【作者】 李伟； 关英姿； 晏卓； 黄瑞松； 曾祥鑫；

【Author】 LI Wei;GUAN Ying-zi;YAN Zhou;HUANG Rui-song;ZENG Xiang-xin;Department of Astronautic Engineering,Harbin Institute of Technology;Xi’an Aerospace Propulsion Test Technology Institute;HIWING Technology Academy CASIC;

【机构】 哈尔滨工业大学航天学院； 西安航天动力试验技术研究所； 中国航天科工飞航技术研究院；

【摘要】 搭载激光测距仪的旋翼无人飞行器虽可提供比传统GPS或气压计测量更为精确的飞行器高度信息,但仍不能提供高度方向的速度。本文针对该种类型飞行器的高度跟踪控制问题,提出了一种高阶滑模观测器与超螺旋滑模控制器相组合的控制策略,分别对高度进行估计与控制。首先建立了旋翼飞行器高度方向的动力学模型,之后设计高阶滑模观测器对状态变量进行估计,并对超螺旋控制器进行了设计,随后提出了一种基于李亚普诺夫稳定性理论的综合控制器-观测器稳定性分析方法,保证在外部有界扰动下跟踪误差的渐近收敛性。实验结果表明,使用高阶滑模观测器提供的信息,超螺旋滑模控制器能够准确估计飞行器高度和速度,收敛时间为0.5 s。本文所设计的超螺旋滑动控制器与高阶滑模观测器的组合形式,能够实现对飞行器的高度精确控制。更多还原

【Abstract】 Unmanned aerial vehicles(UAVs) carrying a laser rangefinder can provide more accurate aircraft height information than conventional GPS or barometer measurements in actual flights,however,they can’t provide the altitude velocity.This article addresses the problem of altitude tracking of aircrafts and proposes a control strategy based on the combination of a high-order sliding mode observer and a super-twisting sliding mode controller,which can respectively control and estimate the altitude velocity.First,the dynamic model of altitude direction of a rotor aircraft is established,then the high-order sliding mode observer is established to estimate state variables,and the super-twisting controller is designed.Then,a comprehensive stability analysis of the combined controller-observer based on the Lyapunov stability theory is presented,thus ensuring the asymptotic convergence of the tracking error under external bounded disturbances.The experimental results show that the super-twisting sliding mode controller can evaluate the altitude velocity accurately by using the information output from the high-order sliding mode observer,and the convergence time is 0.5 s.The combination of the super-twisting controller and high-order sliding mode observer can realize the accurate altitude control of aircrafts.更多还原