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研究了一种基于干扰补偿Terminal滑模的高超声速飞行器姿态控制方法.针对传统Terminal滑模控制存在的奇异问题,提出了一种简单的改进型Terminal滑模面,通过在平衡点附近从非线性滑模面切换至高增益线性滑模面,避免了控制奇异问题,同时保持了较高的收敛速度,并对改进Terminal滑模控制在干扰作用下的误差收敛特性进行了理论分析.为进一步提高控制的鲁棒性和控制精度,设计了扩张状态观测器对干扰进行估计和补偿.进行了六自由度数学仿真验证,仿真结果表明:该方法可有效提高控制系统的控制性能和鲁棒性.
A hypersonic vehicle attitude control method based on interference sliding mode of terminal sliding mode is studied. Aiming at the singularity problem of traditional terminal sliding mode control, a simple and improved Terminal sliding mode surface is proposed. The sliding mode is switched to the high gain linear sliding mode, which avoids controlling the singularity problem while maintaining a high convergence speed. The error convergence of the improved Terminal sliding mode control under interference is analyzed theoretically. In order to further improve the control The robustness and the control accuracy of the control system are designed and an extended state observer is designed to estimate and compensate the interference.A six-degree-of-freedom mathematical simulation is carried out. The simulation results show that this method can effectively improve the control performance and robustness of the control system.