考虑弹性影响的运载火箭自抗扰减载控制方法  

Active disturbance rejection control for load relief of launch vehicles considering elastic effects

作　　者：刘子博 张冉[1] 薛文超[2] 李惠峰[1] LIU Zibo;ZHANG Ran;XUE Wenchao;LI Huifeng(School of Astronautics,Beihang University,Beijing 100191,China;Key Laboratory of Systems and Control,Academy of Mathematics and Systems Science,Chinese Academy of Sciences,Beijing 100190,China)

机构地区：[1]北京航空航天大学宇航学院,北京100191 [2]中国科学院数学与系统科学研究院系统控制重点实验室,北京100190

出　　处：《航空学报》2025年第1期235-252,共18页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(92471204)。

摘　　要：运载火箭的减载控制通过减小攻角以降低气动载荷,然而,现有的减载自抗扰控制(ADRC)方法未充分考虑弹性影响,可能导致干扰估计精度下降,甚至降低控制系统的稳定性。为此,分析了弹性振动对干扰估计及观测器增益的影响,提出了一种抑制弹性振动的改进措施,通过隔离弹性运动与刚体运动,使扩张状态观测器(ESO)的量测输入与观测模型相匹配。基于此,推导了考虑弹性振动的自抗扰减载控制系统的开环传递函数,并给出一套参数整定规则,通过合理配置减载反馈控制带宽和扩张状态观测器带宽,在保证系统稳定裕度的基础上,简化了参数整定过程。仿真与实验结果表明,该方法提升了系统稳定性,同时实现了有效的干扰抑制和减载效果。最后,通过半实物仿真和火箭飞行试验验证了该算法的可行性。The load relief control of launch vehicles reduces aerodynamic loads by decreasing the angle of attack.However,existing Active Disturbance Rejection Control(ADRC)methods for load relief do not fully consider elastic ef⁃fects,which may lead to reduced disturbance estimation accuracy and even compromise system stability.To address this,this paper analyzes the impact of elastic vibration on disturbance estimation and observer gain,and proposes an improvement to suppress elastic vibration.By isolating elastic motion from rigid-body motion,the measured input of the Extended State Observer(ESO)is made to match the observation model,thereby reducing the influence of elas⁃ticity on disturbance estimation.Based on this,an open-loop transfer function of the ADRC system for load relief is de⁃rived considering elastic vibration,and a set of parameter tuning rules is provided.By properly configuring the band⁃widths of the load relief feedback control and the ESO,the tuning process is simplified,while ensuring sufficient stabil⁃ity margins.Simulation and experimental results demonstrate that this method proposed can enhance system stability,while achieving effective disturbance suppression and load relief.Feasibility of the algorithm is validated through hardware-in-the-loop simulations and flight tests on a rocket.

关 键 词：运载火箭 姿态控制 减载控制 弹性振动 干扰抑制 自抗扰控制(ADRC) 飞行试验 

分 类 号：V448.1[航空宇航科学与技术—飞行器设计]