基于微分平坦的升力式再入飞行器鲁棒姿态控制一体化设计  

Robust Attitude Control of Lift Reentry Vehicle Based on Differential Flatness Integrated Design

作　　者：储培[1] 倪昆[1] 程林[1] 张庆振[1] 程阳 

机构地区：[1]北京航空航天大学,北京100191

出　　处：《航天控制》2017年第4期3-10,25,共9页Aerospace Control

摘　　要：针对升力式再入飞行器飞行过程中非线性、强耦合、快时变特性和外界干扰给姿态控制系统带来的挑战,提出了一种基于微分平坦的鲁棒姿态控制一体化设计方法。首先建立了升力式再入飞行器的姿态运动非线性数学模型,证明了该模型具有微分平坦性质。基于系统的平坦特性,通过微分同胚变换将模型转化为积分串联形式。在此基础上整体设计姿态控制器,实现姿态控制的一体化设计,相对于传统的时标分离方法,能更大限度地利用系统的性能,达到更好的控制效果,同时简化控制器设计过程,提高控制器设计效率。将非线性、强耦合、快时变造成的系统不确定项和外界干扰视为总扰动,设计了基于扩张状态观测器的补偿器,对总扰动进行动态观测并在控制器中实时补偿。仿真结果表明,提出的方法具有良好的姿态跟踪性能和较强的鲁棒性。Aiming at solving the problems brought by the nonlinear, strong coupling, fast time-varying characteristics of the model and external disturbance, an integrated design method is presented for the robust attitude control of lift reentry vehicle based on differential flatness,. The mathematical model of the vehicle is firstly established and the flatness property of the system is verified afterwards. The system is transformed into the linear canonical form through diffeomorphism that is taken full advantage of the differential flatness of the system. Flatness-based controller is designed to fulfill the attitude tracking task directly avoiding the trouble of designing inner-loop and outer-loop controller separately. By considering the system uncertainties and external disturbance, extended state observer （ESO） is introduced to observe the uncertainties and com- pensate the controller in real time. Numerical simulations are presented to assess the effectiveness androbustness of the proposed control strategy.

关 键 词：升力式再入飞行器 姿态控制 微分平坦 一体化设计 扩张状态观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]