宇航学报

宇航学报 ›› 2021, Vol. 42 ›› Issue (1): 132-140.doi: 10.3873/j.issn.1000-1328.2021.01.014

• 制导、导航、控制与电子 • 上一篇    

一种非仿射高超声速飞行器姿态系统控制方法

路遥，刘晓东，路坤锋   

  1. 1. 宇航智能控制技术国家级重点实验室，北京 100854；2. 北京航天自动控制研究所，北京 100854
  • 收稿日期:2020-05-14 修回日期:2020-06-09 出版日期:2021-01-15 发布日期:2021-01-26
  • 基金资助:
    国家自然科学基金青年基金（61803357）

An Attitude Control Method for Non affine Hypersonic Flight Vehicles

LU Yao, LIU Xiao dong, LU Kun feng   

  1. 1. National Key Laboratory of Science and Technology on Aerospace Intelligence Control, Beijing 100854，China；2. Beijing Aerospace Automatic Control Institute, Beijing 100854，China
  • Received:2020-05-14 Revised:2020-06-09 Online:2021-01-15 Published:2021-01-26

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摘要： 针对非仿射高超声速飞行器姿态控制问题，提出了一种基于反步法的非线性控制方法。首先，通过干扰观测器估计攻角动态中的扰动量，在此基础上设计了俯仰角速度虚拟控制指令。然后，针对含有非仿射项的参数不确定的俯仰角速度动态函数，将其视为一个扩张状态，通过状态观测器对其进行估计。接着，基于动态逆方法设计了升降襟副翼的控制律并基于李雅普诺夫方法证明了闭环系统的稳定性。采用指令滤波器避免反步法应用中虚拟控制指令微分项的“复杂性爆炸”问题，并得到虚拟控制指令的一阶和二阶导数信号。所提方法能够适用于变速变高飞行模式。最后，通过对比仿真实验，验证了所设计控制方法的有效性。

关键词: font-size:10.5pt, ">高超声速飞行器；非仿射；姿态控制；反步法；扩张状态观测器；干扰观测器

Abstract: Aiming at the attitude control problem of non affine hypersonic flight vehicles, a nonlinear control method based on backstepping is proposed. Firstly, the disturbance in the dynamics of angle of attack is estimated via a disturbance observer and the virtual control command of pitch rate is designed based on it. Then for the function describing the dynamics of pitch rate including non affine terms and uncertain parameters, consider it as an extended state and estimate it via a state observer. Next, the control laws of the elevons are designed based on the dynamic inversion method and the stability of the closed loop system is proved via the Lyapunov theory. A command filter is introduced to avoid the “explosion of complexity” problem in backstepping method and obtain the first and second derivatives of the virtual command. The proposed method is applicable when the flight vehicle flies at variable speed and height. Finally, the effectiveness of the proposed method is verified via comparative simulation experiments.

Key words: Hypersonic flight vehicle, Non affine; Attitude control, Backstepping, Extended state observer, Disturbance observer

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