考虑弹性影响的运载火箭自抗扰减载控制方法

doi:10.7527/S1000-6893.2024.30319

Abstract

Abstract:

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 effects， 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 elasticity on disturbance estimation. Based on this， an open-loop transfer function of the ADRC system for load relief is derived considering elastic vibration， and a set of parameter tuning rules is provided. By properly configuring the bandwidths of the load relief feedback control and the ESO， the tuning process is simplified， while ensuring sufficient stability 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.

Key words: launch vehicle, attitude control, load relief control, elastic vibration, disturbance rejection, active disturbance rejection control (ADRC), flight test

CLC Number:

V448.1

Zibo LIU, Ran ZHANG, Wenchao XUE, Huifeng LI. Active disturbance rejection control for load relief of launch vehicles considering elastic effects[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(1): 330319.

Figures/Tables 23

Fig.1

Fig.2

Fig.3

Table 1

Parameter tuning rules for ADRC-LR algorithm

回路

结构

参数整定方法

姿态反馈

反馈控制律2项系数为

$k p b ¯ 3, k d b ¯ 3$

①根据标称动力学模型及轨迹，得到标称小扰动系数 $b ¯ 3$

②令 $k p = ω c 2, k d = 2 ξ ω c$ ，其中， $ω c$ 为待调参数

③调整 $ω c$ ，使得控制系统的截止频率小于弹性一阶频率的 $1 / 4$

④设计参数过渡剖面，加入过载反馈后降低 $k p$ ，保证系统裕度

扩张状态观测器

二阶ESO观测增益为

$L = β 1 β 2 β 3 T$

①令 $β 1 = 3 ω o, β 2 = 3 ω o 2, β 3 = ω o 3$ ，其中 $ω o$ 为观测器带宽

②取 $ω o = ω c$ ，根据跟踪效果逐渐调整参数达到预期的性能，调整过程中保证系统的稳定裕度，调整范围通常为 $0.5 ω c ∼ 2 ω c$

过载反馈

过载反馈系数为

k w

①过载反馈系数 $k w$ 满足闭环稳定性条件，式（16）特征值为负

②通过调整 $k w$ ，使得减载效果满足设计要求

③减载控制前后设计过渡剖面

Table 1

Fig.4

Fig.5

Table 2

Table 3

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

Table 4

Fig.15

Fig.16

Fig.17

Fig.18

Fig.19

References 34

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状态	主振型	频率/ Hz	广义质量/kg	惯组位置		舵轴位置
状态	主振型	频率/ Hz	广义质量/kg	振型	斜率	振型	斜率
满载	1阶	12	260	-0.12	-1.44	0.24	0.11
满载	2阶	21	193	-0.04	0.17	-0.17	-0.13
空载	1阶	15	150	-0.17	-0.02	0.17	0.09
空载	2阶	27	350	0.26	0.02	-0.30	-0.37

偏差类型	偏差项目	偏差范围
气动偏差	轴向力系数/%	-10~10
	法向力系数/%	-10~10
	侧向力系数/%	-10~10
	三通道气动力矩系数/%	-10~10
	压心/%	-1~1
环境偏差	大气密度/%	-5~5
结构偏差	起飞质量/kg	-60~60
	x向质心/mm	-40~40
	y向质心/mm	-5~5
	z向质心/mm	-5~5
	三轴惯量/%	-5~5
弹性偏差	频率/%	-20~20
	广义质量/%	-30~30
	振型/%	-30~30
	振型斜率/%	-30~30

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

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