垂直起降可重复使用运载火箭全剖面飞行预设性能控制

doi:10.7527/S1000-6893.2022.28103

Abstract

Abstract:

To solve the problem of high-precision and robust attitude control system design for vertical takeoff and vertical landing reusable vehicle in full flight profile under the action of multiple heterogeneous actuators， a prescribed performance control method is proposed. A set of control structure and control parameters are adopted to realize the full flight profile control of the vehicle. Firstly， the dynamics model of the vehicle in seven flight stages is established. To reduce the mutation caused by guidance command switching， a second-order reference model is designed， and the state equation of attitude tracking error is derived based on the reference model. Secondly， a novel prescribed performance function with appointed convergence time is designed. The new error variables are derived， and the control model is also established. Then， based on the new error variables， the attitude control law with predefined time convergence characteristics is derived and its stability is proved. Finally， to further improve the robustness， an extended state observer is introduced to estimate the second derivative of the new error variable and the external disturbance， so as to reduce the complexity of the controller and improve the control accuracy. Simulation results show that compared with the Proportional Differential （PD） controller， active disturbance rejection sliding mode controller and other prescribed performance controller， the proposed method has the advantages of fewer parameters， simpler parameter tuning， higher precision and stronger robustness.

Key words: vertical take-off and vertical landing vehicle, prescribed performance control, predefined time convergence, extended state observer, flight control

CLC Number:

V249.1

Liang ZHANG, Danyu LI, Naigang CUI, Yuan LI. Full flight profile prescribed performance control for vertical take-off and vertical landing reusable launch vehicle[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(23): 628103-628103.

Figures/Tables 22

Fig.1

Fig.2

Fig.3

Fig.4

Table 1

Table 2

Table 3

ADRC-SMC control parameters

序号	$a 1$	$a 2$	$a 3$	$β 1 i$	$β 2 i$	$β 01$	$β 02$	$K 1$	$E 1$
1	0.4	0.4	0.4	0.2	0.8	100	200	2.8	0.9
2	0.4	0.4	0.4	0.1	0.2	10	20	0.2	0.05
3	0.4	0.4	0.4	0.1	0.2	100	200	0.8	0.4
4	0.4	0.4	0.4	0.1	0.2	10	20	0.2	0.05
5	0.4	0.4	0.4	0.1	0.2	100	200	0.8	0.4
6	0.4	0.4	0.4	1.0	0.8	100	200	2.8	1.8
7	0.4	0.4	0.4	0.4	0.8	100	200	1.8	0.8

Table 3

Table 4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

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Fig.17

Fig.18

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序号	飞行段	制导方案	关机方式
1	主动段	摄动制导	30 s开始，按关机方程
2	姿态调整段	程序角制导	飞行130 s
3	修航段	轨迹跟踪制导	按速度关机
4	高空无动力下降段	程序角制导	高度<52.65 km
5	动力减速下降段	摄动制导	按关机方程
6	大气层内飞行段	滑模制导^［25］	距地面800 m关机
7	垂直着陆段	四次多项式制导	速度<1 m/s或高度<2 m

时间	俯仰/偏航K_P	俯仰/偏航K_D	滚转K_P	滚转K_D
2 s	1.5	0.8	0.4	0.2
16 s	1.5	0.8	0.4	0.2
30 s	1.6	1.2	0.5	0.3
50 s	1.8	1.4	0.6	0.4
90 s	1.8	1.4	0.6	0.4
120 s	1.8	1.4	0.6	0.4
145 s	1.8	1.4	0.6	0.4
第2段	-8.892 7×10⁵	-4.099 1×10⁵	-2.051×10⁴	-1.151×10⁴
第3段	1.5	0.8	-2.051×10⁴	-1.151×10⁴
第4段	-8.892 7×10⁵	-4.099 1×10⁵	-2.051×10⁴	-1.151×10⁴
第5段	1.8	1.2	-2.051×10⁴	-1.151×10⁴
第6段	9.0	4.8	1.5	0.5
第7段	10.8	8.2	-2.051×10⁴	-1.151×10⁴

偏差项	数值
质量偏差/kg	500
气动参数偏差/%	20
大气密度偏差/%	20
秒耗量偏差/%	3
比冲偏差/%	3
转动惯量偏差/%	20
质心偏差/mm	50
风干扰	平稳风和切变风都存在

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Full flight profile prescribed performance control for vertical take-off and vertical landing reusable launch vehicle

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