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分类号UDC密级学号硕士学位论文临近空间高超声速飞行器控制方法研究盛晓婷学科门类：工学学科名称：控制科学与工程指导教师：任海鹏教授申请日期：2012年3月摘要i论文题目：临近空间高超声速飞行器控制方法研究学科专业：控制科学与工程研究生：盛晓婷签名：指导教师：任海鹏教授签名：摘要临近空间高超声速飞行器已经成为世界各国研究的热点，与传统飞行器相比，高超声速飞行器飞行范围大，并且采用机体/发动机一体化设计，使得其模型呈现出高度的非线性和强耦合性，这些因素给高超声速飞行器的控制系统的设计带来了很大的挑战。本文以国内外公开发表的高超声速飞行器（Winged-cone）模型为研究对象，针对该飞行器的纵向平面数学模型，基于反馈线性化和模糊函数逼近器设计了一种新的非线性控制策略。在设计过程中用非线性动态逆控制，将原来非线性多输入多输出系统进行精确线性化，解除了多变量之间的强耦合关系，利用反步法来保证稳定性和跟踪性能。在此基础上再用模糊函数逼近器用来逼近控制律中的未知函数。此外，本文还基于反馈线性化和滑模变结构设计了两种自适应控制律，一种利用自适应参数律估计气动参数，另一种利用模糊函数逼近器估计气动参数，解决了高超声速飞行器在实际飞行中因模型不确定因素所产生的控制问题，提高了系统的鲁棒性能，仿真结果证明了所设计的控制方案的有效性。关键词：高超声速飞行器；输入/输出精确线性化；动态逆；模糊自适应控制；滑模变结构控制；西安理工大学硕士学位论文iiTitle:RESEARCHONCONTROLLERDESIGNFORNEAR-SAPCEHYPERSONICVEHICLESMajor:ControlScienceandEngineeringName:XiaotingSHENGSignature:Supervisor:Prof．HaipengRENSignature:AbstractThehypersonicvehicleshavebecomeahotspotintheresearchofallthecountries.Comparedwithgeneralflightvehicles,thehypersonicvehicleshavelargeflightenvelope，andadopttheengine-airframeintegrationtechnology,whichresultinstrongcouplingbetweenpropulsionsystemandstructuraldynamics,andbringhighlynonlinearcharacteristicstothehypersonicvehiclemodels.Allthefactorsmentionedabovehavebroughtgreatchallengestothecontrolsystemdesignofthehypersonicvehicles.Inthispaper,therelatedcontrolresearchiscarriedoutbasedonthehypersonicvehicle(winged-cone)modelpublishedoverseas.Anovelnonlinearcontrolschemebasedoninput-outputlinearization,andbacksteppingcontrolforthelongitudinalmodelofthehypersonicvehicleispresented.TheMIMOnonlinearsystemistransformedintoequivalentlinearsystemsusingthedynamicinversionmethod.Thebasksteppingcontrolmethodguaranteestheglobalstabilityandaccuratetracking.Thefuzzyfunctionapproximatorisadoptedtoapproximatetheunknownparameters.Besides,wealsodeveloptwoadaptivecontrollersbasedondynamicinversionandslidingmodecontrol.Oneadaptivecontrollerusesadaptiveparameterestimationlawtoestimatetheaerodynamiccoefficients,whiletheotherusesfuzzyfunctionapproximator.Bothoftheschemessolvetheuncertaintiesbroughtbytheactualflightofthehypersonicvehicle，andimprovetherobustnessofthesystem.Thesimulationresultsforthehypersonicvehicleshowthatthecontrolschemeshavesatisfiedperformanceundertheconditionofhypersonicflight.Keywords:Hypersonicvehicle;Input-outputaccuratelinearization;Dynamicinversioncontrol;Fuzzyadaptivecontrol;Slidingmodelcontrol目录1目录1绪论.......................................................................................................................................11.1研究背景、目的和意义...............................................................................................11.2临近空间高超声速飞行器的国内外研究现状............................................................21.2.1国外临近空间高超声速飞行器的研究现状.......................................................21.2.2国内临近空间高超声速飞行器的研究现状.......................................................41.3飞行控制方法研究现状...............................................................................................41.3.1反馈线性化.........................................................................................................51.3.2自适应控制.........................................................................................................51.3.3滑模变结构控制.................................................................................................51.3.4反步法................................................................................................................61.3.5鲁棒控制............................................................................................................61.3.6增益调度............................................................................................................71.3.7智能控制............................................................................................................71.4本文主要研究内容和结构...........................................................................................72临近空间高超声速飞行器模型.............................................................................................92.1临近空间高超声速飞行器数学模型............................................................................92.1.1临近空间高超声速飞行器物理结构..................................................................92.1.2临近空间高超声速飞行器数学模型................................................................102.2临近空间高超声速飞行器的纵向运动模型..............................................................122.3本章小结....................................................................................................................133基于反步法和动态逆的高超声速飞行器鲁棒控制............................................................153.1引言............................................................................................................................153.2高超声速飞行器的纵向逆模型.................................................................................153.3基于反步法的控制器的设计.....................................................................................183.4模糊函数逼近器的设计.............................................................................................213.5仿真结果及分析.......................................