宇航学报 ›› 2020, Vol. 41 ›› Issue (12): 1553-1560.doi: 10.3873/j.issn.1000-1328.2020.12.009

• 制导、导航、控制与电子 • 上一篇    下一篇

执行器故障下的运载火箭非奇异终端滑模容错控制

马艳如,王青,胡昌华,周志杰,梁小辉   

  1. 1. 北京航空航天大学自动化科学与电气工程学院,北京 1001912. 火箭军工程大学导弹工程学院,西安 710025
  • 收稿日期:2019-12-26 修回日期:2020-03-06 出版日期:2020-12-15 发布日期:2020-12-15
  • 基金资助:
    国家自然科学基金(61833016, 61873295

Non Singular Terminal Sliding Mode Fault Tolerant Control of Launch Vehicle with Actuator Fault

MA Yan ru, WANG Qing, HU Chang hua, ZHOU Zhi jie, LIANG Xiao hui   

  1. 1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191,China;2. School of Missile Engineering, Rocket Force University of Engineering, Xian 710025,China
  • Received:2019-12-26 Revised:2020-03-06 Online:2020-12-15 Published:2020-12-15

摘要: 针对存在未知外部干扰和执行器卡死故障的运载火箭,提出了一种基于非奇异终端滑模面的姿态跟踪控制算法。首先,建立了考虑干扰和执行器卡死故障的运载火箭姿态控制系统多输入多输出系统模型;然后定义了运载火箭姿态跟踪系统模型,针对定义的模型,设计了一种非奇异终端滑模面,使得系统在执行器故障情况下仍能较为精确地跟踪参考信号。基于李雅普诺夫函数证明了运载火箭姿态跟踪控制系统的稳定性和有限时间收敛特性。数值仿真检验了本文基于非奇异终端滑模运载火箭姿态跟踪控制算法的有效性。

关键词: font-size:10.5pt, ">运载火箭姿态控制;非奇异终端滑模控制;执行器卡死故障;容错控制

Abstract: An attitude tracking control algorithm based on non singular terminal sliding mode surface is proposed for a launch vehicle with unknown external disturbance and actuator stuck fault. Firstly, a multi input multi output (MIMO) system model of a launch vehicle attitude control system considering disturbance and actuator stuck fault is established. Then, a model of the launch vehicle attitude tracking system is established, and a non singular terminal sliding mode surface is designed for the defined model, so that the system can track the reference signal accurately in the event of actuator fault. Based on the Lyapunov function, the stability and finite time convergence characteristics of the launch vehicle attitude tracking control system are proved. The numerical simulations verify the effectiveness of the attitude tracking control algorithm based on non singular terminal sliding mode for launch vehicle.

Key words: Attitude control of launch vehicle, Non singular terminal sliding mode control, Actuator stuck fault, Fault tolerant control

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