【作者】 熊柯；

【导师】 夏智勋；

【作者基本信息】 国防科学技术大学 ， 航空宇航科学与技术， 2012， 博士

【摘要】 吸气式高超声速飞行器具有速度快、巡航高度高、机动能力强等优点，因此在军事及民用领域都具有特殊的战略意义，已成为当前航空航天领域的研究热点。但由于采用了超燃冲压发动机、机体/发动机一体化设计等先进技术，使得高超声速飞行器气动、推进、结构和控制之间存在显著的动态交叉耦合效应，模型的非线性和不确定程度也很高，同时由于高超声速飞行器控制系统参数及发动机推力对飞行条件变化极其敏感，导致控制系统设计面临一系列困难。本文研究吸气式高超声速飞行器巡航控制问题，重点研究了纵向控制问题和倾斜转弯控制问题，其中纵向控制又分为稳态巡航时的攻角控制问题和纵向机动控制问题，倾斜转弯控制主要研究姿态控制问题。首先，在充分借鉴国内外文献资料的基础上，结合高超声速飞行器巡航段的飞行特点，建立起完整的高超声速飞行器6自由度数学模型，其中气动系数和吸气式发动机推力系数是飞行攻角、马赫数、高度和舵偏角的函数，并根据需要建立了纵向控制模型和倾斜转弯控制模型，分别进行了开环特性分析，表明整个模型能够体现出高超声速飞行器复杂的非线性、耦合性以及快时变性等特点，为设计具有非线性解耦控制能力和鲁棒性能的控制器提供了平台。在稳态巡航攻角控制中，首先建立了攻角控制模型并进行了操稳特性分析，然后分别设计了模糊PID控制、模型参考自适应滑模控制和自适应全局滑模控制三种攻角控制律，控制律的设计主要强调在参数不确定和干扰情况下保证攻角的快速、精确控制。在纵向非线性不确定模型控制研究中，以非线性输入输出反馈线性化控制作为控制内环，将复杂的非线性系统控制问题转化为线性系统的综合问题，然后分别设计滑模控制和反步滑模控制作为外环解决不确定性满足匹配条件与不满足匹配条件下系统的鲁棒控制问题。在倾斜转弯线性解耦控制研究中，设计了一种基于全局积分滑模的滚转角鲁棒自适应控制方法，同时基于多变量频域法对飞行器俯仰/偏航通道自动驾驶仪进行解耦设计，设计了一种解耦效果大大优于普通一阶预补偿阵的比例-积分型预补偿阵对耦合模型进行预补偿，把相互耦合的双输入双输出控制系统设计问题简化为两个单输入单输出系统的设计问题，然后用极点配置方法进行了独立系统设计。在倾斜转弯非线性解耦控制研究中，针对不确定性满足广义匹配条件的情况，设计了一种基于全局积分滑模面的变结构解耦控制器，解决了传统滑模控制抑制干扰能力差、滑模趋近阶段存在耦合的问题，同时通过滑模函数反馈削弱了系统参数不确定和干扰影响引起的滑模误差，实现了各输出之间的全程解耦和鲁棒稳定。针对不确定性不满足广义匹配条件的情况，设计了基于反步法的全局积分滑模解耦控制方法，在反步设计中每一步都采用鲁棒的全局积分滑模控制来稳定不确定系统，通过逐级修正算法设计控制器来实现对期望输出的渐进跟踪。更多还原

【Abstract】 Air-breathing hypersonic vehicle has characteristics of fast velocity, high cruisealtitude and maneuvers, etc, and it is of special strategic significant in both the themilitary and commercial areas. Therefore, it attacks an ever increasing attentionworldwide. However, there is a strong inherent coupling among the aerodynamics,propulsion, structure and control dynamics due to the adoption of the scramjet engine,airframe/engine integrated design and other advanced technologies, and this leads to ahigh nonlinear dynamic model and serious uncertain. At the same time, a series ofdifficulties are encountered by the control system design because of control systemparameters and engine thrust both being extremely sensitive to changes in flightconditions.In this dissertation, the control problem in the cruising phase of the air-breathinghypersonic vehicle is studied, in particular on the longitudinal control and bank-to-turn(BTT) control. Additionally, the longitudinal control include angle of attack control atsteady-state and longitudinal maneuver control, and the BTT control performs theinvestigation on the attitude control problem.First of all, a six degree-of-freedom (6DOF) simulation model of a conceptualair-breathing hypersonic vehicle is presented, according to the available literatures andits flying characteristics during the cruising phase, and it includes the whole of kineticequations and motion equations. Aerodynamic and engine thrust coefficients are givenas functions of angle of attack, mach number, height and control surface deflections.Subsequently the longitudinal control and BTT control models are established.Open-loop dynamics and stability characteristics analysis demonstrates that theproposed model can reflect complex the nonlinear, coupling and fast time-varyingcharacteristics of the hypersonic vehicle, and it can provide a platform for the design ofnonlinear decoupling and robust performance of a controller.In the angle of attack control at steady-state, the control/stability characteristics areanalyzed, and three kinds of control law based on fuzzy PID, adaptive sliding modewith reference model and adaptive global sliding mode are designed respectively. Thecontrol scheme emphasises on the output of the system tracking the anticipant signalsfast and accurately with uncertain parameters and serious disturbance.In the longitudinal nonlinear uncertain model control, the non-linear feedbacklinearization control is employed as an inner loop to convert the complex nonlinearmathematic model into equivalent linear model accurately for control design, match andmismatched uncertainties control problems respectively, and then a sliding mode and abackstepping sliding mode are proposed as outer loops for the controllers, the globalstability and robustness of the closed-loop is guaranteed. In the decoupling control for linear model of BTT hypersonic vehicle, a robustcontrol approach for roll channel based on adaptive global integral sliding mode isproposed, and a decoupling autopilot is designed for pitch/yaw channel usingmultivariable frequency domain approach based on the Nyquist array method. Thecross-coupling is decreased with a proportional-integral (PI) model percompensatormatrix, which has much better affect than the ordinary first-order precompensationmatrix. A main-controller is then designed for the approximately decoupled system tomeet the requirement of the desired dynamic performance and stable accuracy throughpole placement design method for an independent system.In the decoupling design for nonlinear uncertain model of BTT hypersonic vehicle,an adaptive global integral sliding mode control approach is proposed to solve theuncertainties, which satisfy the generalized matching conditions. This methodguarantees the system robustness during the whole control process and eliminates thecross-coupling at the reaching phase. The sliding mode error caused by disturbance andperturbation is weakened with feedback, and the efficient decoupling and robustnessduring the whole control process is achieved. For the condition of the uncertaintiesdissatisfying the generalized matching conditions, a backstepping sliding modecontroller is designed, and a global integral sliding mode is introduced at each step ofthe backstepping design, which makes the initial state of the system locate on the slidingmode. The dummy control is obtained based on the Lyapunov stability theorem step bystep, and all the state is balanced and the output is traced progressively.更多还原