【作者】 孙硕；

【导师】 马广富；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2014， 硕士

【摘要】 高超声速飞行器具有极其迅速的响应速度和打击能力，是新世纪各国空间飞行器的研究热点。它的动力学模型具有非线性、不确定性和强耦合性等特征，这给飞行器控制系统的设计提出了很高的要求。本文主要针对飞行器巡航段的纵向模型开展相关控制方法的研究。首先，根据高超声速飞行器飞行环境和自身特点，建立其全状态模型和巡航段纵向模型。参考NASA的Winged-Cone锥形体试验机数据，给出了力，力矩等各个子环节模型，为后续控制器设计奠定基础。其次，对高超声速飞行器纵向模型进行了小扰动线性化，设计了两种线性控制律。其中针对速度和高度的跟踪任务，设计了基于极点配置的渐近跟踪控制律；针对速度高度通路的耦合问题，设计了带补偿的动态解耦控制律，实现了双通道各自独立的PID控制。此外，考虑到系统整体鲁棒性，将传统SISO系统稳定裕度进行拓展给出了高超声速飞行器控制系统稳定裕度分析算法。最后，考虑到模型中存在的参数和干扰不确定性，直接针对飞行器纵向非线性模型设计了两种非线性控制算法。整个过程中，先基于微分几何理论得出了原系统等价精确线性化解耦模型，之后分别针对不同类型不确定性，设计了具有鲁棒性的滑模控制律和反步控制律，实现了巡航过程中对速度和高度指令的跟踪。更多还原

【Abstract】 Hypersonic vehicle, which has extremely rapid response and attack ability, is theresearch focus among spacecrafts for most countries in the new century. However, thenonlinearity, uncertainty and strong coupling in dynamics of the vehicle make a lot ofchallenges for the design of the control system. In this paper, the control methods for thelongitudinal model of hypersonic vehicle during its cruise process are mainly studied.Firstly, according to the flight environment and its own characteristics, a full-statemodel and a longitudinal model of hypersonic vehicle are established. Referring to thedata of Winged-Cone test vehicle by NASA, the model of sub parts such as force,moments and etc are presented, which will lay the foundation for the subsequentcontroller design.In the next place, dealing with the small perturbation linearization method, thelongitudinal model is reduced to an approximate linear model. After that, two linearcontrol laws are designed for the system. One of them is asymptotic tracking control lawbased on pole assignment solving the tracking task of speed and height. The other isdynamic decoupling control law with compensator, which separates speed loop fromheight loop so that a PID controller can be added to each loop independently. In addition,considering about the overall robustness of the system, we will expand the concept oftraditional SISO stability margin to give an algorithm to analyze the stability margin ofthe designed hypersonic flight control system.Finally, two nonlinear control algorithms are designed directly with the nonlinearlongitudinal model of the vehicle in presence of parameter and disturbance uncertainties.In the whole process, an exact linearization model that is equivalent to the origin systemmodel is obtained based on differential geometry theory at first. Then, with respect todifferent kinds of uncertainties, an sliding mode control law and an backstepping controllaw are designed with robustness to realize the tracking of speed and height during cruiseprocess.更多还原