VTHL运载器再入返回预设时间滑模控制  

Predefined-time sliding mode control for VTHL launch vehicle in reentry phase

作　　者：徐世昊 关英姿[1] 浦甲伦[1] 韦常柱[1] XU Shihao;GUAN Yingzi;PU Jialun;WEI Changzhu(Department of Astronautics Engineering,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学航天工程系,哈尔滨150001

出　　处：《航空学报》2023年第7期149-162,共14页Acta Aeronautica et Astronautica Sinica

基　　金：省部级项目。

摘　　要：针对模型参数不确定和存在外部干扰的垂直起飞水平着陆(VTHL)可重复使用运载器再入返回姿态跟踪控制问题,提出一种新型预设时间滑模控制方法,使姿态控制误差收敛时间上界与再入初始状态无关且可预先设定。首先基于反正切函数设计预设时间非奇异滑模面,状态量在滑模面可在预设时间内收敛;其次预设时间滑模控制律,引入正弦补偿函数避免控制量出现奇异,以保证滑动模态在预设时间内到达;为提高控制系统鲁棒性并减弱抖振,采用预设时间扩张状态观测器对扰动进行估计和补偿;最后基于Lyapunov理论,证明了控制律可使姿态控制误差在预设时间内收敛;通过数值仿真验证了所提方法的有效性。A novel predefined-time attitude control method for VTHL reusable launch vehicle is proposed in the pres⁃ence of parameter uncertainties and disturbances in the reentry phase.The attitude errors of the VTHL reusable ve⁃hicle can be stabilized to zero in a predefined time which is independent of any initial condition.Firstly,a novel nonsin⁃gular predefined-time sliding mode surface is proposed based on the inverse tangent function,on which the states con⁃verge to the origin in predefined time.Subsequently,a predefined-time sliding mode controller is designed to ensure that the sliding mode arrives in predefined-time.The sinusoidal compensation function is introduced to avoid singularity of the controller.Moreover,with the usage of the predefined-time extended state observer,the robustness of the con⁃trol system is enhanced,and the chattering phenomenon is alleviated.Finally,the predefined-time convergence of the attitude tracking errors is analyzed by the Lyapunov method.Various numerical simulation results are carried out,dem⁃onstrating the effectiveness of the proposed control scheme.

关 键 词：垂直起飞水平着陆(VTHL)运载器 再入返回 预设时间控制 滑模控制 扩张状态观测器 

分 类 号：V448.1[航空宇航科学与技术—飞行器设计]