The invention discloses a stratospheric airship height nonlinear control method, and belongs to the field of airship flight control. Only a height signal needs to be measured and compared with an expected height instruction to form a height error signal. Meanwhile, a terminal sliding mode signal is formed by adopting nonlinear transformation and integration. Meanwhile, a differential dislocation device is constructed to obtain a differential dislocation signal of the terminal sliding mode signal, and damping is provided for the system. An interference observer is constructed for carrying out observation estimation on the nonlinear term and uncertainty of a height channel, finally, a final airship pitch angle expected signal is formed by the terminal sliding mode signal, an interference observation signal and the differential dislocation signal, tracking is carried out by an airship attitude stabilization system, and finally accurate and stable control over the height of a stratosphericairship is achieved. The method has advantages that method has good adaptability to large-height signals and small-height signals, meanwhile, height control is stable, dynamic characteristic of transition process is good, and the method is very suitable for height control of the stratospheric airship.
本发明公开了一种平流层飞艇高度非线性控制方法,属于飞艇飞行控制领域。其仅需测量高度信号,并与期望高度指令进行比较形成高度误差信号。同时采用非线性变换与积分形成终端滑模信号。同时构建差分错位器,得到终端滑模信号的差分错位信号,为系统提供阻尼。然后构建干扰观测器,对高度通道的非线性项与不确定性进行观测估计,最终由终端滑模信号、干扰观测信号、差分错位信号形成最终的飞艇俯仰角期望信号,由飞艇姿态稳定系统进行跟踪,最终实现平流层飞艇的高度精准平稳控制。该方法的优点在于对大高度信号与小高度信号均具有很好的适应性,同时高度控制平稳,过度过程动态特性好,非常适合平流层飞艇的高度控制。
Stratospheric airship height nonlinear control method
一种平流层飞艇高度非线性控制方法
2020-09-11
Patent
Electronic Resource
Chinese
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