基于固定时间模型参考方法的倾转旋翼无人机姿态控制

朱纪洪; 张骁骏; 杨赟杰; 袁夏明

doi:10.16383/j.aas.c240621

基于固定时间模型参考方法的倾转旋翼无人机姿态控制

doi: 10.16383/j.aas.c240621 cstr: 32138.14.j.aas.c240621

朱纪洪^{1, 2,},
张骁骏^3,,
杨赟杰^{1, 2,},
袁夏明^{1, 2,}

1.
清华大学精密仪器系北京 100084
2.
时空信息精密感知技术全国重点实验室北京 100084
3.
中航工业成都飞机设计研究所成都 610091

基金项目: 国家自然科学基金(62203259, 62073185), 中航工业成都飞机设计研究所预研项目, 航空科学基金(20240058058001)资助

详细信息

作者简介:
朱纪洪：清华大学精密仪器系、时空信息精密感知技术全国重点实验室教授. 主要研究方向为先进飞行器动力学与智能控制技术. E-mail: jhzhu@tsinghua.edu.cn

张骁骏：中航工业成都飞机设计研究所工程师. 主要研究方向为飞行器设计及飞行控制技术. E-mail: xj-zhang31@foxmail.com

杨赟杰：清华大学精密仪器系、时空信息精密感知技术全国重点实验室助理研究员. 主要研究方向为飞行动力学与非线性控制技术. 本文通信作者. E-mail: yangyunjie@tsinghua.edu.cn

袁夏明：清华大学精密仪器系、时空信息精密感知技术全国重点实验室助理研究员. 主要研究方向为无人系统及智能控制技术. E-mail: xmyuan@tsinghua.edu.cn

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出版历程
- 收稿日期: 2024-09-09
- 录用日期: 2025-01-17
- 网络出版日期: 2025-02-26

Attitude Control of Tilt-rotor Unmanned Aerial Vehicle Based on Fixed-time Model Reference Method

ZHU Ji-Hong^{1, 2
,},
ZHANG Xiao-Jun^3
,,
YANG Yun-Jie^{1, 2
,},
YUAN Xia-Ming^{1, 2
,}

1.
Department of Precision Instrument, Tsinghua University, Beijing 100084
2.
State Key Laboratory of Precision Space-time Information Sensing Technology, Beijing 100084
3.
AVIC Chengdu Aircraft Design and Research Institute, Chengdu 610091

Funds: Supported by National Natural Science Foundation of China (62203259, 62073185), Pre-research Project of AVIC Chengdu Aircraft Design and Research Institute, Aeronautical Science Foundation of China (20240058058001)

More Information

Author Bio:
ZHU Ji-Hong　Professor in the Department of Precision Instrument, Tsinghua University, and the State Key Laboratory of Precision Space-time Information Sensing Technology. His research interest covers advanced aircraft dynamics and intelligent control technology

ZHANG Xiao-Jun　Engineer at AVIC Chengdu Aircraft Design and Research Institute. His research interest covers aircraft design and flight control technology

YANG Yun-Jie　Assistant researcher in the Department of Precision Instrument, Tsinghua University, and the State Key Laboratory of Precision Space-time Information Sensing Technology. His research interest covers flight dynamics and nonlinear control technology. Corresponding author of this paper

YUAN Xia-Ming　Assistant researcher in the Department of Precision Instrument, Tsinghua University, and the State Key Laboratory of Precision Space-time Information Sensing Technology. His research interest covers unmanned system and intelligent control technology

摘要

摘要: 倾转旋翼无人机(Unmanned aerial vehicle, UAV）动力学特性复杂, 过渡过程中的变速变构型特性导致系统具有较大的模型不确定性, 且容易受到阵风扰动等影响, 对姿态控制律设计提出很高要求. 针对该问题, 本文建立一种扰动观测器结合终端滑模补偿器的模型参考姿态控制方法. 基于齐次系统理论设计固定时间收敛扰动观测器, 实现对倾转旋翼无人机未建模动态和外部扰动的准确估计; 基于一种新型非线性饱和函数设计固定时间收敛终端滑模控制器, 结合低通滤波实现对指令的快速高品质跟踪; 为进一步解决控制奇异性问题, 提出在纵轴附近邻域对控制器的改进策略. 仿真结果表明, 所提方法在应对倾转旋翼无人机模型不确定性和外部扰动方面具有较强的鲁棒性, 相比基于有限时间稳定性理论的模型参考姿态控制方法, 固定时间收敛控制提供了更高的控制精度和更平滑的输出.
- 倾转旋翼无人机 /
- 姿态控制 /
- 固定时间收敛 /
- 模型参考控制 /
- 滑模控制
Abstract: Tilt-rotor unmanned aerial vehicles (UAVs) exhibit complex dynamic characteristics during the transition process. Their variable speed and variable configuration features result in significant model uncertainties. Meanwhile, they are easily affected by disturbances such as gusts of wind, which imposes high demands on the design of attitude control laws. To address this issue, this paper proposes a model reference attitude control method that combines a disturbance observer with a terminal sliding mode compensator. A fixed-time convergent disturbance observer is designed to accurately estimate the unmodeled dynamics and external disturbances of the tilt-rotor UAV based on homogeneous system theory. A fixed-time convergent terminal sliding mode controller is designed by using a novel nonlinear saturation function, achieving fast and high-quality tracking of the reference signal with low-pass filtering. To further address the control singularity issue, an improvement strategy is proposed for the controller in the vicinity of the longitudinal axis. Simulation results show that the proposed method exhibits strong robustness against model uncertainties and external disturbances for tilt-rotor UAVs. Compared to the model reference attitude control method based on finite-time stability theory, the fixed-time convergence control provides higher control accuracy and smoother output.
- Tilt-rotor unmanned aerial vehicle (UAV) /
- attitude control /
- fixed-time convergent /
- model reference control /
- sliding mode control

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图 1 倾转旋翼无人机全包线典型飞行状态

Fig. 1 Typical flight modes of tilt-rotor unmanned aerial vehicles throughout the entire flight envelope

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图 2 倾转旋翼无人机布局

Fig. 2 Tilt-rotor unmanned aerial vehicle configuration

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图 3 模型参考姿态控制器架构

Fig. 3 Model reference attitude controller architecture

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图 4 闭环系统相平面图

Fig. 4 Closed-loop system phase plane diagram

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图 5 仿真中加入的风扰动

Fig. 5 Wind disturbance added to the simulation

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图 6 有限时间模型参考控制垂转平仿真结果

Fig. 6 Simulation results during the hover to cruise transition flight under the finite-time model reference control

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图 7 有限时间模型参考控制平转垂仿真结果

Fig. 7 Simulation results during the cruise to hover transition flight under the finite-time model reference control

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图 8 固定时间模型参考控制垂转平仿真结果

Fig. 8 Simulation results during the hover to cruise transition flight under the fixed-time model reference control

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图 9 固定时间模型参考控制平转垂仿真结果

Fig. 9 Simulation results during the cruise to hover transition flight under the fixed-time model reference control

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表 1 参考模型参数

Table 1 Reference model parameters

通道	$ a_{m1} $	$ a_{m2} $
滚转	$ {\left( {1 + V_x^b/15} \right)^2} $	$ 1.8 + 0.12V_x^b $
俯仰	$ \left( {2 + V_x^b/10} \right)^2 $	$ 3.2 + 0.16V_x^b $
偏航	$ {\left( {1 + V_x^b/60} \right)^2} $	$ 2.0 + V_x^b/30 $

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表 2 有限时间模型参考控制器参数

Table 2 Finite-time model reference controller parameters

通道	$ p $	$ \alpha $	$ p_s $	$ \alpha_s $	$ D_o $	$ \alpha_o $	$ k_1 $	$ k_2 $
滚转	0.6	1.2	1	5/9	0.8	0.95	20	100
俯仰	0.8	1.2	1	1/3	3.0	0.95	20	100
偏航	0.3	1.2	1	5/9	0.8	0.95	20	100

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表 3 固定时间模型参考控制器参数

Table 3 Fixed-time model reference controller parameters

通道	$ p $	$ \mu $	$ c $	$ p_s $	$ \mu_s $	$ c_s $	$ D_o $	$ \alpha_o $	$ k_1 $	$ k_2 $	$ \beta_o $	$ l_1 $	$ l_2 $
滚转	0.5	2/9	1	1.0	3/9	2	0.5	0.94	20	100	1.06	20	100
俯仰	1.0	2/9	2	1.5	4/9	2	2	0.94	20	100	1.06	30	225
偏航	0.5	2/9	1	1.0	3/9	2	0.5	0.94	20	100	1.06	20	100

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表 4 有限/固定时间模型参考控制方法性能指标对比

Table 4 Comparison of performance indexes of finite-time/fixed-time model reference control methods

设计方法	$ T_E^z $	$ T_E^{\phi} $	$ T_E^{\theta} $	$ T_E^{\psi} $	$ T_E^{o\phi} $	$ T_E^{o\theta} $	$ T_E^{o\psi} $	$ T_V^{\phi} $	$ T_V^{\theta} $	$ T_V^{\psi} $
有限时间	26.57	0.06	0.55	0.08	0.44	11.42	0.56	125.73	598.62	147.77
固定时间	23.73	0.05	0.38	0.06	0.41	9.65	0.56	87.76	520.64	120.94

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