高超声速飞行器俯仰通道滑模控制器设计
高超声速飞行器俯仰通道滑模控制律设计。
代码如下：
clc;
clear all;
%********模型参数******&*%
gamma=0;
m=5640*14.593903;%质量
Iz=6.07*14.593903/(0.3048)^2*10^6;%转动惯量
s=2690*(0.3048)^2;%参考面积
L=39.6*0.3048;%特征长度
%模型初始条件
V=3400;%速度
Ma=5;
h=36000;%高度
Re=6371004;%地球半径
mu=3.986005*10^14;%万有引力常数
r=h+Re;%地心距
g=mu/r/r;
rho=0.36392/exp((h-11000)/6341.62);%大气密度
q=0.5*rho*V*V;%动压
alpha=[];%攻角
delta=[];%舵偏角
wz=[];%角速度
t=[];%时间
dt=0.1;%步长
%气动系数
Cy=[];
Calpha=[];
Cdelta=[];
CY=[];
Cmalpha=[];
Cmdelta=[];
Cmwz=[];
CM=[];
Y=[];%升力
Mz=[];%力矩
%*********控制器参数***********%
c=20;
k=1;
epsilon=1;
nyc=[];%过载指令
dnyc=[];%过载指令变化率
ddnyc=[];%过载指令二阶
ny=[];%实际过载
dny=[];%实际过载变化率
e=[];
de=[];
S=[];
a1=[];
a2=[];
deltac=[];
%*******初始值**********%
%*********模型部分************%
alpha(1)=0;
delta(1)=0;
wz(1)=0;
%*******气动参数*************%
alpha0=[12.5*pi/180,16*pi/180,20.5*pi/180,25*pi/180,29*pi/180,35*pi/180,38*pi/180,40*pi/180];
Y0=[0.4,0.38,0.5,0.57,0.7,0.8,0.87,0.86];
Yalpha0=[1.8,1.6,1.63,1.6,1.6,1.4,.0,1.19];
PY= polyfit(alpha0,Y0,3);
Cy(1)=PY(1)*(alpha(1))^3+PY(2)*(alpha(1))^2+PY(3)*(alpha(1))+PY(4);
Palpha= polyfit(alpha0,Yalpha0,3);
Calpha(1)=Palpha(1)*(alpha(1))^3+Palpha(2)*(alpha(1))^2+Palpha(3)*(alpha(1))+Palpha(4);
CY(1)=Calpha(1)*alpha(1);
Y(1)=CY(1)*q*s;
Malpha=[-0.16,-0.05,-0.05,-0.075,-0.1,-0.14,-0.15,-0.175];
Mdelta=[-0.17,-0.1,-0.11,-0.12,-0.135,-0.16,-0.22,-0.27];
Mwz=[-1.1,-0.9,-1.1,-1.1,-1.2,-1.3,-1.5,-1.6];
Pmalpha= polyfit(alpha0,Malpha,3);
Cmalpha(1)=Pmalpha(1)*(alpha(1))^3+Pmalpha(2)*(alpha(1))^2+Pmalpha(3)*(alpha(1))+Pmalpha(4);
Pmdelta= polyfit(alpha0,Mdelta,3);
Cmdelta(1)=Pmdelta(1)*(alpha(1))^3+Pmdelta(2)*(alpha(1))^2+Pmdelta(3)*(alpha(1))+Pmdelta(4);
Pwz= polyfit(alpha0,Mwz,3);
Cmwz(1)=Pwz(1)*(alpha(1))^3+Pwz(2)*(alpha(1))^2+Pwz(3)*(alpha(1))+Pwz(4);
CM(1)=Cmdelta(1)*delta(1);
Mz(1)=CM(1)*q*s*L;
%********控制器初始值*******%
a1(1)=Calpha(1)*q*s/(m*V);
a2(1)=Cmdelta(1)*q*s*L/Iz;
ny(1)=Y(1)/(m*g);
dny(1)=a1(1)*wz(1)*V/g-a1(1)*ny(1);
ny(1)=Y(1)/(m*g);
nyc(1)=ny(1);
dnyc(1)=0;
ddnyc(1)=0;
e(1)=nyc(1)-ny(1);
de(1)=dnyc(1)-dny(1);
S(1)=c*e(1)+de(1);
delta(1)=0;
%************仿真**************%
t(1)=0;
i=2;
while (i<=1000)
%*************控制器模型************%
a1(i)=Calpha(i-1)*q*s/(m*V);
a2(i)=Cmdelta(i-1)*q*s*L/Iz;
nyc(i)=sin(i*dt*0.1);
dnyc(i)=(nyc(i)-nyc(i-1))/dt;
ddnyc(i)=(dnyc(i)-dnyc(i-1))/dt;
ny(i)=Y(i-1)/(m*g);
dny(i)=a1(i-1)*wz(i-1)*V/g-a1(i-1)*ny(i-1);
e(i)=nyc(i)-ny(i-1);
de(i)=dnyc(i)-dny(i-1);
S(i)=c*e(i)+de(i);
delta(i)=(k*S(i)+epsilon*sign(S(i))+c*dnyc(i)+ddnyc(i)+V/g*a1(i)*...
(a1(i)-c)*wz(i-1)+a1(i)*(c-a1(i))*ny(i))/(V*a1(i)*a2(i)/g);
if (delta(i)>25/180*pi)
delta(i)=25/180*pi;
else if(delta(i)<-25/180*pi)
delta(i)=-25/180*pi;
end
end
%*********俯仰通道模型*********%
alpha(i)=(wz(i-1)-Y(i-1)/(m*V)-(mu-V*V*r)*cos(gamma)/(V*r*r))*dt+alpha(i-1);
wz(i)=Mz(i-1)/Iz*dt+wz(i-1);
Calpha(i)=Palpha(1)*(alpha(i))^3+Palpha(2)*(alpha(i))^2+Palpha(3)*(alpha(i))+Palpha(4);
CY(i)=Calpha(i)*alpha(i);
Y(i)=CY(i)*q*s;
Cmalpha(i)=Pmalpha(1)*(alpha(i))^3+Pmalpha(2)*(alpha(i))^2+Pmalpha(3)*(alpha(i))+Pmalpha(4);
Cmdelta(i)=Pmdelta(1)*(alpha(i))^3+Pmdelta(2)*(alpha(i))^2+Pmdelta(3)*(alpha(i))+Pmdelta(4);
Cmwz(i)=Pwz(1)*(alpha(i))^3+Pwz(2)*(alpha(i))^2+Pwz(3)*(alpha(i))+Pwz(4);
CM(i)=Cmalpha(i)*alpha(i)+Cmdelta(i)*delta(i)+Cmwz(i)*wz(i);
Mz(i)=CM(i)*q*s*L;
t(i)=t(i-1)+dt;
i=i+1;
end
figure(1);
plot(t,ny,'*');
hold on;
xlabel("时间/s");
ylabel("过载");
plot(t,nyc);
legend("飞行器实际过载","过载指令");
其中气动参数部分有误。