CN-116679739-B - Stratospheric airship track tracking control method, stratospheric airship track tracking control device, stratospheric airship track tracking control system and electronic equipment

CN116679739BCN 116679739 BCN116679739 BCN 116679739BCN-116679739-B

Abstract

The invention discloses a stratospheric airship track tracking control method, a stratospheric airship track tracking control device, a stratospheric airship track tracking control system and electronic equipment, and relates to the technical field of track tracking control; the method comprises the steps of obtaining state quantity, saturation error parameters, auxiliary output values and execution control quantity at the current trigger moment, determining the next trigger moment according to the state quantity, the saturation error parameters, the auxiliary output values and the execution control quantity at the current trigger moment, controlling the airship to fly at the trigger moment, wherein the control process at any trigger moment comprises the steps of obtaining the state quantity, expected quantity and the saturation error parameters of the stratospheric airship, calculating an estimated value of a fuzzy system according to the state quantity, calculating the auxiliary output values according to the saturation error parameters, and calculating the execution control quantity according to the state quantity, the expected quantity, the estimated value of the fuzzy system and the auxiliary output values, so that the airship is controlled to move. The invention only calculates and controls at the triggering moment, reduces the working frequency of the device and prolongs the idle life of the airship.

Inventors

CHEN TIAN
Luo Xinting
ZHU MING
SUN KANGWEN

Assignees

北京航空航天大学

Dates

Publication Date: 20260512
Application Date: 20230626

Claims (8)

1. A stratospheric airship trajectory tracking control method, characterized by comprising: initializing an initial trigger time; the method comprises the steps of obtaining a state quantity, a saturation error parameter, an auxiliary output value and an execution control quantity at the current trigger moment of the stratospheric airship, wherein the state quantity comprises a position parameter and a posture parameter, the position parameter comprises a three-dimensional coordinate and a three-dimensional speed, the posture parameter comprises a posture angle and an angular speed, the saturation error parameter comprises a position control saturation error and a posture control saturation error, the auxiliary output value comprises a position saturation elimination value and a posture saturation elimination value, and the execution control quantity comprises a position control quantity and a posture control quantity; determining the next trigger time according to the state quantity, the saturation error parameter, the auxiliary output value and the execution control quantity of the current trigger time; the next trigger time is: ; ; Wherein, the For the current trigger moment of time, For the next moment of triggering it is possible, In order to trigger the interval of time, To at the same time The time interval of the next trigger is calculated according to the position dynamics and the position control; To at the same time The time interval of the next triggering is calculated according to gesture dynamics and gesture control; when the stratospheric airship is at the triggering moment, controlling the stratospheric airship to fly; For any triggering moment, the process for controlling the stratospheric airship to fly comprises the following steps: Acquiring state quantity, expected quantity and saturation error parameters of the stratospheric airship, wherein the expected quantity comprises an expected track and an expected gesture; calculating a fuzzy system estimated value according to the state quantity, wherein the fuzzy system estimated value comprises a position estimated value and an attitude estimated value; calculating an auxiliary output value according to the saturation error parameter; Calculating an execution control amount according to the state quantity, the expected quantity, the fuzzy system estimated value and the auxiliary output value, wherein the expression is: ; Wherein, the Is a position control amount; , For a generalized position tracking error, For the purpose of position control of the saturation error, In order to be a position tracking error, For a certain track point in the desired track, Is that Is used for the purpose of determining the derivative of (c), Is that Is a derivative of (2); is the inverse of the stratospheric airship mass matrix; aerodynamic force applied to the stratospheric airship; is a transposition; A weight matrix for estimating values of the position model in the fuzzy logic system; modeling a basis function of the logic system for the position model estimate; the system comprises a coordinate conversion matrix for converting the stratospheric airship speed in a body axis system into a ground axis system; Is that Is a derivative of (2); three-dimensional coordinates of the stratospheric airship acquired by the sensor; 、 And All are adjustable position third-order positive-definite diagonal arrays; is a position state saturation elimination value; Is the attitude control quantity; , for a generalized attitude tracking error, For the purpose of controlling the saturation error for the attitude, As a result of the attitude tracking error, For a desired pose corresponding to a track point in a desired track, Is that Is used for the purpose of determining the derivative of (c), Is that Is a derivative of (2); is the inverse of the stratospheric airship inertia matrix; is the aerodynamic moment received by the stratospheric airship; A weight matrix for estimating values of the gesture model in the fuzzy logic system; modeling a basis function of a logic system for the pose model estimation values; a conversion matrix for converting the angular velocity of the stratospheric airship from a body shafting to a ground shafting; Is that Is a derivative of (2); The projection of the angular velocity of the stratospheric airship acquired by the sensor in the body shafting; 、 And All are adjustable posture third-order positive-definite diagonal arrays; The attitude saturation elimination value is; And controlling the stratospheric airship to move according to the execution control quantity.
2. The stratospheric airship trajectory tracking control method according to claim 1, wherein determining the next trigger time based on the state quantity, the saturation error parameter, the auxiliary output value, and the execution control quantity at the current trigger time includes: Calculating a next trigger time interval according to the state quantity, the saturation error parameter, the auxiliary output value and the execution control quantity at the current trigger time; And calculating the current trigger time and the next trigger time interval to obtain the next trigger time.
3. The stratospheric airship trajectory tracking control method according to claim 1, wherein calculating a fuzzy system estimated value at a current trigger time according to a state quantity at the current trigger time includes: calculating a fuzzy system estimated value of the current trigger time according to the state quantity of the current trigger time and a weight matrix of the current trigger time by using a fuzzy system base function, wherein the weight matrix of the current trigger time is determined according to the weight matrix of the last trigger time, the expected quantity of the last trigger time and the auxiliary output value of the last trigger time.
4. The stratospheric airship trajectory tracking control method according to claim 1, wherein calculating the execution control amount at the current trigger time based on the state amount, the expected amount, the fuzzy system estimated value, and the auxiliary output value at the current trigger time includes: And calculating the execution control quantity of the current trigger moment according to the state quantity, the expected quantity, the fuzzy system estimated value, the auxiliary output value and the weight matrix of the current trigger moment, wherein the weight matrix of the current trigger moment is determined according to the weight matrix of the last trigger moment, the expected quantity of the last trigger moment and the auxiliary output value of the last trigger moment.
5. The stratospheric airship track tracking control device is characterized by comprising a sensor, a self-triggering mechanism, a fuzzy logic system, an auxiliary design system, a sliding mode back-off controller and an executing mechanism; The self-triggering mechanism, the fuzzy logic system and the sliding mode back-off controller are all connected with the sensor, the auxiliary design system is connected with the executing mechanism, the sliding mode back-off controller is respectively connected with the fuzzy logic system and the auxiliary design system, the self-triggering mechanism is respectively connected with the auxiliary design system and the sliding mode back-off controller, and the executing mechanism is connected with the body of the stratospheric airship; the self-triggering mechanism is used for determining the next triggering moment according to the state quantity, the saturation error parameter, the auxiliary output value and the execution control quantity of the current triggering moment, wherein the state quantity comprises a position parameter and a posture parameter, the position parameter comprises a three-dimensional coordinate and a speed, the posture parameter comprises a posture angle and an angular speed, the saturation error parameter comprises a position control saturation error and a posture control saturation error, the auxiliary output value comprises a position saturation elimination value and a posture saturation elimination value, and the execution control quantity comprises a position control quantity and a posture control quantity; the next trigger time is: ; ; Wherein, the For the current trigger moment of time, For the next moment of triggering it is possible, In order to trigger the interval of time, To at the same time The time interval of the next trigger is calculated according to the position dynamics and the position control; To at the same time The time interval of the next triggering is calculated according to gesture dynamics and gesture control; wherein, at any trigger time: the sensor is used for acquiring the state quantity of the stratospheric airship; the fuzzy logic system is used for calculating a fuzzy system estimated value according to the state quantity, wherein the fuzzy system estimated value comprises a position estimated value and an attitude estimated value; The auxiliary design system is used for calculating an auxiliary output value according to the saturation error parameter transmitted by the executing mechanism; The sliding mode backstepping controller is used for calculating and executing control quantity according to the state quantity, the expected quantity, the fuzzy system estimated value and the auxiliary output value, and the expression is as follows: ; Wherein, the Is a position control amount; , For a generalized position tracking error, For the purpose of position control of the saturation error, In order to be a position tracking error, For a certain track point in the desired track, Is that Is used for the purpose of determining the derivative of (c), Is that Is a derivative of (2); is the inverse of the stratospheric airship mass matrix; aerodynamic force applied to the stratospheric airship; is a transposition; A weight matrix for estimating values of the position model in the fuzzy logic system; modeling a basis function of the logic system for the position model estimate; the system comprises a coordinate conversion matrix for converting the stratospheric airship speed in a body axis system into a ground axis system; Is that Is a derivative of (2); three-dimensional coordinates of the stratospheric airship acquired by the sensor; 、 And All are adjustable position third-order positive-definite diagonal arrays; is a position state saturation elimination value; Is the attitude control quantity; , for a generalized attitude tracking error, For the purpose of controlling the saturation error for the attitude, As a result of the attitude tracking error, For a desired pose corresponding to a track point in a desired track, Is that Is used for the purpose of determining the derivative of (c), Is that Is a derivative of (2); is the inverse of the stratospheric airship inertia matrix; is the aerodynamic moment received by the stratospheric airship; A weight matrix for estimating values of the gesture model in the fuzzy logic system; modeling a basis function of a logic system for the pose model estimation values; a conversion matrix for converting the angular velocity of the stratospheric airship from a body shafting to a ground shafting; Is that Is a derivative of (2); The projection of the angular velocity of the stratospheric airship acquired by the sensor in the body shafting; 、 And All are adjustable posture third-order positive-definite diagonal arrays; The attitude saturation elimination value is; and the executing mechanism is used for controlling the body movement of the stratospheric airship according to the executing control quantity.
6. A stratospheric airship trajectory tracking control system, the system comprising: the initialization module is used for initializing an initial trigger time; The system comprises a current trigger time parameter acquisition module, a current trigger time parameter acquisition module and a current trigger time parameter acquisition module, wherein the current trigger time parameter acquisition module is used for acquiring a state quantity, a saturation error parameter, an auxiliary output value and an execution control quantity of a stratospheric airship, the state quantity comprises a position parameter and a posture parameter, the position parameter comprises a three-dimensional coordinate and a speed, the posture parameter comprises a posture angle and an angular speed, the saturation error parameter comprises a position control saturation error and a posture control saturation error, the auxiliary output value comprises a position saturation elimination value and a posture saturation elimination value, and the execution control quantity comprises a position control quantity and a posture control quantity; The next trigger time determining module is used for determining the next trigger time according to the state quantity, the saturation error parameter, the auxiliary output value and the execution control quantity of the current trigger time; the next trigger time is: ; ; Wherein, the For the current trigger moment of time, For the next moment of triggering it is possible, In order to trigger the interval of time, To at the same time The time interval of the next trigger is calculated according to the position dynamics and the position control; To at the same time The time interval of the next triggering is calculated according to gesture dynamics and gesture control; The control module is used for controlling the stratospheric airship to fly when the stratospheric airship is at the triggering moment; For any triggering moment, the process for controlling the stratospheric airship to fly comprises the following steps: Acquiring state quantity, expected quantity and saturation error parameters of the stratospheric airship, wherein the expected quantity comprises an expected track and an expected gesture; calculating a fuzzy system estimated value according to the state quantity, wherein the fuzzy system estimated value comprises a position estimated value and an attitude estimated value; calculating an auxiliary output value according to the saturation error parameter; Calculating an execution control amount according to the state quantity, the expected quantity, the fuzzy system estimated value and the auxiliary output value, wherein the expression is: ; Wherein, the Is a position control amount; , For a generalized position tracking error, For the purpose of position control of the saturation error, In order to be a position tracking error, For a certain track point in the desired track, Is that Is used for the purpose of determining the derivative of (c), Is that Is a derivative of (2); is the inverse of the stratospheric airship mass matrix; aerodynamic force applied to the stratospheric airship; is a transposition; A weight matrix for estimating values of the position model in the fuzzy logic system; modeling a basis function of the logic system for the position model estimate; the system comprises a coordinate conversion matrix for converting the stratospheric airship speed in a body axis system into a ground axis system; Is that Is a derivative of (2); three-dimensional coordinates of the stratospheric airship acquired by the sensor; 、 And All are adjustable position third-order positive-definite diagonal arrays; is a position state saturation elimination value; Is the attitude control quantity; , for a generalized attitude tracking error, For the purpose of controlling the saturation error for the attitude, As a result of the attitude tracking error, For a desired pose corresponding to a track point in a desired track, Is that Is used for the purpose of determining the derivative of (c), Is that Is a derivative of (2); is the inverse of the stratospheric airship inertia matrix; is the aerodynamic moment received by the stratospheric airship; A weight matrix for estimating values of the gesture model in the fuzzy logic system; modeling a basis function of a logic system for the pose model estimation values; a conversion matrix for converting the angular velocity of the stratospheric airship from a body shafting to a ground shafting; Is that Is a derivative of (2); The projection of the angular velocity of the stratospheric airship acquired by the sensor in the body shafting; 、 And All are adjustable posture third-order positive-definite diagonal arrays; The attitude saturation elimination value is; And controlling the stratospheric airship to move according to the execution control quantity.
7. An electronic device comprising a memory for storing a computer program and a processor that runs the computer program to cause the electronic device to perform the stratospheric airship trajectory tracking control method of any one of claims 1 to 4.
8. The electronic device of claim 7, wherein the memory is a readable storage medium.

Description

Stratospheric airship track tracking control method, stratospheric airship track tracking control device, stratospheric airship track tracking control system and electronic equipment Technical Field The invention relates to the technical field of track tracking control, in particular to a stratospheric airship track tracking control method, device and system and electronic equipment. Background Tracking control of unmanned aerial vehicles includes both trajectory tracking control and path tracking control, which are hot spots and difficulties in autonomous flight control research today. Where the trajectory tracking problem requires the controlled object to converge on a smooth desired time-varying trajectory. The self-triggering mechanism is similar to the event triggering mechanism, and refers to whether a control task is executed or not according to a preset triggering condition, rather than according to a time period. The two are different in that the event triggering mechanism needs to continuously monitor the system state and continuously judge whether the triggering condition can be met, so that the part of the control system for designing the related state monitoring and the condition operation judgment still needs to work according to the time period, the self-triggering mechanism can directly calculate the next triggering moment according to the state at the current moment, and when the next triggering moment is reached, the whole system does not carry out any measurement, operation and execution, thereby avoiding the continuous monitoring of the state and the continuous calculation of the triggering condition, and further saving more resources. Stratospheric aircraft, as a class of long-term airborne aircraft, is a recent research hotspot how to extend its airborne lifetime. Some studies have been made to extend the residence life of stratospheric airships by introducing event triggering mechanisms. In the field of single-boat control, a learner reduces the working frequency of a sensor by adding an event trigger mechanism between the sensor and a controller, but the rest of the system except the sensor still needs continuous calculation and execution, in the field of multi-boat cooperative control, the learner introduces the event trigger mechanism to reduce the communication bandwidth between multiple boats, but for single stratospheric airship members, the control system still operates according to a time period, thus continuous monitoring of the state and continuous calculation of the trigger condition are still needed, more resources are needed, and the effect of prolonging the residence life is not very good. Disclosure of Invention The invention aims to provide a stratospheric airship track tracking control method, a stratospheric airship track tracking control device, a stratospheric airship track tracking control system and electronic equipment, so that the working frequency of devices is reduced, and the resident air life of the stratospheric airship is prolonged. In order to achieve the above object, the present invention provides the following solutions: a stratospheric airship track tracking control method comprises the following steps: initializing an initial trigger time; the method comprises the steps of obtaining a state quantity, a saturation error parameter, an auxiliary output value and an execution control quantity at the current trigger moment of the stratospheric airship, wherein the state quantity comprises a position parameter and a posture parameter, the position parameter comprises a three-dimensional coordinate and a three-dimensional speed, the posture parameter comprises a posture angle and an angular speed, the saturation error parameter comprises a position control saturation error and a posture control saturation error, the auxiliary output value comprises a position saturation elimination value and a posture saturation elimination value, and the execution control quantity comprises a position control quantity and a posture control quantity; determining the next trigger time according to the state quantity, the saturation error parameter, the auxiliary output value and the execution control quantity of the current trigger time; when the stratospheric airship is at the triggering moment, controlling the stratospheric airship to fly; For any triggering moment, the process for controlling the stratospheric airship to fly comprises the following steps: Acquiring state quantity, expected quantity and saturation error parameters of the stratospheric airship, wherein the expected quantity comprises an expected track and an expected gesture; calculating a fuzzy system estimated value according to the state quantity, wherein the fuzzy system estimated value comprises a position estimated value and an attitude estimated value; calculating an auxiliary output value according to the saturation error parameter; calculating an execution control amount according to the state qua