(k)u4(k)+σθ(k)
wherein
Where k corresponds to the kth sampling period, g1θ、g2θAnd g3θAs a characteristic parameter, u2、u3Is the control input, the system output of the inner loop subsystem is (k), σθIn order to be an interference term, the interference term,
denotes dynamic pressure, and Φ denotes fuel equivalence ratio.
Preferably, in S5, the relationship between the longitudinal plane angle of attack and the pitch angle is:
α＝θ-γ
where α represents the aircraft angle of attack, theta represents the pitch angle, and gamma represents the track angle.
Compared with the prior art, the invention has the beneficial effects that:
(1) compared with the traditional self-adaptive control method, the method provided by the invention does not require the form of uncertain linear parameterization, and is also suitable for the situation of large maneuvering flight, so that the application range is wider.
(2) The controller designed by the traditional adaptive control method is usually in a continuous time form, and the engineering practice is usually a discrete-time sampling controller, so that discretization processing is also needed. Compared with the traditional self-adaptive control method, the controller obtained by the method is a sampling controller and can be directly used for engineering application.
(3) Compared with the traditional self-adaptive control method, the controller designed by the method has simple structure and high reliability.
Drawings
FIG. 1 is a block flow diagram of a method according to example 1 of the present invention;
fig. 2 is a flow chart of the method of embodiment 2 of the present invention.
Detailed Description
Example 1:
an air-breathing hypersonic aircraft altitude control method based on a characteristic model, as shown in figure 1, comprises the following steps:
s1, setting the flight envelope of the aircraft and the boundary of the uncertain parameters;
s2, selecting the height as output, selecting an attack angle, an elevator deflection angle and a canard wing deflection angle as input, and establishing a second-order characteristic model of the outer ring subsystem based on the outer ring subsystem consisting of the height and the flight path angle; determining the boundary of the characteristic parameters of the second-order characteristic model of the outer ring subsystem according to the flight envelope and the boundary of the uncertain parameters;
s3, selecting a pitch angle as output and selecting an elevator deflection angle, a canard wing deflection angle and a gas ratio as input based on an inner ring subsystem consisting of the pitch angle and a pitch angle rate, and establishing a second-order characteristic model of the inner ring subsystem; determining the boundary of the characteristic parameters of the second-order characteristic model of the inner ring subsystem according to the flight envelope and the boundary of the uncertain parameters;
s4, according to the second-order characteristic model of the outer ring subsystem, selecting an attack angle and a canard wing deflection angle as control inputs, and obtaining an attack angle instruction and a canard wing deflection angle control law for height tracking;
s5, obtaining a pitch angle instruction by utilizing the track angle and the attack angle instruction according to the relationship between the longitudinal plane attack angle and the pitch angle;
s6, selecting an elevator deflection angle as a control input according to the second-order characteristic model of the inner ring subsystem, and obtaining an elevator deflection angle control law for tracking the pitch angle instruction in the S5; and completing the height control of the aircraft by utilizing the canard wing deflection angle control law and the elevator deflection angle control law.
Calculating the bounds of the characteristic parameters of the second-order characteristic model of the outer ring subsystem in the step S2 and the bounds of the characteristic parameters of the second-order characteristic model of the inner ring subsystem in the step S3 by using, but not limited to, a Monte Carlo targeting method.
In S2, feature parameters in the second-order feature model of the outer ring subsystem are identified by using a projection gradient identification algorithm or a least square identification algorithm. The second-order characteristic model of the outer ring subsystem is as follows:
h(k+1)＝f1h(k)h(k)+f2h(k)h(k-1)+g1h(k)u1(k)+g2h(k)u2(k)+g3h(k)u3(k)
where k corresponds to the kth sampling period, u1、u2、u3Is a control input, f1h(k)、f2h(k)、g1h(k)、g2h(k) And g3h(k) All are time-varying characteristic parameters, and the system output of the outer ring subsystem is h (k).
In S3, the second-order feature model of the inner ring subsystem is:
θ(k+1)＝2θ(k)-θ(k-1)+g1θ(k)u2(k)+g2θ(k)u3(k)+g3θ(k)u4(k)+σθ(k)
wherein
Where k corresponds to the kth sampling period, g1θ、g2θAnd g3θAs a characteristic parameter, u2、u3Is the control input, the system output of the inner loop subsystem is (k), σθIn order to be an interference term, the interference term,
denotes dynamic pressure, and Φ denotes fuel equivalence ratio.
And S5, the relationship between the longitudinal plane attack angle and the pitch angle is as follows:
α＝θ-γ
where α represents the aircraft angle of attack, theta represents the pitch angle, and gamma represents the track angle.
Example 2:
as shown in fig. 2, the height control design process of the present embodiment is: firstly, performing characteristic modeling on a 'height-track angle' subsystem of a guidance outer ring, then performing characteristic modeling on a 'pitch angle-pitch angle rate' subsystem of an attitude inner ring, designing a self-adaptive control law based on a characteristic model aiming at the guidance outer ring on the basis to obtain a pitch angle instruction and a canard wing deflection angle control law, and finally designing a self-adaptive control law based on the characteristic model aiming at the attitude inner ring to obtain an elevator deflection angle control law so as to track the pitch angle instruction given by the guidance outer ring.
Specifically, the dynamics model of the longitudinal plane of the air-breathing hypersonic aircraft is as follows:
wherein h, V, gamma, theta and Q respectively represent altitude, speed, track angle, pitch angle and pitch angle speed, α represents attack angle of the aircraft, α is theta-gamma, m, g and IyyRespectively representing the mass, the gravitational acceleration and the rotational inertia of the aircraft; t, L and MyyRespectively representing engine thrust, lift and pitching moment, and the expression is as follows:
in the formula:
indicating the dynamic pressure, which is related to V, h; s, zTAnd
respectively representing the reference area of the airplane, the moment arm of the thrust of the engine and the average aerodynamic chord length; phi, deltaeAnd deltacRespectively representing a fuel equivalence ratio, an elevator deflection angle and a canard deflection angle, which are control inputs; in the formula CT、CLAnd CMThe engine thrust coefficient, the lift coefficient and the pitching moment coefficient are continuous functions of respective variables.
The air-breathing hypersonic aircraft mainly flies in a cruising stage, so the height control problem in the cruising stage is considered, namely, the deflection angle of the elevator and the deflection angle of the canard wing are designed, and the height control is realized. According to the control idea of the inner-outer ring, the formula (1) -formula (4) can be further decomposed into a guidance outer ring of the formula (1) -formula (2) and a posture inner ring of the formula (3) -formula (4).
An air-breathing hypersonic aircraft altitude control method based on a characteristic model comprises the following two parts: feature modeling and adaptive controller design.
For feature modeling, the steps are as follows:
(I) for the guidance outer ring, the system inputs are chosen to be α, δeAnd deltacThe system output is h. Although C in formula (6)L(α,δe,δc) Is a complex expression, but for the cruise segment its linear terms play a major role, and therefore, there is
In the formula,. DELTA.CL(α,δe,δc) Is a high-order term of the argument,
respectively, lift aerodynamic coefficients. At this time, the relative order of the system is 2, and according to the feature model adaptive control theory, the following second-order feature model is established:
h(k+1)＝f1h(k)h(k)+f2h(k)h(k-1)+g1h(k)u1(k)+g2h(k)u2(k)+g3h(k)u3(k)(9)
in the formula: k corresponds to the kth sampling period, u1、u2、u3Is a control input, and is expressed as follows
f1h(k)、f2h(k)、g1h(k)、g2h(k) And g3h(k) For time-varying characteristic parameters, the expression is as follows
Wherein
TsFor sampling time, here
The derivative of the speed reference curve is represented, i.e., the altitude control and the speed control are decoupled, and the speed is considered to have tracked the speed reference curve.
(II) in the formula (11) in the step (I), the bounds of the characteristic parameter are related to the bounds of the uncertain parameter and the bounds of the state. In practical application, the boundary of the characteristic parameters can be determined by a Monte Carlo target practice method. In particular, a sampling time T is givensThe uncertain parameters and the system state and the target hitting times are randomly generated in respective ranges every time, and then the values of the characteristic parameters and all target hitting knots are calculatedObtaining the boundary of the characteristic parameters by calculating the maximum and minimum values;
(III) for the inner ring of poses, the system input is chosen to be δe、δcAnd Φ, the system output is θ. Cruise section, C in formula (7)MThe expression is as follows
In the formula,. DELTA.CM(α,δe,δc) In the case of the higher-order terms,
are all the pitching moment aerodynamic coefficients. Further, C in the formula (5)TThe expression (α, phi) is as follows
In the formula
Thrust coefficients corresponding to the linear terms of the gas ratio are all provided;
respectively is a cubic coefficient of an attack angle, a quadratic coefficient of the attack angle, a primary coefficient of the attack angle and a constant coefficient of the attack angle;
at this time, the relative order of the system is 2. According to the characteristic model self-adaptive control theory, firstly, a second-order characteristic model is established as follows
θ(k+1)＝2θ(k)-θ(k-1)+g1θ(k)u2(k)+g2θ(k)u3(k)+g3θ(k)u4(k)+σθ(k) (14)
Wherein u is2And u3See formula (10), u4Is expressed as follows
g1θ、g2θAnd g3θFor the characteristic parameters, the expressions are as follows
The expression of sigma theta is as follows
Equation (14) is referred to as the band interference term σθ"is used. The identification of the characteristic parameters is adversely affected by the presence of the interference terms. For this purpose, an output translation transformation is introduced, compressing the disturbance into the characteristic parameters.
Defining variables
ζ(k)＝θ(k)+χ (18)
In the formula: χ is a normal number satisfying
Here, theθ、
Respectively representing the upper and lower bounds of theta, epsilon being a normal number.
By substituting formula (18) into formula (14) to obtain
ζ(k+1)＝f1ζ(k)ζ(k)+f2ζ(k)ζ(k-1)+g1ζ(k)u2(k)+g2ζ(k)u3(k)+g3ζ(k)u4(k)(1.19)
In the formula
g1ζ(k)＝g1θ(k)
g2ζ(k)＝g2θ(k)
g3ζ(k)＝g3θ(k)
The expression (1.19) is a characteristic model corresponding to the inner ring of the posture.
(IV) in the formula (1.19) of the step (III), the bounds of the characteristic parameter are related to the bounds of the uncertain parameter and the bounds of the state. And (5) obtaining the boundary of the characteristic parameter by using the method given in the step (II).
Aiming at the design of an adaptive controller, the steps are as follows:
(I) for the guided outer ring, the angle of attack command α is designed primarilycmdAnd the height tracking is realized, and meanwhile, the canard wing is used for self-adaptively offsetting the adverse effect of the elevator. Firstly, a projection gradient identification algorithm or a least square identification algorithm is utilized to identify a characteristic parameter f in a characteristic model (9)1h,f2h,g1h,g2h,g3hTo obtain an estimated value thereof
Then, in conjunction with (10), the controller is designed
In the formula, e1(k)＝h(k)-hr(k) For high tracking error, hrIs a height reference curve; l1＝0.382，l20.618 is golden section coefficient; lambda [ alpha ]iFor controlling the parameters, require and
the same sign, i is 1, 2.
(II) furtherAccording to the relation α between the attack angle and the pitch angle as theta-gamma, the pitch angle command is designed as thetacmd＝αcmd+γ。
(III) aiming at the inner ring of the attitude, the main idea is to design the deflection angle delta of the elevatoreTo track the pitch angle command theta given by the outer ring of the guidecmd. Firstly, a projection gradient identification algorithm or a least square identification algorithm is utilized to identify the characteristic parameter f in the characteristic model (1.19)1ζ(k),f2ζ(k),g1ζ(k),g2ζ(k),g3ζ(k) To obtain an estimated value
Then, the controller is designed
In the formula, e2(k)＝ζ(k)-ζr(k)＝θ(k)-θcmd(k)；λ3To control the parameters, and
the same number.
(IV) combining (1.20), (1.21) and (10) to obtain the elevator deflection angle deltaeAngle delta of canard wingcIs described in (1). And completing the height control of the aircraft by utilizing the canard wing deflection angle control law and the elevator deflection angle control law.
Claims (6)
1. A method for controlling the height of an air-breathing hypersonic aerocraft based on a characteristic model is characterized by comprising the following steps:
s1, setting the flight envelope of the aircraft and the boundary of the uncertain parameters;
s2, selecting the height as output, selecting an attack angle, an elevator deflection angle and a canard wing deflection angle as input, and establishing a second-order characteristic model of the outer ring subsystem based on the outer ring subsystem consisting of the height and the flight path angle; determining the boundary of the characteristic parameters of the second-order characteristic model of the outer ring subsystem according to the flight envelope and the boundary of the uncertain parameters;
s3, selecting a pitch angle as output and selecting an elevator deflection angle, a canard wing deflection angle and a gas ratio as input based on an inner ring subsystem consisting of the pitch angle and a pitch angle rate, and establishing a second-order characteristic model of the inner ring subsystem; determining the boundary of the characteristic parameters of the second-order characteristic model of the inner ring subsystem according to the flight envelope and the boundary of the uncertain parameters;
s4, according to the second-order characteristic model of the outer ring subsystem, selecting an attack angle and a canard wing deflection angle as control inputs, and obtaining an attack angle instruction and a canard wing deflection angle control law for height tracking;
s5, obtaining a pitch angle instruction by utilizing the track angle and the attack angle instruction according to the relationship between the longitudinal plane attack angle and the pitch angle;
s6, selecting an elevator deflection angle as a control input according to the second-order characteristic model of the inner ring subsystem, and obtaining an elevator deflection angle control law for tracking the pitch angle instruction in the S5; and completing the height control of the aircraft by utilizing the canard wing deflection angle control law and the elevator deflection angle control law.
2. The method for controlling the altitude of the air-breathing hypersonic flight vehicle based on the characteristic model as claimed in claim 1, wherein: calculating the bounds of the characteristic parameters of the second-order characteristic model of the outer ring subsystem in the step S2 and the bounds of the characteristic parameters of the second-order characteristic model of the inner ring subsystem in the step S3 by using, but not limited to, a Monte Carlo targeting method.
3. The method for controlling the altitude of the air-breathing hypersonic flight vehicle based on the characteristic model as claimed in claim 1, wherein: in S2, feature parameters in the second-order feature model of the outer ring subsystem are identified by using a projection gradient identification algorithm or a least square identification algorithm.
4. The method for controlling the altitude of the air-breathing hypersonic flight vehicle based on the characteristic model as claimed in claim 1, wherein: in S2, the second-order feature model of the outer ring subsystem is:
h(k+1)＝f1h(k)h(k)+f2h(k)h(k-1)+g1h(k)u1(k)+g2h(k)u2(k)+g3h(k)u3(k)
where k corresponds to the kth sampling period, u1、u2、u3Is a control input, f1h(k)、f2h(k)、g1h(k)、g2h(k) And g3h(k) All are time-varying characteristic parameters, and the system output of the outer ring subsystem is h (k).
5. The method for controlling the altitude of the air-breathing hypersonic flight vehicle based on the characteristic model as claimed in claim 1, wherein: in S3, the second-order feature model of the inner ring subsystem is:
θ(k+1)＝2θ(k)-θ(k-1)+g1θ(k)u2(k)+g2θ(k)u3(k)+g3θ(k)u4(k)+σθ(k)
wherein
Where k corresponds to the kth sampling period, g1θ、g2θAnd g3θAs a characteristic parameter, u2、u3Is the control input, the system output of the inner loop subsystem is (k), σθIn order to be an interference term, the interference term,
denotes dynamic pressure, and Φ denotes fuel equivalence ratio.
6. The method for controlling the altitude of the air-breathing hypersonic flight vehicle based on the characteristic model according to any one of claims 1 to 5, characterized in that: and S5, the relationship between the longitudinal plane attack angle and the pitch angle is as follows:
α＝θ-γ
where α represents the aircraft angle of attack, theta represents the pitch angle, and gamma represents the track angle.
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