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| 1 | Adaptive Sliding Mode Control for Re-entry Attitude of Near Space Hypersonic Vehicle Based on Backstepping Design显示文摘Combining sliding mode control method with radial basis function neural network(RBFNN), this paper proposes a robust adaptive control scheme based on backstepping design for re-entry attitude tracking control of near space hypersonic vehicle(NSHV) in the presence of parameter variations and external disturbances. In the attitude angle loop, a robust adaptive virtual control law is designed by using the adaptive method to estimate the unknown upper bound of the compound uncertainties. In the angular velocity loop, an adaptive sliding mode control law is designed to suppress the effect of parameter variations and external disturbances. The main benefit of the sliding mode control is robustness to parameter variations and external disturbances. To further improve the control performance, RBFNNs are introduced to approximate the compound uncertainties in the attitude angle loop and angular velocity loop, respectively. Based on Lyapunov stability theory, the tracking errors are shown to be asymptotically stable. Simulation results show that the proposed control system attains a satisfied control performance and is robust against parameter variations and external disturbances. | Jingmei Zhang Changyin Sun Ruimin Zhang Chengshan Qian | 2015 | IEEE/CAA Journal of Automatica Sinica2015，2，1： | 30 |
| 2 | Design and aerodynamic investigation of a parallel vehicle on a wide-speed range显示文摘In order to design a hypersonic vehicle for a wide-ranged Mach number,a novel parallel vehicle for a wide-speed range has been proposed.In this paper,we employ a numerical method to investigate a parallel vehicle’s aerodynamic performance and flow field characteristics.The obtained results show that the aerodynamic performance of the novel parallel vehicle is better than that of the waverider designed with a single Mach number for the wide-speed range.With the increase in Mach number,the lift-to-drag ratio of the novel parallel vehicle first increases and then decreases.When the Mach number is 7 and the angle of attack is 3?,the lift-to-drag ratio is the largest,and its value is 3.968.When the angle of attack is 3?,the lift-to-drag ratio is not lower than 3.786 in the range considered in the current study,and the novel parallel vehicle’s aerodynamic performance is good.The wing changes the drag performance of the parallel vehicle remarkably,and results in the decrease of the lift-to-drag ratio.Meanwhile,the wing can enhance the pitching moment performance. | LI ShiBin HUANG Wei WANG ZhenGuo LEI Jing | 2014 | Science China(Information Sciences)2014，57，12： | 16 |
| 3 | 基于MPC的无人机航迹跟踪控制器设计显示文摘针对固定翼无人机航迹跟踪问题,采用基于状态扩展的双反馈模型预测控制理论对控制器进行设计。首先推导基于侧向偏差的无人机侧向航迹跟踪模型,采用动态逆方法对模型进行线性化处理,在此基础上设计基于状态扩展的双反馈模型预测控制器,并采用量子粒子群优化(quantum particle swarm optimization,QPSO)算法对控制器参数进行优化,考虑无人机飞行过程中受到的未知干扰,引入扩张状态观测器(extended states observer,ESO)对干扰进行观测,进一步提高系统的鲁棒性,并结合实际工程应用对系统进行数学仿真。仿真结果表明,基于状态扩展双反馈模型预测控制的无人机侧向航迹跟踪控制器,能够在系统存在模型不确定性与受到动态干扰时对期望航迹进行准确、稳定的跟踪。 | 王晓海 孟秀云 李传旭 | 2021 | 系统工程与电子技术2021，43，1： | 16 |
| 4 | Robust adaptive cross-coupling position control of biaxial motion system显示文摘The stability and synchronous performance are usually hard to be improved simultaneously in the biaxial cross-coupling position motion control system.Based on analyzing the characteristics of the cross-coupling control system,a robust adaptive cross-coupling control strategy is proposed.To restrict influences of destabilizing factors and improve both of stability and synchronous performance,the strategy forces dual axes to track the same reference model using Narendra adaptive control theory.And then,a robust parameters adaptive law is proposed.The stability analysis of the proposed strategy is conducted by applying Lyapunov stability theory.Related simulations and experiments indicate that the proposed strategy can improve synchronous performance and stability simultaneously. | CHEN Wei WANG DianDian GENG Qiang XIA ChangLiang | 2016 | Science China(Technological Sciences)2016，59，4： | 12 |
| 5 | 带落角约束的高超声速飞行器一体化制导控制显示文摘本文针对高超声速飞行器高速俯冲过程中的质心运动与绕质心运动之间存在强耦合的特点,提出了一种基于全量耦合模型的满足落角约束的一体化制导控制方法.首先建立基于视线角的飞行器与目标的相对运动方程和绕质心运动方程,通过微分同胚处理得到一体化制导控制模型.接着采用自适应块动态面反演方法提出了一体化制导控制方法.该方法充分考虑了飞行器质心运动与绕质心运动之间的耦合作用,显著提高高超声速飞行器高速俯冲过程中的整体控制性能.本文提出的一体化制导控制方法能使得飞行器闭环系统的状态一致最终有界,且视线角速率的界可以达到任意小.最后,通过仿真结果验证了全量耦合一体化制导控制方法的有效性. | 赵暾 王鹏 刘鲁华 吴杰 | 2015 | 控制理论与应用2015，32，7： | 10 |
| 6 | 高超声速飞行器俯冲段制导与姿控系统设计显示文摘针对高超声速飞行器俯冲飞行段制导与姿态控制问题,建立基于飞行器加速度分量的三通道角速率解算模型,提出一种新颖的制导控制系统设计方法。建立高超声速飞行器俯冲段六自由度(6DOF)质心和绕质心动力学与运动模型,以目标-飞行器三维(3D)空间相对运动模型为基础,利用终端滑模控制方法和零化视线(LOS)角速率原理得到飞行器期望过载进而解算对应的俯仰、偏航和滚转角速率指令;姿控系统基于滑模控制理论完成该三通道角速率指令的跟踪并生成飞行器舵偏指令;该方法以解析模型替代传统姿控系统设计中欧拉角指令的跟踪回路,可有效降低制导与姿控系统阶数并减少控制系统设计参数,同时省略了根据气动系数反求欧拉角指令的过程;仿真结果显示,该方法能保证高超声速飞行器(GHV)精确命中地面固定目标,且俯冲飞行过程中各项状态变量均稳定可控。 | 王建华 刘鲁华 汤国建 | 2016 | 宇航学报2016，37，8： | 8 |
| 7 | Multidisciplinary design optimization approach and its application to aerospace engineering显示文摘The multidisciplinary design optimization(MDO)approach is very crucial for the conceptual design of the aircraft,and this is due to the complex interaction between different disciplines, especially for the hypersonic vehicle. In the hypersonic vehicle, the airframe and the engine are highly integrated. In the current survey, the research progress in the MDO approach has been reviewed comprehensively from four primary techniques, namely the design of experiments, the surrogate modeling, the optimization method and the MDO framework, and its application to the aerospace engineering has been summarized from its category as well. The concurrent subspace optimization approach is the most popular method in the aerospace engineering for its easy implementation, and following is the collaborative optimization approach. The multi-level optimization approach has attracted a growing attention due to its high efficiency. In conclusion, some promising research recommendations have been put forward, namely the combination of the low- and high-fidelity optimization approaches, the consideration of the uncertainty analysis and the MDO approach coupled with the data mining techniques. | Zhenguo Wang Wei Huang Li Yan | 2014 | Chinese Science Bulletin2014，59，36： | 7 |
| 8 | Sliding mode decoupling control of a generic hypersonic vehicle based on parametric commands显示文摘A sliding mode decoupling attitude controller based on parametric commands is proposed for a generic hypersonic vehicle(GHV). This vehicle model has fast time variability and strong coupling, is highly nonlinear, and includes uncertain parameters. The design of the controller takes these features into account.First, for the purpose of decoupling, the inner loop of the controller is designed using the dynamic inversion(DI) method. Input/output linearization is achieved using full-state feedback to globally linearize the nonlinear dynamics of selected controlled outputs. Second, to improve the robustness of the attitude control system, the sliding mode control(SMC) method is used to design the outer loop of the controller. Although the DI and SMC methods result in decoupling and robustness, there exists serious inconsistency between the commands of the attitude angles and the commands of the first-order differential of the attitude angles. To solve this problem and achieve a trade-off between dynamic response speed and attitude-tracking precision, we propose a parametric method for calculating the commands of the first-order differential of the attitude angles. Finally,simulation studies are conducted for the trimmed cruise conditions of 33.5 km altitude and Mach 15, and the responses of the vehicle to the step commands of pitch angle, yaw angle, and rolling angle are examined. The simulation studies demonstrate that the proposed controller is robust with respect to the uncertain parameters and atmospheric disturbance and meets the performance requirements of the GHV with acceptable control inputs. | WANG Peng TANG GuoJian WU Jie | 2015 | Science China(Information Sciences)2015，58，5： | 6 |
| 9 | Cross-coupled controller design for triaxial motion systems based on second-order contour error estimation显示文摘The cross-coupled control(CCC)is widely applied to reduce contour errors in contour-following applications.In such situation,the contour error estimation plays an important role.Traditionally,the linear or second-order estimation approach is adopted for biaxial motion systems,whereas only linear approach is available for triaxial systems.In this paper,the second-order contour error estimation,which was presented in our previous work,is utilized to determine the variable CCC gains for motion control systems with three axes.An integrated stable motion control strategy,which combines the feedforward,feedback and CCC controllers,is developed for multiaxis CNC systems.Experimental results on a triaxial platform indicate that the CCC scheme based on the second-order estimation,compared with that based on the linear one,significantly reduces the contour error even in the conditions of high tracking feedrate and small radius of curvature. | ZHAO Huan ZHU LiMin DING Han | 2015 | Science China(Technological Sciences)2015，58，7： | 3 |
| 10 | Three-dimensional nonlinear coupling guidance for hypersonic vehicle in dive phase显示文摘Three-dimensional(3D)nonlinear diving guidance strategy considering the coupling between longitudinal and lateral motions for hypersonic vehicle is investigated in this paper.It constructs the complete nonlinear coupling motion equation without any approximations based on diving relative motion relationship directly,and converts it into linear state space equation with the same relative degree by feedback linearization.With the linear equation,slide mode control with strong robustness is employed to design the guidance law,and 3D diving guidance law which can satisfy terminal impact point and falling angle constraints with high precision is obtained by substituting the previous control law into the origin nonlinear guidance system.Besides,regarding lateral overload as the standard,hybrid control strategy which can take full advantage of the excellent characters of both bank-to-turn(BTT)and skid-to-turn(STT)controls is designed to improve the guidance accuracy further.Finally,the results of CAV-H vehicle guidance test show that the algorithm can realize high accuracy guidance even if serious motion coupling exists,and has strong robustness to the path disturbances and navigation errors as well. | ZHU JianWen LIU LuHua TANG GuoJian BAO WeiMin | 2014 | Science China(Technological Sciences)2014，57，9： | 3 |
| 11 | Improved Shuffled Frog Leaping Algorithm Optimizing Integral Separated PID Control for Unmanned Hypersonic Vehicle显示文摘To solve the flight control problem for unmanned hypersonic vehicles,a novel intelligent optimized control method is proposed.A flight control system based on integral separated proportional-integral-derivative(PID)control is designed for hypersonic vehicle,and an improved shuffled frog leaping algorithm is presented to optimize the control parameters.A nonlinear model of hypersonic vehicle is established to examine the dynamic characteristics achieved by the flight control system.Simulation results demonstrate that the proposed optimized controller can effectively achieve better flight control performance than the traditional controller. | 梁冰冰 江驹 甄子洋 马坤 | 2015 | Transactions of Nanjing University of Aeronautics and Astronautics2015，32，1： | 2 |
| 12 | 带有模糊干扰观测器的高超声速飞行器一体化制导控制方法显示文摘为充分利用高超声速飞行器在俯冲段的质心运动与绕质心运动之间的耦合作用和飞行过程中的不确定性,基于模糊干扰观测器提出三维一体化制导与控制问题。根据飞行器的动力学方程以及飞行器-目标的视线角相对运动方程,推导出适用于倾斜转弯控制的一体化制导控制模型。针对模型中的不确定性采用模糊干扰观测器进行补偿,并使用块动态面方法设计一种一体化制导控制律。通过选取适当的李雅普诺夫函数证明闭环系统状态的一致毕竟有界性。仿真结果验证了该一体化制导控制方法的有效性和鲁棒性。 | 赵暾 王鹏 刘鲁华 吴杰 | 2016 | 国防科技大学学报2016，38，5： | 2 |
| 13 | 采用ESO补偿的再入飞行器姿态预测控制方法显示文摘针对飞行器再入姿态运动设计了一种基于扩张状态观测器(extended states observer,ESO)的预测控制方法。为了降低系统的阶数,将姿态系统分成姿态角子系统和姿态角速率子系统,分别设计控制器。采用动态逆方法将运动方程线性化,并基于此推导了解析的最优预测控制律。为了提高控制器的精度和鲁棒性,采用ESO对模型误差和不确定扰动进行估计,并在预测控制律中进行补偿。最后证明了算法的稳定性。通过六自由度仿真分析,验证了控制方法的良好性能。 | 王涛 张洪波 汤国建 | 2018 | 系统工程与电子技术2018，40，7： | 1 |
| 14 | 高超声速变外形飞行器建模与有限时间控制显示文摘针对高超声速变外形飞行器变形带来的参数摄动大、变形过程建模难、外界干扰复杂等大不确定问题,研究了一类可变后掠飞行器建模与姿态控制问题,设计了一种有限时间控制方案。针对变外形飞行器建立了带有变形量的面向姿态控制的三自由度模型,该模型能够反映出变外形飞行器的内在影响。分析了变外形飞行器在典型状态下的气动特征,并给出了连续变形关键气动数据可行处理方案。针对可连续变形的飞行器设计了一套有限时间控制方案,并证明了系统稳定性。进一步考虑控制律中用到的指令微分项,设计了有限时间指令收敛滤波器。利用扩张状态观测器,估计不易测量状态和“综合扰动”。以考虑复杂干扰下的高超声速变外形飞行器为对象进行仿真,结果表明:所设计的控制方案可解决不同变形速率下、存在复合干扰的飞行器姿态控制问题。 | 张远 黄万伟 路坤锋 白文艳 于江龙 | 2022 | 北京航空航天大学学报2022，48，10： | 1 |
| 15 | 高超声速飞行器倾侧转弯耦合控制策略显示文摘针对高超声速飞行器倾侧转弯过程中俯仰、偏航和滚动通道间的强烈耦合,提出一种耦合控制策略。针对高超声速飞行器快时变、非线性和强不确定性的控制问题,基于解析形式的非线性最优预测控制方法,采用分层设计思想设计了飞行器姿态控制系统,可较好满足高超声速飞行器的快速性要求;在分析了倾侧转弯飞行控制过程的主要影响因素及其影响规律的基础上,提出一种'降低攻角—快速滚转—拉起攻角'的耦合控制策略。对该控制策略对于高超声速飞行器的适用性进行了仿真分析,结果表明:所提耦合控制策略有效降低了偏航通道的控制需求,降低了倾侧转弯控制过程的失控风险,提高了控制系统的可靠性。 | 王鹏 | 2017 | 国防科技大学学报2017，39，4： | 0 |
| 16 | 一种带有观测器的高速飞行器预测滑模控制方法显示文摘针对高速飞行器巡航段的速度和高度指令跟踪控制问题,提出了一种基于线性扩张状态观测器的预测滑模控制方法。首先,对飞行器模型进行反馈线性化,在此基础上设计了速度通道和高度通道的跟踪滑模面,利用Taylor展开对跟踪滑模面进行预测;其次,利用优化性能指标推导出预测滑模控制律,使用Lyapunov稳定性理论证明其稳定性,所设计控制律可避免使用不连续切换函数,有效抑制抖振;然后,利用飞行器速度、高度和俯仰角的测量值,设计基于反正切跟踪微分器在线估计飞行器的航迹倾角和攻角;最后,针对带有飞行器状态估计误差以及飞行器参数偏差的动力学系统,将这些内外干扰视为系统“总扰动”,通过线性扩张状态观测器对其进行观测并加以补偿,通过对比仿真验证了所提方法的有效性。 | 田灿 张远 倪少波 | 2022 | 航天控制2022，40，2： | 0 |
| 17 | 基于FlexRay总线的静态段带宽利用率研究显示文摘为提高FlexRay网络的带宽利用率,文中对FlexRay静态段参数和传输中消息的长度进行了研究。针对静态段参数数学模型和静态消息帧长度差异过大造成大量带宽浪费的情况,分别提出了MATLAB的优化函数和将部分较长消息分割成两个长度相同消息进行分配方法。文中阐述了将FlexRay静态段数学模型转化为非线性规划的问题,所提的分配方法考虑了分割后的消息在编码过程中增加的无效比特数对整个网络的影响。数值实验表明,该方法可以在理论最优带宽利用率的基础上实现进一步提高。 | 张育贵 胡雪晨 王义 | 2019 | 电子科技2019，32，6： | 0 |
| 18 | 新超声速面对称飞行器制导算法仿真方法显示文摘提出一种在数学仿真回路引入舵偏角的超声速面对称飞行器制导算法新三自由度仿真方法和舵机在回路的半实物仿真方法。基于瞬时平衡假设推导了由制导算法解算舵偏角的解析表达式,给出了舵机在回路的半实物仿真方法。在半实物仿真方法中给出了舵机铰链轴所受铰链力矩解析计算模型,通过实时加载舵机铰链轴所受力矩达到动态模拟舵机偏转的效果。仿真算例表明,新仿真方法的命中精度与传统方法相当,但新仿真方法仿真计算的攻角和过载显著减小,利于充分挖掘制导控制系统的控制能力;设计的半实物仿真方法仿真结果与数学仿真结果相符,满足制导算法仿真验证要求。 | 程胜 王飞 陈颖瑜 | 2018 | 兵器装备工程学报2018，39，5： | 0 |
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