基于微分包含镇定的固体运载火箭上升段轨迹跟踪  

Trajectory tracking of solid launch vehicle in ascending based on differential inclusion stabilization

作　　者：刘飞[1] 王松艳[1] 杨明[1] 晁涛[1] LIU Fei;WANG Songyan;YANG Ming;CHAO Tao(Control and Simulation Center,Harbin Institute of Technology,Harbin 150080,China)

机构地区：[1]哈尔滨工业大学控制与仿真中心,哈尔滨150080

出　　处：《中国惯性技术学报》2022年第3期378-387,共10页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(61627810)。

摘　　要：针对传统固体运载火箭(SLV)上升段轨迹跟踪方法无法适应大范围参数不确定性的问题,提出一种基于微分包含镇定的上升段轨迹跟踪控制器。首先,将不确定性与动力学方程相结合,建立关于状态偏差的微分包含系统;其次,设计一种基于线性矩阵不等式(LMI)的状态反馈律,对微分包含系统中的多胞体部分进行镇定,用以解决大范围参数不确定性问题;然后,将攻角和侧滑角的修正量幅值约束转化为线性矩阵不等式进行求解;最后,对微分包含系统中的扰动部分设计自适应律进行估计,结合状态反馈律与控制量约束,构造微分包含自适应饱和跟踪控制器。仿真结果表明,在给定的参数不确定性范围内,终端状态偏差收敛且满足终端精度。与基于扩张状态观测器的跟踪控制器相比,所提出的控制器拓宽了不确定性的适用边界。Aiming at the problem that the traditional solid launched vehicles(SLV)trajectory tracking method cannot adapt to a large range of parameter uncertainties,a differential inclusion stabilization based trajectory tracking controller is proposed.Firstly,the uncertainties are combined with the dynamic equation to establish the differential inclusion system about the state deviations.Secondly,a state feedback law based on linear matrix inequality(LMI)is designed to stabilize the polytopic part of differential inclusion systems to solve the large range parameter uncertainties.Then,the magnitude constraints of the correction of the angle of attack and sideslip are transformed into LMI.Finally,an adaptive law is designed to estimate the disturbance in the differential inclusion system.Combined with the state feedback law and the control variable constraints,a differential inclusion adaptive saturated trajectory tracking controller is constructed.The simulation results show that the terminal state deviations converge and meet the terminal accuracy within the given parameter uncertainty ranges.Compared with the tracking controller based on extended state observer,the proposed controller widens the applicable uncertainty boundaries.

关 键 词：固体火箭 轨迹跟踪 偏差镇定 微分包含系统 

分 类 号：V448.1[航空宇航科学与技术—飞行器设计]