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变工况下不确定动态突变四旋翼飞行器系统的自适应湍流风扰动抑制技术

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中国科学：信息科学 2024年第7期54卷 1730-1751页

作者：张雨杰文利燕姜斌齐瑞云南京航空航天大学自动化学院南京210016

本文考虑四旋翼飞行过程中湍流风扰动的影响,以及因变工况飞行而导致的不确定动态突变问题,提出了基于输入–扰动双补偿器设计的自适应湍流风扰动抑制方案,保证了四旋翼飞行器系统的稳定和输出渐近跟踪性能.首先对风场环境下的四旋翼进... 详细信息

本文考虑四旋翼飞行过程中湍流风扰动的影响,以及因变工况飞行而导致的不确定动态突变问题,提出了基于输入–扰动双补偿器设计的自适应湍流风扰动抑制方案,保证了四旋翼飞行器系统的稳定和输出渐近跟踪性能.首先对风场环境下的四旋翼进行建模,研究各不同工况下的动态特性,并分析研究了四旋翼飞行器变工况飞行时的动态特性突变的表现形式以及所带来的控制难题.进而设计了一种基于输入–扰动双补偿器的系统重构方案,实现了动态系统重构,解决了关联矩阵突变为非对角型时难以解耦控制,以及相对阶结构突变时控制器结构发生突变的问题.基于重构后的系统,设计自适应的湍流风扰动抑制方案,保证四旋翼飞行器的稳定、扰动抑制和渐近输出跟踪性能.最后,对所设计的控制器进行稳定性证明,并通过仿真验证所提出控制算法的有效性.

关键词：四旋翼风扰动抑制动态特性突变系统重构自适应控制

Adaptive actuator failure compensation and disturbance rejection scheme for spacecraft

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Journal of Systems Engineering and Electronics 2014年第4期25卷 648-659页

作者： Xuelian Yao Gang Tao ruiyun qi College of Automation Engineering Nanjing University of Aeronautics and Astronautics Department of Electrical and Computer Engineering University of Virginia

An adaptive actuator failure compensation scheme is proposed for attitude tracking control of spacecraft with unknown disturbances and uncertain actuator failures. A new feature of this adaptive control scheme is the adaptation of the failure pattern parameter estimates, as well as the failure signal parameter estimates, for direct adaptive actuator failure compensation. Based on an adaptive backstepping control design, the estimates of the disturbance parameters are used to solve the disturbance rejection problem. The unknown disturbances are compensated completely with the stability of the whole closed-loop system. The scheme is not only able to accommodate uncertain actuator failures, but also robust against unknown external disturbances. Simulation results verify the desired adaptive actuator failure compensation performance.

关键词： actuator failure compensation adaptive control failurepattern disturbance estimation spacecraft stability and tracking.

A parameter estimation based adaptive actuator failure compensation control scheme

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Journal of Systems Engineering and Electronics 2011年第1期22卷 1-11页

作者： Gang Tao ruiyun qi Chang Tan Depamnent of Electrical and Computer Engineering University of Virginia Charlottesville VA 22904 USA College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 E R. China

An adaptive actuator failure compensation control scheme is developed using an indirect adaptive control method,by calculating the controller parameters from adaptive estimates of system parameters and actuator failure parameters.A key technical issue is how to deal with the actuator failure uncertainties such as failure pattern,time and values.A complete parametrization covering all possible failures is used to solve this issue for adaptive parameter estimation.A simultaneous mapping from the estimated system/failure parameters to the controller parameters is employed to make the control system capable of ensuring the desired system performance under failures,which is verified by simulation results.

关键词： actuator failure compensation adaptive control failure pattern and values parameter estimation stability and tracking uncertainty parametrization.

Survey on nonlinear reconfigurable flight control

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Journal of Systems Engineering and Electronics 2013年第6期24卷 971-983页

作者： Xunhong Lv Bin Jiang ruiyun qi Jing Zhao College of Automation Engineering Nanjing University of Aeronautics and Astronautics

An overview on nonlinear reconfigurable flight control approaches that have been demonstrated in flight-test or highfidelity simulation is presented. Various approaches for reconfigurable flight control systems are considered, including nonlinear dynamic inversion, parameter identification and neural network technologies, backstepping and model predictive control approaches. The recent research work, flight tests, and potential strength and weakness of each approach are discussed objectively in order to give readers and researchers some reference. Finally, possible future directions and open problems in this area are addressed.

关键词： reconfigurable flight control (RFC) nonlinear dynamic inversion (NDI) backstepping neural network (NN) model predictive control (MPC) parameter identification (PID) adaptive control flight control.

Fault-tolerant control with mixed aerodynamic surfaces and RCS jets for hypersonic reentry vehicles

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Chinese Journal of Aeronautics 2017年第2期30卷 780-795页

作者： He Jingjing qi ruiyun Jiang Bin Zhai Rongyu College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 211106 China

This paper proposes a fault-tolerant strategy for hypersonic reentry vehicles with mixed aerodynamic surfaces and reaction control systems（RCS） under external disturbances and subject to actuator *** surfaces are treated as the primary actuator in normal situations,and they are driven by a continuous quadratic programming（QP） allocator to generate torque commanded by a nonlinear adaptive feedback control *** aerodynamic surfaces encounter faults,they may not be able to provide sufficient torque as commanded,and RCS jets are activated to augment the aerodynamic surfaces to compensate for insufficient *** loss of effectiveness and stuck faults are considered in this paper,and observers are designed to detect and identify the *** on the fault identification results,an RCS control allocator using integer linear programming（ILP） techniques is designed to determine the optimal combination of activated RCS *** treating the RCS control allocator as a quantization element,closed-loop stability with both continuous and quantized inputs is *** results verify the effectiveness of the proposed method.

关键词： Control allocation Fault-tolerant control Hypersonic vehicles Quantized control Reaction control system(RCS)

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航天器高精度悬停的改进型重复控制

Transactions of Nanjing University of Aeronautics and Astronautics 2022年第2期39卷 201-218页

作者：张翼齐瑞云南京航空航天大学自动化学院南京211106

研究了以高精度为目的的航天器悬停系统控制设计。采用相对轨道要素描述目标航天器和跟踪航天器之间的相对运动模型,具有清晰的几何意义和较高的精度。为了实现高精度的相对位置和相对速度跟踪,提出了一种改进型重复控制方案,该方案利... 详细信息

研究了以高精度为目的的航天器悬停系统控制设计。采用相对轨道要素描述目标航天器和跟踪航天器之间的相对运动模型,具有清晰的几何意义和较高的精度。为了实现高精度的相对位置和相对速度跟踪,提出了一种改进型重复控制方案,该方案利用重复控制能够精确跟踪目标信号的优点,并通过加入非奇异终端滑模控制器克服了传统重复控制器易受非周期干扰影响的缺点。此外,利用非线性状态误差反馈改善了重复控制器的动态性能,并利用径向基函数神经网络逼近悬停模型的未知非线性项。通过严格的李雅普诺夫稳定性分析,保证了整个闭环控制系统的稳定性。最后,通过数值仿真验证了所提控制方案的有效性和优越性。

关键词：航天器悬停相对轨道要素重复控制滑模控制径向基函数神经网络

Fault Detection Based on Finite Impulse Response Adaptive Filter for Satellite Attitude Control Systems

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Fault Detection Based on Finite Impulse Response Adaptive Fi...

考虑约束的高超声速飞行器制导与控制一体化设计

第26届中国控制与决策会议

作者： WANG Tao CHENG Yuehua JIANG Bin qi ruiyun College of Automation Engineering Nanjing University of Aeronautics and Astronautics Academy of Frontier Science Nanjing University of Aeronautics and Astronautics

ISBN: (纸本)9781479937066

In this paper a finite impulse response（FIR） filter for online adaptive modeling of satellite attitude control systems is proposed, and a recursive least squares（RLS） algorithm is used to adjust the adaptive FIR filter coefficients for minimizing the output error between the monitored system and the FIR filter. The fault information can be obtained through the analysis of the adaptive FIR filter coefficients. This fault detection technique is applied to the satellite attitude control system, and evaluate the performance with failures. Simulation results demonstrate that the method is effective in the fault detection and simple to implement.

关键词： Fault detection FIR adaptive filter RLS algorithm Satellite attitude control

来源： cnki会议评论

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宇航学报 2022年第5期43卷 649-664页

作者：唐建齐瑞云姜斌南京航空航天大学自动化学院南京211106 南京航空航天大学先进飞行器导航、控制与健康管理工业和信息化部重点实验室南京211106

针对高超声速飞行器上升段飞行过程中强耦合、强非线性同时要求满足过程约束的特点,提出了一种结合级联控制方法和控制障碍函数的新型三维制导控制一体化算法。首先通过对速度子系统设计控制障碍函数约束算法来满足飞行器的过程约束要求... 详细信息

针对高超声速飞行器上升段飞行过程中强耦合、强非线性同时要求满足过程约束的特点,提出了一种结合级联控制方法和控制障碍函数的新型三维制导控制一体化算法。首先通过对速度子系统设计控制障碍函数约束算法来满足飞行器的过程约束要求,然后利用反步法、动态逆控制方法设计其余子系统的控制器,两者共同组成制导控制一体化控制器。考虑到飞行器在上升过程中容易遭遇阵风扰动的问题,设计非线性干扰观测器以增强算法的鲁棒性。最后通过李雅普诺夫函数证明了系统的稳定性,并且通过仿真验证了该新算法能够在满足高超声速飞行器上升段过程约束的同时,实现飞行器的三维跟踪控制。

关键词：高超声速飞行器制导与控制一体化级联控制干扰观测器控制障碍函数

An Adaptive Actuator Failure Compensation Scheme for Discrete-time T-S Fuzzy Systems

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An Adaptive Actuator Failure Compensation Scheme for Discret...