垂直起降重复使用火箭全剖面飞行预设性能控制（可重复使用火箭技术专栏）

doi:10.7527/S1000-6893.2023.28103

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垂直起降重复使用火箭全剖面飞行预设性能控制（可重复使用火箭技术专栏）

张亮¹,李丹钰¹,崔乃刚²,李源³

1. 中山大学
2. 哈尔滨工业大学
3. 南京理工大学

收稿日期:2022-10-11 修回日期:2023-02-17 出版日期:2023-02-24 发布日期:2023-02-24
通讯作者: 张亮
基金资助:
国家自然科学基金委员会

Full Flight Profile Prescribed Performance Control for Vertical Takeoff and Vertical Landing Vehicle

Received:2022-10-11 Revised:2023-02-17 Online:2023-02-24 Published:2023-02-24
Contact: Liang ZHANG
Supported by:
National Natural Science Foundation of China

摘要/Abstract

摘要： 针对垂直起降重复使用火箭在多异类执行机构作用下的全剖面飞行高精度强鲁棒姿态控制系统设计需求，提出了预设性能控制方法，采用一套控制结构与控制参数，可实现火箭的全程飞行控制。首先，建立了垂直起降重复使用火箭的七个飞行阶段动力学模型，同时为减少制导指令切换产生的突变，设计了二阶系统参考模型，并基于参考模型推导了姿态跟踪误差状态方程。其次，设计一种新型的具有指定收敛时间特性的预设性能函数，并推导了新的误差变量，建立了控制模型。然后，基于新的误差变量推导了具有预定时间收敛特性的姿态控制律，并证明了其稳定性。最后，为进一步提高鲁棒性，引入自抗扰控制中的扩张状态观测器理念，对新误差变量的二阶导数以及外界扰动进行估计，从而降低了控制器的复杂度，提高了控制精度。通过与PD控制器、自抗扰滑模控制器和其他预设性能控制器的仿真比较表明，本文提出的方法具有参数少、调参简单、精度高和鲁棒性强等优点。

关键词: 垂直起降火箭, 预设性能控制, 预定时间收敛, 扩张状态观测器

Abstract: To solve the problem of high-precision and robust attitude control system design for vertical take-off and vertical land-ing reusable rocket in full flight profile under the action of multiple heterogeneous actuators, a prescribed performance control method was proposed. A set of control structure and control parameters was adopted to realize the whole flight control of the rocket. Firstly, the dynamics model of rocket in seven flight stages was established. To reduce the muta-tion caused by guidance command switching, a second-order reference model was designed, and the state equation of attitude tracking error was derived based on the reference model. Secondly, a novel prescribed performance func-tion with appointed convergence time was designed, and the new error variables were derived, and the control model was also established. Then, based on the new error variables, the attitude control law with predefined time was de-rived and its stability was proved. Finally, to further improve the robustness, an extended state observer was intro-duced to estimate the second derivative of the new error variable and the external disturbance, so as to re-duce the complexity of the controller and improve the control accuracy. Compared with PD controller, active disturbance rejec-tion sliding mode controller and the other prescribed performance controller, the simulation results show that the pro-posed method has the advantages of fewer parameters, simple parameter tuning, high precision and strong robust-ness.

Key words: Vertical takeoff and vertical landing vehicle, prescribed performance control, predefined time convergence, ex-tended state observer

中图分类号:

V249.1

张亮李丹钰崔乃刚李源. 垂直起降重复使用火箭全剖面飞行预设性能控制（可重复使用火箭技术专栏）[J]. 航空学报, doi: 10.7527/S1000-6893.2023.28103.

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

垂直起降重复使用火箭全剖面飞行预设性能控制（可重复使用火箭技术专栏）

Full Flight Profile Prescribed Performance Control for Vertical Takeoff and Vertical Landing Vehicle

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