关键词: 移动质心滚动控制, 动力学模型, 拉格朗日法, 非线性耦合, 自抗扰控制

Abstract: Based on the moving centroid roll control scheme, a dynamic system molding and coupled nonlinear system control is studied. Differing from the Newtonian mechanics molding and conventional Lagrange mechanics molding used in moving centroid control system molding, a quasi-coordinates Lagrange method is adopted to establish the system dynamics equation, which avoids the complicated force analysis in Newtonian mechanics and the physical meaning implicitness in conventional Lagrange mechanics. In view of the nonlinear, coupling and time-varying nature of the moving centroid roll control system, the active disturbance rejection control (ADRC) technology is adopted to design the attitude controller. The active disturbance rejection controller estimates and compensates for the total unknown disturbances which include the nonlinear coupling parts and external interferences. The active disturbance rejection controller is more robust in disturbance resistance and more adaptable to system parameter changes than the proportion-differential (PD) controller. The feasibility of the entire control system is validated by mathematical simulation.

Key words: moving centroid roll control, dynamic models, Lagrange method, nonlinear coupling, active disturbance rejection control