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Aircraft attitude control method, system, medium and device

An attitude control and aircraft technology, applied in attitude control, general control system, control/adjustment system, etc., can solve the problems of unstable control system, aggravate the problem of sliding mode buffeting, etc., to improve the ability of strong uncertainty and interference , Improve the robustness and pose accurate effect

Inactive Publication Date: 2019-02-15
BEIHANG UNIV
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Problems solved by technology

Aiming at the singular problem of terminal sliding mode, the global non-singular terminal sliding mode control (Non-singular terminal sliding mode control, NTSMC) and fast non-singular terminal sliding mode control (Fast non-singular terminal sliding mode control) were gradually developed. Mode Control, FNTSMC), this type of method can better solve the singularity problem of traditional TSMC, but when dealing with strong uncertainties, the controller needs to use discontinuous high gain, which will not only aggravate the problem of sliding mode chattering, and even May lead to unstable control system

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  • Aircraft attitude control method, system, medium and device
  • Aircraft attitude control method, system, medium and device

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Embodiment Construction

[0019] The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

[0020] figure 1 A flow chart of an aircraft attitude control method provided by an embodiment of the present invention, such as figure 1 As shown, the method includes:

[0021] 110. According to attitude tracking error, control law parameters and reaching law parameters, establish sliding hyperplane and sliding mode reaching law;

[0022] Specifically, in this step, a sliding hyperplane and a sliding mode approach law are first established for the mathematical model of the aircraft, wherein the expression of the mathematical model of the aircraft is as follows:

[0023]

[0024] Among them, F and B are the system matrix and control matrix respectively, θ is the attitude angle, u is the control input, and d(t) ...

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Abstract

The invention provides an aircraft attitude control method, a system, a medium and a device, wherein the method comprises the following steps: establishing a sliding hyperplane and a sliding mode approaching law according to attitude tracking errors, control law parameters and approaching law parameters; establishing an expansion state observer, and using the expansion state observer to estimate atotal uncertainty in a mathematical model of an aircraft; obtaining an attitude control law according to the sliding hyperplane, the sliding mode approaching law, and the expansion state observer; and controlling the attitude of the aircraft according to the attitude control law. The aircraft attitude control method, the system, the medium and the device can avoid singular problems caused by thetraditional terminal sliding mode control method according to an improved sliding mode control of a fast non-singular terminal, which have a higher convergence rate that can converge errors more quickly in comparison with the traditional non-singular terminal sliding mode control. In addition, by combining the expansion state observer, discontinuous term gains can be reduced, sliding mode chattering can be weakened, and the robustness of the system can be improved through interference estimation and compensation.

Description

technical field [0001] The invention belongs to the field of aircraft flight control, and in particular relates to an aircraft attitude control method, system, medium and equipment. Background technique [0002] There are complex and unknown parameter uncertainties, unmodeled dynamics and external disturbances in the actual flight process of the aircraft. Aircraft fuel consumption, fuel transfer, weapon delivery, wing icing, structural damage, etc. will lead to complex changes in flight parameters and introduce unknown disturbances. The above-mentioned system uncertainties will not only reduce the effectiveness of attitude control, but even cause the aircraft to lose control, resulting in serious air crashes. Therefore, in view of multiple uncertainties such as weight / inertia parameter changes, unmodeled dynamics, and external disturbances in the aircraft, it is necessary to study a fast and high-precision attitude control method, which is also a key challenge in the field ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05B13/04
CPCG05B13/042G05D1/0825
Inventor 张晶杨凌宇
Owner BEIHANG UNIV
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