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针对具有非最小相位特性的升力式再入飞行器的姿态控制问题,设计了一种基于干扰观测器的动态逆预测级联姿态控制器。提出了“外界输入控制外部状态,外部状态偏差控制内部状态”的级联控制策略。在内部状态回路中,利用模型预测控制器的最优性,以较小的控制量镇定内部状态到有界范围;在外部状态回路中,采用动态逆控制器将输出偏差镇定在内回路所需控制量上,并加入干扰观测器来消除再入过程中的建模不确定性,进而实现飞行器姿态的稳定跟踪输出。数值仿真结果表明,该级联控制策略能够有效地解决具有非最小相位特性的模型指令跟踪问题。Monte Carlo数值仿真结果表明,在建模不确定性存在的情况下,该级联姿态控制器具有良好的鲁棒性。
Aiming at the pose control of lift-reentry aircraft with non-minimum phase characteristics, a dynamic inverse predictive cascade attitude controller based on disturbance observer is designed. Proposed cascade control strategy of “external input control external state, external state deviation control internal state ”. In the internal state loop, the model is used to predict the optimality of the controller to stabilize the internal state to a bounded range with a small amount of control. In the external state loop, a dynamic inverse controller is used to stabilize the output deviation in the internal loop Control the amount, and join the disturbance observer to eliminate modeling uncertainty in the reentry process, so as to achieve a stable tracking output of the aircraft attitude. Numerical simulation results show that this cascade control strategy can effectively solve the problem of model order tracking with non-minimum phase characteristics. Monte Carlo numerical simulation results show that the cascaded attitude controller has good robustness in the presence of modeling uncertainties.