滑动模式控制与动力类型屏障功能,用于基于干扰观察员的自主空中加油
Jintao Hu1, Yunjie Wu1, Shanwei Su1
1School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China; State Key Laboratory of Virtual Reality Technology and System, Beihang University, Beijing, 100191, China; Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing, 100191, China.
ISA transactions
|October 9, 2025
概括
自主空中加油 (AAR) 面临风暴带来的挑战. 本研究介绍了一种新的干扰拒绝滑动模式控制 (SMC) 策略,使用屏障功能来提高飞机对接的精度和稳定性.
科学领域:
- 航空航天工程 航空航天工程
- 控制系统理论 控制系统理论
- 机器人技术 机器人技术 机器人技术
背景情况:
- 自主空中加油 (AAR) 需要精确的控制,特别是在对接期间.
- 突如其来的大气干扰,如风暴,会大大降低控制的准确性和安全性.
研究的目的:
- 开发一个先进的干扰拒绝滑动模式控制 (SMC) 战略,用于接收飞机在AAR.
- 为了提高AAR系统在突发外部干扰下的稳定性和跟踪精度.
主要方法:
- 基于估计器的干扰观察器被开发用于SMC的料补偿和聊天缓解.
- 基于单一功率屏障功能的SMC (SPBFSMC) 已被引入,以快速补偿估计错误.
- 提出了一种基于双功率屏障功能的SMC (DPBFSMC),将两种SPBFSMC方法结合起来,以提高收性和准确性.
主要成果:
- 干扰观察者有效地补偿时间变化的干扰,而不需要事先了解它们的边界.
- SPBFSMC确保了快速收,并避免了在突发干扰下高估收益.
- DPBFSMC实现了较小的最终收区域,显著提高了跟踪准确性.
结论:
- 提出的基于屏障功能的SMC策略提高了AAR控制精度和对突然干扰的稳定性.
- 双重力量的方法提供优越的跟踪准确性,最大限度地减少了融合区域.
- 利亚普诺夫稳定性分析证实了闭环系统的稳定性,并通过模拟验证.
相关概念视频
01:22Multi-input and Multi-variable systems
389
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence of...
In the absence of...
389
01:26PD Controller: Design
622
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
622
01:26Feedback control systems
685
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
685
01:07Time-Domain Interpretation of PD Control
371
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
Consider the example of control of motor torque. Initially, a positive...
371
01:17Open and closed-loop control systems
1.6K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
1.6K
01:19Root-Locus Method
479
A cruise control system in a car is designed to maintain a specified speed automatically by adjusting the gas pedal. The system continuously measures the vehicle's speed and makes fine adjustments to the pedal to achieve this goal. The root locus method is particularly useful for understanding how the cruise control system's behavior changes under varying conditions, such as when the car goes uphill, downhill, or faces strong wind resistance.
This system can be represented by a block...
This system can be represented by a block...
479