技术领域technical field
本发明涉及一种固定翼无人舰载机的自适应自动着舰引导控制系统，属于航空飞行器控制技术领域。The invention relates to an adaptive automatic landing guidance control system for a fixed-wing unmanned carrier-based aircraft, which belongs to the technical field of aviation vehicle control.
背景技术Background technique
本专利中的“着舰”对于有人舰载机来说，通常是指跑道拦阻着陆，而对无人机来说，可以包括跑道拦阻着陆、撞网回收等多种方式。The "landing" in this patent usually refers to a runway interception landing for a manned carrier-based aircraft, while for an unmanned aerial vehicle, it can include a variety of methods such as runway interception landing and net recovery.
为满足航空母舰等军舰的需求，舰载机常用于目标打击、空中格斗、情报侦察、战场监视等战斗和保障活动任务。In order to meet the needs of warships such as aircraft carriers, carrier-based aircraft are often used for combat and support activities such as target strikes, air combat, intelligence reconnaissance, and battlefield surveillance.
舰载机作为航母的重要武器力量，其关键技术是如何保障在十分恶劣的环境下安全准确着舰。由于着舰环境十分恶劣，母舰运动、舰尾气流等扰动作用都会对无人机着舰产生很大影响，极大增加了舰载机的着舰难度，严重影响了着舰安全。舰船在海上航行过程中，由于受海浪、海涌及风的影响，舰体将会产生纵摇、偏航、横摇、上下起伏等形式的甲板运动，导致舰船上的着舰点为三自由度活动点，严重影响着舰的难度以及安全性。海上多变的环境下，舰载机在舰船上着舰时，舰尾气流扰动也是影响其着舰性能的重要因素。在进场着舰段，随飞行速度的减小，飞行迎角一般都会超过临界迎角，处于速度不稳定区域，使保持飞行轨迹变得非常困难。现代有人舰载机已采取了诸多先进的着舰技术，但是面对十分恶劣、复杂的着舰环境，尚不能保证舰载机每一次都能顺利完成着舰任务。As an important weapon force of the aircraft carrier, the key technology of carrier-based aircraft is how to ensure safe and accurate landing in a very harsh environment. Due to the harsh landing environment, disturbances such as mothership movement and ship tail airflow will have a great impact on UAV landing, which greatly increases the difficulty of carrier-based aircraft landing and seriously affects the safety of landing. During the sailing process of the ship, due to the influence of waves, sea surges and wind, the hull will produce deck motions in the form of pitch, yaw, roll, up and down, etc., resulting in the landing point on the ship as The three-degree-of-freedom active point seriously affects the difficulty and safety of landing. In the changing environment at sea, when a carrier-based aircraft lands on a ship, the disturbance of the airflow at the tail of the ship is also an important factor affecting its landing performance. In the approach and landing section, as the flight speed decreases, the flight angle of attack generally exceeds the critical angle of attack, and is in the region of unstable speed, making it very difficult to maintain the flight trajectory. Modern manned carrier-based aircraft have adopted many advanced landing technologies, but in the face of a very harsh and complex landing environment, it is still impossible to guarantee that the carrier-based aircraft can successfully complete the landing task every time.
现有有人舰载机的自动着舰系统普遍存在以下不足：The existing automatic landing systems for manned carrier-based aircraft generally have the following deficiencies:
其一，传统自动着舰系统基本都是基于参数确定的舰载机数学模型设计的，但实际舰载机通常具有参数或者结构的不确定性；First, the traditional automatic landing system is basically designed based on the mathematical model of the carrier-based aircraft whose parameters are determined, but the actual carrier-based aircraft usually has uncertain parameters or structures;
其二，传统自动着舰控制系统采用了单回路设计方法，将各个控制通道分开进行设计，忽略了纵横向运动量之间的耦合关系，而舰载机系统实际上是一种多变量多回路耦合的非线性系统；Second, the traditional automatic landing control system adopts a single-loop design method, and designs each control channel separately, ignoring the coupling relationship between vertical and horizontal motions, while the carrier-based aircraft system is actually a multi-variable and multi-loop coupling the nonlinear system;
其三，传统自动着舰系统的控制器都是固定参数控制器，对系统和环境变化以及外部扰动都缺乏适应性受系统和环境的各种不确定性以及外部扰动影响很大。Third, the controllers of the traditional automatic landing system are all fixed parameter controllers, which lack adaptability to system and environmental changes and external disturbances, and are greatly affected by various uncertainties of the system and environment as well as external disturbances.
对于无人舰载机，目前还未见自动着舰系统相关技术的公开报道。For unmanned carrier-based aircraft, there is no public report on the technology related to the automatic landing system.
发明内容Contents of the invention
本发明所要解决的技术问题在于克服现有技术不足，提供一种固定翼无人舰载机的自适应自动着舰引导控制系统，可使得无人舰载机安全精准地完成自动着舰。The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide an adaptive automatic landing guidance control system for fixed-wing unmanned carrier-based aircraft, which can enable the unmanned carrier-based aircraft to complete automatic landing safely and accurately.
本发明具体采用以下技术方案解决上述技术问题：The present invention specifically adopts the following technical solutions to solve the above technical problems:
一种固定翼无人舰载机的自适应自动着舰引导控制系统，包括着舰指令与下滑基准轨迹生成模块、引导律模块、自适应飞行控制模块；着舰指令与下滑基准轨迹生成模块用于根据舰船与无人舰载机的相对位置和绝对位置信息，生成三维下滑基准轨迹信号和速度指令信号，并将三维下滑基准轨迹信号输出给引导律模块，将速度指令信号输出给自适应飞行控制模块；引导律模块用于根据无人舰载机当前的位置、速率信息以及三维下滑基准轨迹信号，生成俯仰角指令和滚转角指令并将这两个制导指令输出给自适应飞行控制模块；自适应飞行控制模块用于根据无人舰载机当前的状态信息、引导律模块输出的两个制导指令以及着舰指令与下滑基准轨迹生成模块输出的速度指令和侧滑指令信号，利用多变量模型参考自适应控制算法生成无人舰载机的飞行控制信号。An adaptive automatic landing guidance control system for fixed-wing unmanned carrier-based aircraft, including a landing command and glide reference trajectory generation module, a guidance law module, and an adaptive flight control module; the landing command and glide reference trajectory generation module is used to Based on the relative position and absolute position information of the ship and the unmanned carrier-based aircraft, the three-dimensional glide reference trajectory signal and the speed command signal are generated, and the three-dimensional glide reference trajectory signal is output to the guidance law module, and the speed command signal is output to the adaptive Flight control module; the guidance law module is used to generate pitch angle commands and roll angle commands according to the current position and speed information of the unmanned carrier aircraft and the three-dimensional glide reference trajectory signal, and output these two guidance commands to the adaptive flight control module ; The adaptive flight control module is used to utilize multiple The variable model refers to the adaptive control algorithm to generate the flight control signal of the unmanned carrier-based aircraft.
优选地，着舰指令与下滑基准轨迹生成模块的输入信号包括：舰船跑道或下滑道的方位角(ψS+λac)，其中ψS为舰船方位角，λac为斜角甲板夹角；着舰指令与下滑基准轨迹生成模块的输出信号包括：速度指令Vc、侧滑指令βc＝0及下滑基准轨迹信号XEATDc(t),YEATDc(t),ZEATDc(t)；着舰指令与下滑基准轨迹生成模块使用以下方法生成速度指令Vc及下滑基准轨迹信号XEATDc(t)、YEATDc(t)、ZEATDc(t)：捕获下滑道后，根据初始下滑高度-ZEA0、下滑角γc、下滑速度Vc，计算着舰时间Preferably, the input signals of the landing command and glide reference trajectory generation module include: the azimuth angle (ψS +λac ) of the ship's runway or glideslope, where ψS is the azimuth angle of the ship, and λac is the angled deck clip angle; the output signals of the landing command and glide reference trajectory generation module include: speed command Vc , sideslip command βc = 0 and glide reference trajectory signals XEATDc (t), YEATDc (t), ZEATDc (t) ; The landing command and glide reference trajectory generation module uses the following method to generate the velocity command Vc and glide reference trajectory signals XEATDc (t), YEATDc (t), ZEATDc (t): after capturing the glide slope, according to the initial glide height -ZEA0 , glide angle γc , glide speed Vc , calculate landing time
和下滑道长度and glideslope length
然后计算以理想着舰点为原点的地面坐标系下的三维下滑基准轨迹：Then calculate the three-dimensional glide reference trajectory in the ground coordinate system with the ideal landing point as the origin:
优选地，引导模块的输入信号包括：无人舰载机当前位置坐标X(t)、Y(t)、H(t)，着舰指令与下滑基准轨迹生成模块输出的三维下滑基准轨迹信号XEATDc(t),YEATDc(t),ZEATDc(t)；引导模块利用以下引导律生成俯仰角指令θc(t)和滚转角指令φc(t)：Preferably, the input signal of the guidance module includes: the current position coordinates X(t), Y(t), H(t) of the unmanned carrier-based aircraft, the three-dimensional glide reference trajectory signal X output by the landing command and the glide reference trajectory generation moduleEATDc (t), YEATDc (t), ZEATDc (t); the guidance module generates pitch angle command θc (t) and roll angle command φc (t) using the following guidance law:
式中，Her(t)、Yer(t)分别为无人舰载机当前位置与三维下滑基准轨迹之间在H方向、Y方向上的误差，KP、KD为比例和微分控制参数。In the formula,Her (t), Yer (t) are the errors between the current position of the unmanned carrier-based aircraft and the three-dimensional glide reference trajectory in the H direction and the Y direction, respectively, KP , KD are the proportional and differential control parameter.
优选地，自适应飞行控制模块的输入信号包括：无人舰载机的四个纵向状态量——飞行速度V、迎角α、俯仰角速率q、俯仰角θ，五个横侧向状态量——侧滑角β、滚转角速率p、偏航角速率r、滚转角φ、偏航角ψ，引导律模块输出的制导指令俯仰角指令θc(t)和滚转角指令φc(t)，着舰指令与下滑基准轨迹生成模块输出的速度指令Vc和侧滑指令βc＝0；自适应飞行控制模块的输出信号包括：油门开度ΔδT、升降舵偏角Δδe、副翼偏角δa、方向舵偏角δr；自适应飞行控制模块中的飞行控制律包括纵向和横侧向飞行控制律，通过以下方法设计得到：Preferably, the input signal of the adaptive flight control module includes: four longitudinal state quantities of the unmanned carrier-based aircraft - flight speed V, angle of attack α, pitch angle rate q, pitch angle θ, five lateral state quantities ——sideslip angle β, roll rate p, yaw rate r, roll angle φ, yaw angle ψ, the guidance command pitch angle command θc (t) and roll angle command φc (t) output by the guidance law module ), the speed command Vc and sideslip command βc =0 output by the landing command and glide reference trajectory generation module; the output signals of the adaptive flight control module include: throttle opening ΔδT , elevator deflection angle Δδe , aileron Declination angle δa , rudder deflection angle δr ; the flight control laws in the adaptive flight control module include longitudinal and lateral flight control laws, which are designed by the following methods:
第一步、基于如下纵向线性模型：The first step is based on the following longitudinal linear model:
判断传递函数矩阵的相对阶次，计算高频增益矩阵Kp保证其为非奇异；式中，Alon、Blon为纵向线性系统矩阵；Determine the relative order of the transfer function matrix, and calculate the high-frequency gain matrix Kp to ensure that it is non-singular; where Alon and Blon are longitudinal linear system matrices;
第二步、根据传递函数矩阵的相对阶次，选取关联矩阵ξm,lon(s)，从而设计如下参考模型：The second step is to select the correlation matrix ξm,lon (s) according to the relative order of the transfer function matrix, so as to design the following reference model:
Δym,lon(t)＝Wm,lon(s)[Δrlon](t)Δym,lon (t)=Wm,lon (s)[Δrlon ](t)
式中，Δrlon(t)＝[ΔVc,Δθc]T，In the formula, Δrlon (t)=[ΔVc ,Δθc ]T ,
第三步、计算纵向飞行控制律The third step is to calculate the longitudinal flight control law
其中，K2,lon(t)为在线更新的控制矩阵；in, K2,lon (t) is the control matrix updated online;
第四步、基于如下横侧向线性模型The fourth step is based on the following lateral linear model
判断传递函数矩阵的相对阶次，计算高频增益矩阵Kp保证其为非奇异；式中，Alat、Blat为横侧向线性系统矩阵；Determine the relative order of the transfer function matrix, and calculate the high-frequency gain matrix Kp to ensure that it is non-singular; where Alat and Blat are lateral linear system matrices;
第五步、根据传递函数矩阵的相对阶次，选取关联矩阵ξm,lat(s)，从而设计如下参考模型：The fifth step is to select the correlation matrix ξm,lat (s) according to the relative order of the transfer function matrix, so as to design the following reference model:
ym,lat(t)＝Wm,lat(s)[rlat](t)ym,lat (t)=Wm,lat (s)[rlat ](t)
式中，rlat(t)＝[0,φc]T，In the formula, rlat (t)＝[0,φc ]T ,
第六步，计算横侧向飞行控制律The sixth step is to calculate the lateral flight control law
其中，K2,lat(t)为在线更新的控制矩阵。in, K2,lat (t) is the control matrix updated online.
优选地，所述多变量模型参考自适应控制算法具体如下：Preferably, the multivariate model reference adaptive control algorithm is specifically as follows:
针对如下线性系统For the following linear system
式中，Δx为状态向量，Δu为控制向量，Δy为输出向量，A,B,C为系统矩阵；In the formula, Δx is the state vector, Δu is the control vector, Δy is the output vector, and A, B, C are the system matrices;
构建参考模型为Build a reference model as
式中，ξm(s)为系统关联矩阵；In the formula, ξm (s) is the system correlation matrix;
控制的目的是期望系统输出Δy跟踪参考模型的输出Δym，因此构建控制律结构为The purpose of control is to expect the system output Δy to track the output Δym of the reference model, so the control law structure is constructed as
式中Δr为参考输入信号，K2(t)为名义控制矩阵的估计值；where Δr is the reference input signal, K2 (t) is the nominal control matrix estimated value of
在模型参数完全已知的情况下，设计名义控制律中的控制矩阵满足如下等式条件When the model parameters are fully known, design the control matrix in the nominal control law Satisfy the following equality conditions
则能够保证系统输出Δy完全跟踪参考模型的输出Δym；然而，模型参数不确定的情形下，无法得到名义控制矩阵因此只能用估计值K2(t)替代，估计值利用如下自适应算法来在线更新：Then it can ensure that the system output Δy completely tracks the output Δym of the reference model; however, when the model parameters are uncertain, the nominal control matrix cannot be obtained Therefore only estimates Instead of K2 (t), the estimated value is updated online using the following adaptive algorithm:
令ω(t)＝[ΔxT(t),ΔrT(t)]T，则输出跟踪误差make ω(t)＝[ΔxT (t),ΔrT (t)]T , then the output tracking error
e(t)＝Δy(t)-Δym(t)e(t)=Δy(t)-Δym (t)
定义新的误差信号为Define a new error signal as
ε(t)＝ξm(s)h(s)[e](t)+Ψ(t)ξ(t)ε(t)=ξm (s)h(s)[e](t)+Ψ(t)ξ(t)
式中，h(s)＝1/f(s)，f(s)为稳定多项式，Ψ(t)为Ψ*＝Kp的估计值；In the formula, h(s)=1/f(s), f(s) is a stable polynomial, and Ψ(t) is the estimated value of Ψ* =Kp ;
令make
ζ(t)＝h(s)[ω](t),ξ(t)＝ΘT(t)ζ(t)-h(s)[Δu](t)ζ(t)=h(s)[ω](t), ξ(t)=ΘT (t)ζ(t)-h(s)[Δu](t)
则新的误差信号转化为Then the new error signal transforms into
式中，In the formula,
于是，控制矩阵参数的自适应更新律设计为：Therefore, the adaptive update law of the control matrix parameters is designed as:
式中，Γ＝ΓT＞0,In the formula, Γ=ΓT >0,
相比现有技术，本发明具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
与目前的自动着舰控制系统相比，本发明的创新点在于：Compared with the current automatic landing control system, the innovation of the present invention is:
其一，传统自动着舰系统基本都是基于参数确定的舰载机数学模型设计的，但实际舰载机通常具有参数或者结构的不确定性，然而本发明基于无人舰载机不确定模型设计自动着舰系统，不依赖于精确的无人舰载机数学模型，既简化了设计步骤，又解决了复杂无人舰载机系统的着舰控制问题；First, the traditional automatic landing system is basically designed based on the mathematical model of the carrier-based aircraft whose parameters are determined. However, the actual carrier-based aircraft usually has uncertain parameters or structures. However, the present invention is based on the uncertain model of the unmanned carrier-based aircraft. The design of the automatic landing system does not depend on the precise mathematical model of the unmanned carrier-based aircraft, which not only simplifies the design steps, but also solves the landing control problem of the complex unmanned carrier-based aircraft system;
其二，传统自动着舰控制系统采用了单回路设计方法，将各个控制通道分开进行设计，忽略了纵横向运动量之间的耦合关系，而无人舰载机系统实际上是一种多变量多回路耦合的非线性系统，因此本发明提出了一种基于多变量模型参考自适应控制方法，它是一种多变量设计方法，设计过程变得更简单，着舰精度更高；Second, the traditional automatic landing control system adopts a single-loop design method, and designs each control channel separately, ignoring the coupling relationship between vertical and horizontal motions, while the unmanned carrier-based aircraft system is actually a multi-variable multi- Loop coupling nonlinear system, so the present invention proposes a reference adaptive control method based on a multivariable model, which is a multivariable design method, the design process becomes simpler, and the landing accuracy is higher;
其三，传统自动着舰系统的控制器都是固定参数控制器，对系统和环境变化以及外部扰动都缺乏适应性，而本发明的自动着舰系统能够在线调节控制器参数，对系统和环境的各种不确定性以及外部扰动具有较强的自适应性和鲁棒性。Third, the controllers of the traditional automatic landing system are all fixed parameter controllers, which lack adaptability to system and environmental changes and external disturbances, while the automatic landing system of the present invention can adjust the controller parameters online, which has great influence on the system and environment. Various uncertainties and external disturbances have strong adaptability and robustness.
附图说明Description of drawings
图1为本发明自动着舰引导控制系统的原理框图；Fig. 1 is the functional block diagram of automatic landing guidance control system of the present invention;
图2为无人舰载机着舰过程中的高度轨迹跟踪效果图；Figure 2 is an effect diagram of the altitude trajectory tracking during the landing process of the unmanned carrier-based aircraft;
图3为无人舰载机着舰过程中的侧向轨迹跟踪效果图。Figure 3 is the effect diagram of the lateral trajectory tracking during the landing process of the unmanned carrier-based aircraft.
具体实施方式Detailed ways
下面结合附图对本发明的技术方案进行详细说明：The technical scheme of the present invention is described in detail below in conjunction with accompanying drawing:
针对现有技术不足，本发明提出了一种固定翼无人舰载机的自适应自动着舰引导控制系统，根据舰船与无人舰载机的相对位置和绝对位置信息，在线计算着舰指令信号，生成无人舰载机下滑基准轨迹，通过制导系统引导无人舰载机追踪基准轨迹；并且在无人舰载机模型参数和结构不确定情况下设计飞行控制器，从理论上保证模型不确定的线性系统的输出信号渐近跟踪参考模型的输出信号，进而跟踪参数输入信号，即无人舰载机姿态角能够跟踪制导指令，最终实现下滑轨迹的跟踪，从而完成着舰任务。Aiming at the deficiencies of the existing technology, the present invention proposes an adaptive automatic landing guidance control system for fixed-wing unmanned carrier-based aircraft, which calculates the landing position online according to the relative position and absolute position information of the ship and the unmanned carrier-based aircraft. The command signal generates the reference trajectory of the unmanned carrier-based aircraft, and guides the unmanned carrier-based aircraft to track the reference trajectory through the guidance system; and designs the flight controller when the model parameters and structure of the unmanned carrier-based aircraft are uncertain, theoretically guaranteeing The output signal of the linear system with an uncertain model asymptotically tracks the output signal of the reference model, and then tracks the input signal of the parameters, that is, the attitude angle of the unmanned carrier-based aircraft can track the guidance command, and finally realize the tracking of the glide trajectory, thereby completing the landing task.
本发明自动着舰引导控制系统的原理如图1所示，其具体包括：着舰指令与下滑基准轨迹生成模块、引导律模块、自适应飞行控制模块；着舰指令与下滑基准轨迹生成模块用于根据舰船与无人舰载机的相对位置和绝对位置信息，生成三维下滑基准轨迹信号和速度指令信号，并将三维下滑基准轨迹信号输出给引导律模块，将速度指令信号输出给自适应飞行控制模块；引导律模块用于根据无人舰载机当前的位置、速率信息以及三维下滑基准轨迹信号，生成俯仰角指令和滚转角指令并将这两个制导指令输出给自适应飞行控制模块；自适应飞行控制模块用于根据无人舰载机当前的状态信息、引导律模块输出的两个制导指令以及着舰指令与下滑基准轨迹生成模块输出的速度指令信号和侧滑指令信号，利用多变量模型参考自适应控制算法生成无人舰载机的飞行控制信号。The principle of the automatic landing guidance and control system of the present invention is as shown in Figure 1, and it specifically includes: landing command and glide reference trajectory generation module, guidance law module, adaptive flight control module; landing command and glide reference trajectory generation module Based on the relative position and absolute position information of the ship and the unmanned carrier-based aircraft, the three-dimensional glide reference trajectory signal and the speed command signal are generated, and the three-dimensional glide reference trajectory signal is output to the guidance law module, and the speed command signal is output to the adaptive Flight control module; the guidance law module is used to generate pitch angle commands and roll angle commands according to the current position and speed information of the unmanned carrier aircraft and the three-dimensional glide reference trajectory signal, and output these two guidance commands to the adaptive flight control module ; The adaptive flight control module is used to use the current state information of the unmanned carrier-based aircraft, the two guidance commands output by the guidance law module, and the speed command signal and the sideslip command signal output by the landing command and the glide reference trajectory generation module. The multivariable model refers to the adaptive control algorithm to generate the flight control signal of the unmanned carrier-based aircraft.
为了便于公众理解，下面对本发明技术方案进行进一步详细说明。In order to facilitate the public's understanding, the technical solution of the present invention will be further described in detail below.
着舰指令与下滑基准轨迹生成模块Landing command and glide reference trajectory generation module
该模块的输入信号包括：舰船跑道或下滑道的方位角(ψS+λac)。The input signal of this module includes: the azimuth angle (ψS +λac ) of the ship's runway or glideslope.
该模块的输出信号包括三维下滑基准轨迹信号XEATDc(t),YEATDc(t),ZEATDc(t)、速度指令信号Vc和侧滑指令信号βc＝0。其中，下滑基准轨迹信号输出给引导律模块，速度指令信号和侧滑指令信号输出给自适应飞行控制模块。The output signals of this module include three-dimensional sliding reference trajectory signals XEATDc (t), YEATDc (t), ZEATDc (t), speed command signal Vc and sideslip command signal βc =0. Among them, the glide reference trajectory signal is output to the guidance law module, and the speed command signal and sideslip command signal are output to the adaptive flight control module.
第一步，无人舰载机捕获下滑道，已知初始下滑高度-ZEA0、下滑角γc、下滑速度Vc，计算着舰时间In the first step, the unmanned carrier-based aircraft captures the glide slope, and the initial glide height -ZEA0 , glide angle γc , and glide speed Vc are known, and the landing time is calculated
和下滑道长度and glideslope length
第二步，计算以理想着舰点为原点的地面坐标系下的三维下滑基准轨迹The second step is to calculate the three-dimensional glide reference trajectory in the ground coordinate system with the ideal landing point as the origin
引导律模块Guided law module
该模块的输入信号包括：传感器反馈的无人舰载机当前位置X(t),Y(t),H(t)及其速率着舰指令与下滑基准轨迹生成模块输出的下滑基准轨迹信号XEATDc(t),YEATDc(t),ZEATDc(t)。The input signal of this module includes: the current position X(t), Y(t), H(t) and its speed of the unmanned carrier aircraft fed back by the sensor The landing command and the glide reference trajectory generation module output the glide reference trajectory signals XEATDc (t), YEATDc (t), ZEATDc (t).
该模块的输出信号包括：两个制导指令——俯仰角指令θc(t)和滚转角指令φc(t)。The output signal of the module includes: two guidance commands - pitch angle command θc (t) and roll angle command φc (t).
第一步，计算飞机当前位置与下滑基准轨迹之间的误差The first step is to calculate the error between the current position of the aircraft and the glide reference trajectory
Xer(t)＝XEATDc(t)-X(t) (4)Xer (t)＝XEATDc (t)-X(t) (4)
Yer(t)＝YEATDc(t)-Y(t) (5)Yer (t)=YEATDc (t)-Y(t) (5)
Her(t)＝HEATDc(t)-H(t) (6)Her (t)＝HEATDc (t)-H(t) (6)
第二步，计算基于PID方法的引导律In the second step, calculate the guiding law based on the PID method
式中，KP、KD为比例和微分控制参数。In the formula, KP and KD are proportional and differential control parameters.
自适应飞行控制模块Adaptive Flight Control Module
该模块的输入信号包括：传感器反馈的无人舰载机飞行状态量x＝(V,α,β,p,q,r,φ,θ,ψ,X,Y,H)T，其中有四个纵向状态量——飞行速度V、迎角α、俯仰角速率q、俯仰角θ，五个横侧向状态量——侧滑角β、滚转角速率p、偏航角速率r、滚转角φ、偏航角ψ；引导模块输出的制导指令俯仰角指令θc(t)和滚转角指令φc(t)；着舰指令与下滑基准轨迹生成模块输出的速度指令Vc。The input signal of this module includes: the flight state quantity of the unmanned carrier-based aircraft fed back by the sensor x = (V, α, β, p, q, r, φ, θ, ψ, X, Y, H)T , of which there are four One longitudinal state quantity - flight speed V, angle of attack α, pitch rate q, pitch angle θ, five lateral state quantities - sideslip angle β, roll rate p, yaw rate r, roll angle φ, yaw angle ψ; the guidance command pitch angle command θc (t) and roll angle command φc (t) output by the guidance module; the landing command and the speed command Vc output by the glide reference trajectory generation module.
该模块的输出信号包括：油门开度ΔδT、升降舵偏角Δδe、副翼偏角δa、方向舵偏角δr。发送给执行机构，从而控制无人舰载机飞行。The output signals of this module include: throttle opening ΔδT , elevator deflection angle Δδe , aileron deflection angle δa , and rudder deflection angle δr . Send it to the executive agency to control the flight of the unmanned carrier aircraft.
具体过程为：首先计算纵向飞行控制律(第一、二、三步)，其次计算横侧向飞行控制律(第四、五、六步)。The specific process is: first calculate the longitudinal flight control law (steps 1, 2 and 3), and then calculate the lateral flight control law (steps 4, 5 and 6).
第一步，基于如下纵向线性模型The first step, based on the following longitudinal linear model
判断传递函数矩阵的相对阶次，计算高频增益矩阵Kp保证其为非奇异。式中，Alon、Blon为纵向线性系统矩阵。Determine the relative order of the transfer function matrix, and calculate the high-frequency gain matrix Kp to ensure that it is non-singular. In the formula, Alon and Blon are longitudinal linear system matrices.
第二步，根据传递函数矩阵的相对阶次，通常选取交互矩阵ξm,lon(s)，从而设计如下参考模型In the second step, according to the relative order of the transfer function matrix, the interaction matrix ξm,lon (s) is usually selected to design the following reference model
Δym,lon(t)＝Wm,lon(s)[Δrlon](t) (11)Δym,lon (t)=Wm,lon (s)[Δrlon ](t) (11)
式中，Δrlon(t)＝[ΔVc,Δθc]T，In the formula, Δrlon (t)=[ΔVc ,Δθc ]T ,
第三步，计算纵向飞行控制律The third step is to calculate the longitudinal flight control law
其中，K2,lon(t)为控制矩阵，依据模型参考自适应控制算法进行在线更新。in, K2,lon (t) is the control matrix, which is updated online according to the model reference adaptive control algorithm.
第四步，基于如下横侧向线性模型The fourth step is based on the following lateral linear model
判断传递函数矩阵的相对阶次，计算高频增益矩阵Kp保证其为非奇异。式中，Alat、Blat为横侧向线性系统矩阵。Determine the relative order of the transfer function matrix, and calculate the high-frequency gain matrix Kp to ensure that it is non-singular. In the formula, Alat and Blat are lateral linear system matrices.
第五步，根据传递函数矩阵的相对阶次，通常选取关联矩阵ξm,lat(s)，从而设计如下参考模型In the fifth step, according to the relative order of the transfer function matrix, the correlation matrix ξm,lat (s) is usually selected, so as to design the following reference model
ym,lat(t)＝Wm,lat(s)[rlat](t) (15)ym,lat (t)=Wm,lat (s)[rlat ](t) (15)
式中，rlat(t)＝[0,φc]T，In the formula, rlat (t)＝[0,φc ]T ,
第六步，计算横侧向飞行控制律The sixth step is to calculate the lateral flight control law
其中，K2,lat(t)为控制矩阵，依据模型参考自适应控制算法进行在线更新。in, K2,lat (t) is the control matrix, which is updated online according to the model reference adaptive control algorithm.
多变量模型参考自适应控制算法Multivariable Model Reference Adaptive Control Algorithm
针对如下线性系统For the following linear system
式中，Δx为状态向量，Δu为控制向量，Δy为输出向量，A,B,C为系统矩阵。In the formula, Δx is the state vector, Δu is the control vector, Δy is the output vector, and A, B, C are the system matrices.
构建参考模型为Build a reference model as
式中，ξm(s)为系统关联矩阵。In the formula, ξm (s) is the system correlation matrix.
控制的目的是期望系统输出Δy跟踪参考模型的输出Δym，因此构建控制律结构为The purpose of control is to expect the system output Δy to track the output Δym of the reference model, so the control law structure is constructed as
式中Δr为参考输入信号，K2(t)为名义控制矩阵的估计值。where Δr is the reference input signal, K2 (t) is the nominal control matrix estimated value.
在模型参数完全已知的情况下，设计名义控制律中的控制矩阵满足如下等式条件When the model parameters are fully known, design the control matrix in the nominal control law Satisfy the following equality conditions
则能够保证系统输出Δy完全跟踪参考模型的输出Δym。然而，模型参数不确定的情形下，无法得到名义控制矩阵因此只能用估计值替代，估计值需要利用如下自适应算法来在线更新。Then it can ensure that the system output Δy completely tracks the output Δym of the reference model. However, when the model parameters are uncertain, the nominal control matrix cannot be obtained Therefore only estimates Instead, the estimates need to be updated online using an adaptive algorithm as follows.
令ω(t)＝[ΔxT(t),ΔrT(t)]T，则输出跟踪误差make ω(t)＝[ΔxT (t),ΔrT (t)]T , then the output tracking error
e(t)＝Δy(t)-Δym(t) (21)e(t)=Δy(t)-Δym (t) (21)
定义新的误差信号为Define a new error signal as
ε(t)＝ξm(s)h(s)[e](t)+Ψ(t)ξ(t) (22)ε(t)=ξm (s)h(s)[e](t)+Ψ(t)ξ(t) (22)
式中，h(s)＝1/f(s)，f(s)为稳定多项式，Ψ(t)为Ψ*＝Kp的估计值。In the formula, h(s)=1/f(s), f(s) is a stable polynomial, and Ψ(t) is the estimated value of Ψ* =Kp .
令make
ζ(t)＝h(s)[ω](t),ξ(t)＝ΘT(t)ζ(t)-h(s)[Δu](t) (23)ζ(t)=h(s)[ω](t), ξ(t)=ΘT (t)ζ(t)-h(s)[Δu](t) (23)
则新的误差信号转化为Then the new error signal transforms into
式中，In the formula,
于是，控制矩阵参数的自适应更新律设计为Therefore, the adaptive update law of the control matrix parameters is designed as
式中，Γ＝ΓT＞0,In the formula, Γ=ΓT >0,
根据多变量模型参考自适应控制算法原理的相关理论证明，可知该算法能够保证线性系统各变量的有界性，输出能够渐近跟踪参考模型的输出。According to the relevant theoretical proof of the multivariable model reference adaptive control algorithm principle, it can be seen that the algorithm can guarantee the boundedness of each variable of the linear system, and the output can asymptotically track the output of the reference model.
为了验证本发明技术方案的效果，以某无人机为对象，通过建立其纵横向线性模型，描述无人机的动力学和运动学特性。主要仿真参数设置如下：In order to verify the effect of the technical solution of the present invention, a certain unmanned aerial vehicle is taken as an object, and the dynamic and kinematic characteristics of the unmanned aerial vehicle are described by establishing its vertical and horizontal linear models. The main simulation parameters are set as follows:
通过MATLAB软件平台下的数值仿真验证，结果表明本发明自动着舰引导控制系统能够使无人舰载机高精度地跟踪下滑基准轨迹，从而成功地完成着舰任务。Through the numerical simulation verification under the MATLAB software platform, the results show that the automatic ship landing guidance control system of the present invention can enable the unmanned carrier aircraft to track the glide reference trajectory with high precision, thereby successfully completing the ship landing task.
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