基于轨迹线性化的再入机动飞行器控制器设计  

Maneuvering re-entry vehicle controller based on trajectory linearization

作　　者：李海军[1] 黄显林[1] 葛东明[1] 

机构地区：[1]哈尔滨工业大学控制理论与制导技术研究中心,哈尔滨150001

出　　处：《战术导弹控制技术》2009年第1期1-7,共7页

基　　金：国家自然科学基金（60874084）

摘　　要：研究了再入机动飞行器（maneuvering re—entry vehicle，MRV）的建模与控制问题。MRV通常以大倾角进入大气层后，执行上拉机动转入平飞，它的数学模型相比弹道再入式飞行器更具有高度非线性和耦合特性。建立了MRV的6自由度数学模型，包括用Missile Datcom气动计算软件生成了飞行器的气动力和力矩参数。接着基于轨迹线性化控制（traiectory lineariztion control，TLC），研究了MRV的非线性飞行控制器设计。基于奇异扰动原理，将MRV飞行控制系统分为内外两个回路，并且为两个回路都设计了轨迹线性化控制器。轨迹线性化方法将动态逆设计和线性时变调节器结合在一起，使闭环系统沿标称轨迹获得鲁棒稳定性和鲁棒性能。数字仿真表明设计的TLC控制器可以使MRV准确跟踪上拉机动指令，并对系统未建模特性和参数不确定性具有一定的鲁棒性能。The dynamic modeling and control techniques for a maneuvering re-entry vehicle （MRV） was discussed. The missions of the MRV usually require a steeper reentry flight path angle, followed by a pull-out into level flight. The MRV＇s model is highly nonlinear and sophisticated. The 6 degree-of-freedom re-entry flight dynamics were modeled, including the model of aerodynamic forces and torques generated by the Missile Datcom software. Then a nonlinear flight controller design for the MRV was presented based on trajectory lineariztion control （TLC）. Based on the singular perturbation theory, the flight control system of MRV was divided into two loops, and the TLC controllers were designed for both loops. The TLC controller design combined a nonlinear dynamic inversion and a linear time-varying regulator in a novel way, thereby achieving robust stability and performance along the nominal trjectory. The numerical results show that the TLC controller is able to track the pull-out maneuver command accurately and robustly in the existence of unmodeled dynamics and parameters uncertainties. dynamic inversion

关 键 词：再入机动飞行器 轨迹线性化 奇异扰动 非线性动态逆 

分 类 号：V249[航空宇航科学与技术—飞行器设计]