基于动态面backstepping控制的高超声速飞行器自适应故障补偿设计

摘要

针对带有冗余舵面的高超声速飞行器纵向模型,考虑舵面出现卡死故障情况下,分别设计了基于backstepping的高度容错控制器与基于动态逆的速度跟踪控制器.在运用backstepping自适应设计高度控制器时,采用动态面设计方法,引入一阶滤波器,避免了设计中对虚拟信号求导带来的复杂计算问题.针对舵面出现未知故障(不确定故障模式、大小、发生时间)的情况,设计容错控制器结构,给出实现故障补偿控制的匹配条件,根据Lyapunov稳定性理论设计的控制器参数自适应律保证系统的稳定性与指令跟踪性能.针对舵面出现卡死故障的情况,仿真对控制算法进行了验证,得到了较理想的控制效果.%An adaptive backstepping fault-tolerant control scheme is designed for the longitudinal model of a hypersonic vehicle with redundant elevators. In the backstepping design, the dynamic surface control strategy is adopted to obtain the differentiation of virtual control inputs by introducing two first-order filters. An appropriate fault-tolerant controller structure is proposed and the matching conditions are derived for an adaptive failure compensation for the vehicle subject to uncertain failures (unknown failure pattern, size and its occurence time). The controller parameter adaptive law is designed by using the Lyapunov stability theory which guarantees system stability and tracking accuracy. Simulation results verify the effectiveness of the proposed fault-tolerant control scheme.