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摘要: 考虑甲板运动和舰尾流等扰动影响下的舰载机着舰轨迹跟踪问题, 提出一种基于预定义时间的自适应抗干扰控制策略. 建立着舰轨迹生成、引导、控制和进近动力补偿等子系统, 将轨迹跟踪问题转换为子系统的稳定问题. 针对舰尾流引起的时变扰动和甲板运动对理想着舰点的变化影响, 采用长短记忆神经网络进行甲板运动预估并在引导指令中予以修正, 借助非线性扰动观测器估计未知干扰对模型集总外界扰动进行前馈补偿. 为提升着舰轨迹跟踪与姿态控制的精确性和快速性, 设计基于反步架构的预定义时间控制策略, 通过李雅普诺夫稳定性分析证明了系统能够在设定的时间内收敛. 数字和半实物仿真结果表明, 在甲板运动和舰尾流扰动影响下所设计的控制策略能够满足着舰轨迹的快速准确跟踪, 实现预定义时间稳定.Abstract: Considering the landing trajectory tracking of carrier-based aircraft under the influence of deck motion and ship wake, an adaptive robust control strategy based on predefined time is proposed in this paper. The subsystems for ship trajectory generation, guidance, control, and approach power compensation are established, transforming the trajectory tracking problem into a stability problem for these subsystems. To address the time-varying disturbances caused by ship wake and deck motion on the ideal landing point, a long short-term memory neural network is utilized for deck motion estimation, and a nonlinear disturbance observer is designed to estimate unknown disturbances. To enhance the accuracy and speed of landing trajectory tracking and attitude control, a predefined time control strategy based on backstepping architecture has been developed. Lyapunov stability analysis demonstrates that the system can converge within the set time. The numerical and Hardware-in-Loop(HIL) simulation results indicate that the control strategy designed to account for deck motion and ship wake disturbances can meet the requirements for fast and accurate tracking of carrier-based aircraft landing trajectories while achieving predefined time stability.
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Key words:
- Landing control /
- ship wake /
- deck movement /
- long-short memory neural network /
- predefined-time control
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图 3 甲板运动实际值与预测值 ((a)垂荡; (b)纵摇; (c)横摇)
Fig. 3 Deck motion estimation and actual value ((a) Heaving; (b) Pitching; (c) Rolling)
图 5 高度跟踪及其跟踪误差 ((a)指令跟踪; (b)跟踪误差)
Fig. 5 Altitude tracking and tracking errors ((a)Command tracking; (b)Tracking error)
图 6 侧偏距跟踪及其跟踪误差 ((a)指令跟踪; (b)跟踪误差)
Fig. 6 Lateral performance tracking and tracking errors ((a) Command tracking; (b) Tracking error)
图 7 不同方法的迎角与侧滑角 ((a)迎角; (b)侧滑角)
Fig. 7 Angle of attack and sideslip of different methods ((a) Angle of attack; (b) Sideslip angle)
图 8 不同方法的航迹滚转角, 俯仰角与航迹方位角 ((a)航迹滚转角; (b)俯仰角; (c)航迹方位角)
Fig. 8 Roll, pitch and heading angle of different methods ((a) Roll angle; (b) Pitch angle; (c) Heading angle)
图 9 执行机构偏转 ((a)升降舵; (b)副翼; (c)方向舵)
Fig. 9 Actuators deflection ((a) Elevator; (b) Aileron; (c) Rudder)
图 10 不同状态扰动实际值与干扰观测器观测值对比 ((a)迎角; (b)侧滑角; (c)航迹滚转角)
Fig. 10 Different states actual disturbance values and disturbance observe ((a) Angle of attack; (b) Sideslip angle; (c) Roll angle)
图 11 观测误差 ((a)迎角; (b)侧滑角; (c)航迹滚转角)
Fig. 11 Disturbance observe errors ((a) Angle of attack; (b) Sideslip angle; (c) Roll angle)
图 14 半实物仿真实验下高度和侧偏距跟踪偏差 ((a)高度跟踪误差; (b)侧偏距跟踪误差)
Fig. 14 Height and lateral movement tracking errors during hardware-in-loop simulation ((a) Height tracking errors; (b )L ateral movement tracking errors)
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