CAJ | 학술논문

航空母舰在大海上以一定速度作匀速直线运动时，海浪激励舰体作三自由度摆动运动，同时伴有低空大气紊流和舰尾流的干扰，使得舰载机着舰的环境十分恶劣，这样对自动着舰控制系统提出了极大的挑战。针对这一特殊问题，本文提出一种指令滤波积分反步滑模控制方法，首先该方法采用指令滤波处理反步的计算膨胀问题，然后引入滑模控制来解决外界扰动和匹配不确定性问题。考虑到降低滑模控制引起的抖动，本文利用高阶滑模控制的思想，在传统的反步方法上增加了一个附加虚拟控制状态方程，将控制器的最终输出作用在一个积分器上，这样不仅可以降低滑模控制的抖动，还可以利用反步方法处理不匹配不确定性问题。最后在理论上证明了所提出方法的全局稳定性，并通过仿真实验验证了该方法的有效性。
항공모함재대해상이일정속도작균속직선운동시，해랑격려함체작삼자유도파동운동，동시반유저공대기문류화함미류적간우，사득함재궤착함적배경십분악렬，저양대자동착함공제계통제출료겁대적도전。침대저일특수문제，본문제출일충지령려파적분반보활모공제방법，수선해방법채용지령려파처리반보적계산팽창문제，연후인입활모공제래해결외계우동화필배불학정성문제。고필도강저활모공제인기적두동，본문이용고계활모공제적사상，재전통적반보방법상증가료일개부가허의공제상태방정，장공제기적최종수출작용재일개적분기상，저양불부가이강저활모공제적두동，환가이이용반보방법처리불필배불학정성문제。최후재이론상증명료소제출방법적전국은정성，병통과방진실험험증료해방법적유효성。
When a aircraft carrier sails in the sea at a certain speed for uniform linear motion, the sea wave motivates the ship to motion in 3 degree of freedom and accompanying the interference of low altitude atmosphere turbulent flow and airwake at the same time, which makes the landing environment of carrier aircraft fair adverse. That proposes a huge challenge for the control system of autolanding. For the special problem, a method of the Command Filter Integral backstepping and Sliding Mode Control is presented in this paper. First, the command filter to deal with the problem of calculation expansion in backstepping method is adopted in this method, and then introduces of sliding mode control to handle the problems of matched uncertainty and external disturbance. In order to depress the shake of sliding mode control, using the idea of higher order sliding mode control in this paper, introducing an additional virtual control equation of state to make the outputs of control system work on the integration device, which could not only depress the chattering, but also dispose the matched and unmatched uncertainty. At last, the global stability of the proposed method is proved on the whole and the effectiveness is tested by the simulations.