面向操纵面重构策略的先进布局舰载无人机有限时间容错控制研究

The security carrier landing of the advanced configuration carrier-based unmanned aerial vehicle (UAV) under severe environment has attracted much attention because of its complicated operating characteristics. Aiming at the lack of targeted fault-tolerant flight control method for advanced configuration carrier-based UAV, the project focuses on finite-time fault tolerant control of carrier UAV based on control surface reconstruction strategy, in order to improve the success rate of the carrier-based UAV. First, the nonlinear coupling constraint characteristics of surface under failure mode are studied, a time-varying model of control surface efficiency is built, the multi-objective optimization and reconfiguration strategy of the control surface is explored, and the surface online reconfiguration controller under constraint is established. Secondly, the finite time stability control theory is studied to improve high order terminal sliding mode super twisting algorithm with class Lyapunov function expression, the finite time stability analysis is completed, and carrier-based UAV flight fault-tolerant control system is designed, the system real-time and robustness is ensured. Finally, 3D visual simulation is developed and semi-physical simulation system is established to verify the performance of flight control. The project can provide new ideas and technical approaches for the research of carrier UAV landing control technology.

先进布局舰载无人机因操纵特性复杂，着舰阶段环境恶劣，操纵面故障易发，其安全回收问题备受关注。针对先进布局舰载无人机缺乏特定着舰容错飞行控制方法这一问题，本项目重点研究基于操纵面重构策略的舰载无人机有限时间容错控制，旨在提高无人机安全着舰成功率。首先研究故障模式下舵面非线性耦合受限特性，构建舵面操纵效率时变模型，探索操纵面多目标优化重构策略，建立约束下的舵面在线重构控制器。其次，探究有限时间稳定控制理论内涵，改进高阶终端滑模超螺旋算法，推导类李雅谱诺夫函数表达式，研究非线性不确定有限时间稳定性分析，给出收敛时间估计方法，实现舰载无人机着舰有限时间容错飞行控制，从而提高着舰容错控制实时性和鲁棒性。最后，开发舰载无人机三维视景仿真与半物理仿真平台，验证飞行控制性能，为我国舰载无人机着舰控制技术的研究提供新的思路和技术途径。

本项目针对先进布局舰载无人机，研究复杂气动舵面及特殊着舰环境下的容错飞行控制，提高无人机着舰成功率。主要研究结果有：（1）考虑多操纵面先进布局无人机独特的气动特性、密集的操纵舵面分布以及新式阻力方向舵，建立其非线性模型及其舵面能效模型。为多操纵面控制重分配方法及容错控制方法提供对象支撑。（2）针对未知故障信息提出基于神经网络估计的自适应观测器故障诊断方法，基于此，提出基于复合轨迹预测模型混合多目标在线重构策略，实现与基本飞行控制律一致的复杂舵面故障重构，简化飞行控制负担。（3）为保证系统的实时性和鲁棒性，提出基于高阶滑模的有限时间干扰观测器和基于分数阶微积分算法的非奇异终端滑模控制方法，实现着舰有限时间飞行控制。（4）构建基于 Matlab-Flight Gear的舰载机视景仿真实验验证平台，对提出的控制方法进行仿真验证，评估故障模式下先进布局舰载无人机的着舰性能。本项目所研究的在线重构策略及有限时间飞行控制方法，可有效增强着舰故障下无人机先进布局舰载容错能力，提高系统的可靠性，且保证有限时间收敛，提高系统的实时性。此外，本项目将提出的控制方法拓展至其他多操纵面飞行器，可有效应用于复合式直升机的切换控制及全模式控制，为飞行器的安全实时飞行控制提供了新的理论基础和技术参考。