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

Fig.14

Fig.15

Fig.16

Fig.17

Fig.18

References 33

1	崔乃刚，吴荣，韦常柱，等. 火箭垂直返回双幂次固定时间收敛滑模控制方法［J］. 哈尔滨工业大学学报， 2020， 52（4）： 15-24.
	CUI N G， WU R， WEI C Z， et al. Double-order power fixed-time convergence sliding mode control method for launch vehicle vertical returning［J］. Journal of Harbin Institute of Technology， 2020， 52（4）： 15-24 （in Chinese）.
2	崔乃刚，吴荣，韦常柱，等. 垂直起降可重复使用运载器发展现状与关键技术分析［J］. 宇航总体技术， 2018， 2（2）： 27-42.
	CUI N G， WU R， WEI C Z， et al. Development and key technologies of vertical takeoff vertical landing reusable launch vehicle［J］. Astronautical Systems Engineering Technology， 2018， 2（2）： 27-42 （in Chinese）.
3	徐大富，张哲，吴克，等. 垂直起降重复使用运载火箭发展趋势与关键技术研究进展［J］. 科学通报， 2016， 61（32）： 3453-3463.
	XU D F， ZHANG Z， WU K， et al. Recent progress on development trend and key technologies of vertical take-off vertical landing reusable launch vehicle［J］. Chinese Science Bulletin， 2016， 61（32）： 3453-3463 （in Chinese）.
4	BOSKOVIC J D， JACKSON J A， MEHRA R K， et al. Adaptive fault tolerant control design for a model of DC-X dynamics［C］∥ 2008 American Control Conference. Piscataway： IEEE Press， 2008： 1046-1051.
5	张亮，黄盘兴，徐大富，等. 垂直起降火箭垂直返回段自适应容错控制算法［J］. 战术导弹技术， 2015（2）： 63-69.
	ZHANG L， HUANG P X， XU D F， et al. VTVL rocket fault-tolerant control for its return trajectory［J］. Tactical Missile Technology， 2015（2）： 63-69 （in Chinese）.
6	WANG F， HUA C C， ZONG Q. Attitude control of reusable launch vehicle in reentry phase with input constraint via robust adaptive backstepping control［J］. International Journal of Adaptive Control and Signal Processing， 2015， 29（10）： 1308-1327.
7	崔乃刚，张亮，韦常柱，等. 可重复使用运载器大姿态机动自抗扰控制［J］. 中国惯性技术学报， 2017， 25（3）： 387-394.
	CUI N G， ZHANG L， WEI C Z， et al. Active disturbance rejection control for reusable launch vehicle with large attitude maneuver［J］. Journal of Chinese Inertial Technology， 2017， 25（3）： 387-394 （in Chinese）.
8	陈佳晔，王紫扬，陈益，等. 基于迭代学习干扰观测器的RLV容错控制方法［J］. 中国惯性技术学报， 2021， 29（6）： 832-840.
	CHEN J Y， WANG Z Y， CHEN Y， et al. RLV fault-tolerant control method based on iterative learning disturbance observer［J］. Journal of Chinese Inertial Technology， 2021， 29（6）： 832-840 （in Chinese）.
9	刘航. 运载火箭第一级回收控制研究［D］. 西安：西安电子科技大学， 2020.
	LIU H. Research on the first stage recovery control of launch vehicle［D］. Xi’an： Xidian University， 2020 （in Chinese）.
10	VIGNESH S A， APM I H， VP A K， et al. Trajectory planning and soft landing of RLV using non-linear model predictive control［C］∥ 2021 Seventh Indian Control Conference. Piscataway： IEEE Press， 2021： 87-92.
11	XING G Q， PARVEZ S A. Nonlinear attitude state tracking control for spacecraft［J］. Journal of Guidance， Control， and Dynamics， 2001， 24（3）： 624-626.
12	PEI J， PUETZ A， DUARTE C， et al. Suppression of nonlinear rotary slosh dynamics using the SLS adaptive augmenting control system demonstration on a quadcopter testbed： AIAA-2019-0114［R］. Reston： AIAA， 2019.
13	SHTESSEL Y B， HALL C E， BAEV S， et al. Flexible modes control using sliding mode observers： Application to Ares I： AIAA-2010-7565［R］. Reston： AIAA， 2010.
14	钱默抒，熊克，王海洋. 重复使用运载火箭精确回收滑模动态面控制［J］. 宇航学报， 2018， 39（8）： 879-888.
	QIAN M S， XIONG K， WANG H Y. Sliding mode dynamic surface control in precise recovery phase for reusable launch vehicle［J］. Journal of Astronautics， 2018， 39（8）： 879-888 （in Chinese）.
15	李晓栋，廖宇新，廖俊，等. 可重复使用运载火箭一子级垂直回收有限时间滑模控制［J］. 中南大学学报（自然科学版）， 2020， 51（4）： 979-988.
	LI X D， LIAO Y X， LIAO J， et al. Finite-time sliding mode control for vertical recovery of the first-stage of reusable rocket［J］. Journal of Central South University （Science and Technology）， 2020， 51（4）： 979-988 （in Chinese）.
16	李晓栋，廖宇新，李珺. 基于MFTESO的可重复使用运载火箭多变量有限时间控制方法［J］. 控制与信息技术， 2019（4）： 12-17.
	LI X D， LIAO Y X， LI J. MFTESO based multivariable finite-time control for reusable rocket［J］. Control and Information Technology， 2019（4）： 12-17 （in Chinese）.
17	杨少波. 垂直起降火箭末段定点着陆的制导控制方法研究［D］. 哈尔滨：哈尔滨工业大学， 2020.
	YANG S B. Research on guidance and control method of fixed point landing of vertical takeoff vertical landing rocket in the last stage［D］. Harbin： Harbin Institute of Technology， 2020 （in Chinese）.
18	JU X Z， WEI C Z， ZHANG L， et al. Semi-globally smooth control for VTVL reusable launch vehicle under actuator faults and attitude constraints［J］. Acta Astronautica， 2022， 191： 528-546.
19	ZHANG L， WEI C Z， WU R， et al. Fixed-time extended state observer based non-singular fast terminal sliding mode control for a VTVL reusable launch vehicle［J］. Aerospace Science and Technology， 2018， 82/83： 70-79.
20	ZHANG L， WEI C Z， WU R， et al. Adaptive fault-tolerant control for a VTVL reusable launch vehicle［J］. Acta Astronautica， 2019， 159： 362-370.
21	JU X Z， WEI C Z， XU H C， et al. Fractional-order sliding mode control with a predefined-time observer for VTVL reusable launch vehicles under actuator faults and saturation constraints［J］. ISA Transactions， 2022， 129： 55-72.
22	ZHANG L， JING L， YE L H， et al. Predefined-time control for a horizontal takeoff and horizontal landing reusable launch vehicle［J］. Aircraft Engineering and Aerospace Technology， 2021， 93（6）： 957-970.
23	宋征宇，蔡巧言，韩鹏鑫，等. 重复使用运载器制导与控制技术综述［J］. 航空学报， 2021， 42（11）： 525050.
	SONG Z Y， CAI Q Y， HAN P X， et al. Review of guidance and control technologies for reusable launch vehicles［J］. Acta Aeronautica et Astronautica Sinica， 2021， 42（11）： 525050 （in Chinese）.
24	韦常柱，琚啸哲，徐大富，等. 垂直起降重复使用运载器返回制导与控制［J］. 航空学报， 2019， 40（7）： 322782.
	WEI C Z， JU X Z， XU D F， et al. Guidance and control for return process of vertical takeoff vertical landing reusable launching vehicle［J］. Acta Aeronautica et Astronautica Sinica， 2019， 40（7）： 322782 （in Chinese）.
25	WU R， WEI C Z， YANG F， et al. FxTDO-based non-singular terminal sliding mode control for second-order uncertain systems［J］. IET Control Theory & Applications， 2018， 12（18）： 2459-2467.
26	ZHANG L， JU X Z， CUI N G. Ascent control of heavy-lift launch vehicle with guaranteed predefined performance［J］. Aerospace Science and Technology， 2021， 110： 106511.
27	SÁNCHEZ-TORRES J D， DEFOORT M， MUÑOZ-VÁZQUEZ A J. Predefined-time stabilisation of a class of nonholonomic systems［J］. International Journal of Control， 2020， 93（12）： 2941-2948.
28	JIMÉNEZ-RODRÍGUEZ E， MUÑOZ-VÁZQUEZ A J， SÁNCHEZ-TORRES J D， et al. A Lyapunov-like characterization of predefined-time stability［J］. IEEE Transactions on Automatic Control， 2020， 65（11）： 4922-4927.
29	MUÑOZ-VÁZQUEZ A J， SÁNCHEZ-TORRES J D， JIMÉNEZ-RODRÍGUEZ E， et al. Predefined-time robust stabilization of robotic manipulators［J］. IEEE/ASME Transactions on Mechatronics， 2019， 24（3）： 1033-1040.
30	ZHANG C， MA G F， SUN Y C， et al. Observer-based prescribed performance attitude control for flexible spacecraft with actuator saturation［J］. ISA Transactions， 2019， 89： 84-95.
31	XU B J， JI S， ZHANG C R， et al. Linear-extended-state-observer-based prescribed performance control for trajectory tracking of a robotic manipulator［J］. Industrial Robot， 2021， 48（4）： 544-555.
32	ZHANG L， WU R， WEI C Z， et al. Quaternion-based reusable launch vehicle composite attitude control via active disturbance rejection control and sliding mode approach： AIAA-2017-2320［R］. Reston： AIAA， 2017.
33	李杨，刘昶，王吉飞，等. 垂直起降运载火箭总体方案研究［J］. 南京航空航天大学学报， 2019， 51（S1）： 1-6.
	LI Y， LIU C， WANG J F， et al. General design study of vertical takeoff and landing launch vehicle［J］. Journal of Nanjing University of Aeronautics & Astronautics， 2019， 51（S1）： 1-6 （in Chinese）.

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

[1]	Xu ZHAO, Guoyuan QI, Xinchen YU, Jianbing HU, Xia LI. Compensation function observer and its application in flight vehicle attitude control [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(9): 327224-327224.
[2]	Lu ZHUANG, Zhong LU, Haijing SONG, Li DONG, Yuting WU, Jia ZHOU. Safety analysis for fly⁃by⁃wire system based on fault injection model [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(9): 327329-327329.
[3]	Zheng LI, Jianqiao YU, Xinyun ZHAO. Fixed⁃time convergent sliding mode control for agile turn of air⁃to⁃air missiles [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(8): 327262-327262.
[4]	Shihao XU, Yingzi GUAN, Jialun PU, Changzhu WEI. Predefined-time sliding mode control for VTHL launch vehicle in reentry phase [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(7): 326857-326857.
[5]	Xinyu ZHANG, Siyu XIE, Yang TAO, Gun LI. A robust control method for close formation of aerial-refueling UAVs [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(20): 628425-628425.
[6]	Xiao MENG, Dan MA, Hongjun LIN, Chao CHEN. Prescribed performance control of thermoacoustic instability in aero-engine combustion chambers [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(17): 128182-128182.
[7]	Haojian LI, Yuanhe LIU, Yangang LIANG, Kebo LI. Prescribed performance guidance law with field-of-view and impact angle constraints [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(15): 528764-528764.
[8]	HU Wei, WAN Wenzhang, CHEN Mou. Neural network and disturbance observer based control for automatic carrier landing of UAV [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S1): 726963-726963.
[9]	LIU Chang, JIANG Yongping, MA Chunyan, ZHANG Tao. Formal verification technology for AADL models based on NuSMV [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(3): 325196-325196.
[10]	LI Ning, LIU Zhiyong, WANG Na, YANG Lei. Simulation on antenna servo control system based on DUEA [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(2): 324986-324986.
[11]	LI Xia, QI Guoyuan, GUO Xitong, ZHAO Xu. High-order differential feedback control and its application in quadrotor UAV [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(12): 326047-326047.
[12]	LIU Haigang, LIU Liang, WANG Peng, ZHOU Wei. Model based simulation and analysis of energy optimization characteristics of more-electric aircraft [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(8): 525801-525801.
[13]	ZHANG Zhibing, ZHANG Xiulin, WANG Jiaxing, SHI Jingping. An IDLC landing control method of carrier-based aircraft based on control allocation of multiple control surfaces [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(8): 525840-525840.
[14]	LEI Pengxuan, YU Li, CHEN Dehua, LYU Binbin. Influence of flight control law on body freedom flutter characteristics: Experimental study [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(6): 124378-124378.
[15]	HUANG Xu, LIU Jiarun, JIA Chenhui, WANG Zhaolei, ZHANG Jun. Deep deterministic policy gradient algorithm for UAV control [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(11): 524688-524688.

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

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 22

References 33

Related Articles 15

Recommended Articles

Metrics

Comments