滑模观测器在临近空间高动态UAV中的应用

针对临近空间高动态无人飞行器(UAV)再入飞行动态范围跨度大,气动参数存在不确定性等特点,利用李雅普诺夫方法设计了具有不同时间量程的双回路滑模控制系统。其中外环采用常规设计;内环控制器设计将控制力矩分为两部分:一部分对UAV已知的动态部分进行稳定控制;另一部分由相应的滑模观测器生成,用来稳定和削弱飞行过程中的干扰项,以增加控制系统的鲁棒性。该控制系统克服了经典控制方法的缺陷,无需大量的增益调节,而能自动适应非线性和强耦合的对象特性,并能适应大范围环境变化,减小对不同飞行条件下气动与结构参数的依赖性。仿真结果证明了所提出的控制器设计方法的有效性,具有较高的姿态跟踪精度。

Application of Sliding Mode Observer for High Dynamic Near Space UAV

Based on characters of high dynamic near space unmanned aerial vehicle(UAV) in re-entry mode,which has a large dynamic flight range and paramter uncertainty,a multiple-time-scale continuous sliding mode control(SMC) system is designed with Lyapunov methods.The outer loop is designed by using the conventional method,and the inner loop controller design,the moment control quantity is divided into two parts.One part is designed for stabilizing the known dynamic parts of the UAV and the other part,generated by sliding mode observer(SMO),is used to weaken and stabilize the disturbance items in order to improve robustness of control system.Requiring no more gain scheduling,this controller can adapt to the nonlinear,strong-coupled plant characteristics and large-scaled changes of the environment and it also has the ability to decrease the dependencies of the aerodynamics and structure parameters in different flight conditions.Validity,with high tracking accuracy,is demonstrated by the results of simu-lation.