非最小相位高超声速飞行器多变量约束的预定性能控制研究

The integration of the scramjet engine of hypersonic vehicle (HSV)results in the coupling between propulsive and aerodynamic forces and flexible deformation, which cause the model has non-minimum phase characteristics, i.e., zero dynamics are unstable. Once the unstable zero dynamics are excited, the whole system would be out of control, then the flight of HSV suffers serious security risks. Non-minimum phase and multivariable constraints raise new challenges and difficulty for the control problem of HSV. This project systematically studies the tracking control problem of HSV, and proposes novel control strategy to solve the non-minimum phase and multivariable constraints problem. Firstly, non-minimum phase characteristics are deeply researched, and the conditions for the stablization of unstable zero dynamic are achieved, then a control-oriented model is developed. Secondly, based on control-oriented model, considering the different characteristics of rigid-body unstable zero dynamics and flexible unstable zero dynamics, a virtual controller and a dynamic compensator are designed to actively inhibit them, respectively. And RBFNN is proposed to handle the input contraint problem. Based on above, an adaptive finite time control strategy is developed. To proceed, taking into account the constraint of transient performance, a prescribed performance control scheme is proposed to guarantee the transient performance and steady performance. Finally, the effectiveness of the proposed methods are testified by hardware in the loop simulation. The research enriches and develops the control theory of HSV, and it has theoretical significance and application prospects for other kinds of aerospace vehicles.

高超声速飞行器的机体/发动机一体化引起气推耦合和弹性形变问题，导致模型具有非最小相位特性即零动态是不稳定的，一旦被激发将造成系统失控，导致飞行器的飞行存在严重的安全隐患。非最小相位、多变量约束等问题给高超声速飞行器控制提出新的挑战和困难。项目针对高超声速飞行器控制展开系统性研究，提出非最小相位和多变量约束下新的控制策略。首先，深入探究非最小相位特性，确定稳定零动态的条件，融入控制需求，建立面向控制模型；其次，基于面向控制模型，针对刚体和弹性不稳定零动态的特点，分别设计有效抑制它们的虚拟控制器和动态补偿器；再次，构造RBF神经网络解决输入约束问题，并提出自适应有限时间控制策略；进一步，融入暂态性能约束，提出保证暂态性能和稳态性能的预定性能控制策略；最后，通过半实物仿真验证所提出的控制方法的有效性。项目的研究将丰富和发展高超声速飞行器的控制理论，对其他飞行器的控制具有重要理论意义和应用前景。

高超声速飞行器的机体/发动机一体化的特殊设计结构，导致其存在气推耦合和弹性形变问题，进一步导致模型具有非最小相位特性即模型存在不稳定零动态，不稳定零动态一旦被激发，将造成整个系统失控，使飞行器的稳定跟踪控制存在严重的安全隐患。项目针对高超声速飞行器的稳定控制展开系统性研究，解决了非最小相位和多变量约束影响下的高超声速飞行器稳定跟踪控制问题。通过深入探究非最小相位特性，结合控制需求，建立了非线性面向控制模型；在此基础上，提出了非最小相位和输入约束影响下的高超声速飞行器的稳定跟踪控制策略。进一步考虑高超声速飞行器的工程实际背景，融入了暂态性能约束的情形，设计了保证暂态性能和稳态性能的预定性能控制策略，有效解决了非最小相位特性和多变量约束综合影响下的高超声速飞行器稳定跟踪控制问题。最后，基于所建立的高超声速飞行器控制仿真系统，验证了设计的控制策略的有效性。本课题的研究完成了基金任务书中的全部研究工作，共发表论文22篇，其中被SCI收录15篇。本课题的研究丰富了高超声速飞行器的控制理论，为具有非最小相位特性的高超声速飞行器的稳定跟踪控制提供了新思路和新途径， 并对其他飞行器的稳定跟踪控制具有重要理论意义和应用前景。