考虑舵机动力学的旋转弹自适应解耦控制

石忠佼; 朱化杰; 赵良玉; 刘志杰

doi:10.7527/S1000-6893.2021.25068

航空学报 >

2022 , Vol. 43 >Issue 3: 325068 - 325068

DOI: https://doi.org/10.7527/S1000-6893.2021.25068

电子电气工程与控制

考虑舵机动力学的旋转弹自适应解耦控制

石忠佼 ,
朱化杰 ,
赵良玉 ,
刘志杰

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1. 北京理工大学宇航学院, 北京 100081;
2. 北京理工大学机电学院, 北京 100081;
3. 北京科技大学自动化学院, 北京 100083

收稿日期: 2020-12-06

修回日期: 2021-01-25

网络出版日期: 2021-06-01

基金资助

国家自然科学基金（62103052，12072027，11532002）

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Adaptive decoupling control for a class of spinning rockets considering actuator dynamics

SHI Zhongjiao ,
ZHU Huajie ,
ZHAO Liangyu ,
LIU Zhijie

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1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China;
2. School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China;
3. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China

Received date: 2020-12-06

Revised date: 2021-01-25

Online published: 2021-06-01

Supported by

National Natural Science Foundation of China (62103052, 12072027, 11532002)

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摘要

为解决由气动交联、控制交联引起的旋转弹俯仰和偏航通道间的耦合问题，提出了一种考虑气动不确定和执行机构动力学的自适应解耦控制方法。以一类鸭舵作用下的双通道控制旋转弹为研究对象，建立了非旋转弹体坐标系下考虑舵机动态响应过程以及气动参数不确定性的线性化动力学模型。利用模型参考自适应控制方法作为基础框架，将跟踪误差积分扩维至被控系统以改善闭环系统的跟踪性能。将舵机输入与输出之间的误差信号反馈到参考模型中实现俯仰和偏航通道之间的解耦。通过理论分析和数值仿真，验证了所提自适应解耦控制方法的有效性。仿真结果表明，设计的自适应解耦控制器能够保证闭环系统稳定并且实现俯仰和偏航通道之间的解耦。

关键词： 旋转弹; 自适应控制; 解耦控制; 舵机动力学; 二次稳定

本文引用格式

石忠佼 , 朱化杰 , 赵良玉 , 刘志杰 . 考虑舵机动力学的旋转弹自适应解耦控制[J]. 航空学报, 2022 , 43(3) : 325068 -325068 . DOI: 10.7527/S1000-6893.2021.25068

Abstract

An adaptive decoupling control method considering aerodynamic uncertainty and actuator dynamics is proposed to solve the strong coupling problem caused by aerodynamic, inertial and control cross-coupling.Considering a type of canard controlled spinning rockets, an acceleration dynamic model considering actuator dynamics is established under the non-rolling body frame.Using the model reference adaptive control method as the basic framework, the tracking error integral is extended to the controlled system to improve the tracking performance of the closed-loop system.The error signal between the input and output of the actuator is fed back into the reference model to realize the decoupling between the pitch and yaw channels.Theoretical analysis and numerical simulation show the effectiveness of the proposed method.The simulation results show that the adaptive decoupling controller developed in our study can ensure stability of the closed-loop system and realize the decoupling between the pitch and yaw channels.

Key words： spinning rocket; adaptive control; decoupling control; actuator dynamics; quadratic stability

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