基于自抗扰理论的组合式飞行器翼尖对接控制

doi:10.16182/j.issn1004731x.joss.24-0413

摘要/Abstract

摘要：

在组合式飞行器翼尖对接过程中，翼尖近距离耦合下存在强非定常涡流气动干扰，严重影响对接的控制精度和飞行安全。针对翼尖涡流干扰下飞行器空中翼尖对接控制难题，深入研究了基于自抗扰控制理论的空中翼尖对接控制技术。建立包含翼尖对接机构和翼尖涡流模型的对接过程三通道姿态和位移数学模型。设计了基于非线性L₁方法的制导律和基于动态逆的自抗扰姿态控制器，为了抑制翼尖涡干扰影响，改善对接控制的鲁棒性，采用扩张状态观测器实现对受扰飞行器状态和干扰的观测，并利用非线性状态误差反馈实现对所观测干扰的补偿。通过对比仿真验证了所提出的基于自抗扰的组合式飞行器翼尖对接控制方法的有效性。结果表明，采用所提的方法可实现翼尖涡干扰下的飞行器翼尖快速、稳定对接。

关键词: 组合式飞行器, 翼尖对接, 翼尖涡流干扰, 自抗扰控制, 扩张状态观测器

Abstract:

The process of wingtip docking in composite aircraft is challenged by significant unsteady vortex aerodynamic disturbances arising from the close-range coupling of wingtips, thereby posing considerable constraints on docking precision and flight safety. This study endeavors to address the intricate task of airborne wingtip docking control amidst wingtip vortex disturbances through a comprehensive investigation of airborne wingtip docking control technology, grounded in the tenets of active disturbance rejection control (ADRC) theory. Initially, a mathematical model encapsulating the dynamics of three-channel attitude/displacement during the docking operation, incorporating both the wingtip docking mechanism and the wingtip vortex model, is established. Subsequently, a guidance law based on the nonlinear L₁ method and an ADRC-based attitude controller based on dynamic inversion have been designed tomitigate the effects of wingtip vortex disturbances and enhance docking control robustness. An extended state observer is employed to monitor the state and disturbances of the disturbed aircraft, while nonlinear state error feedback is utilized to compensate for observed disturbances. The efficacy of the proposed ADRC-based composite aircraft wingtip docking control methodology is validated through simulation, demonstrating its capability to achieve rapid and stable wingtip docking amidst wingtip vortex disturbances.

Key words: composite aircraft, wingtip docking, wingtip vortex disturbance, active disturbance rejection control, extended state observer

中图分类号:

TB114.2

解春雷,胡洪霞,韩卫波 . 基于自抗扰理论的组合式飞行器翼尖对接控制[J]. 系统仿真学报, 2025, 37(9): 2352-2365.

Xie Chunlei,Hu Hongxia,Han Weibo . Wingtip Docking Control of Composite Aircraft Based on ADRC Theory[J]. Journal of System Simulation, 2025, 37(9): 2352-2365.

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