可重复使用运载器变结构姿态控制算法设计

Design of Variable-Structure Attitude Control System for RLV (Reusable Launch Vehicle)

详细介绍了混合使用气动舵面和反作用控制系统的变结构姿态控制系统的设计方法。该控制算法用于可重复使用运载器,对于具有高空域大马赫飞行、机动明显、通路间耦合严重的非线性不确定时为系统具有良好的控制精度和抗干扰鲁棒性。同时基于可重复使用运载器空间飞行轨迹、使用执行机构特性等因素,进行数学模型和控制律的简化设计和相应处理。仿真结果初步显示了基于变结构设计的PLV姿态控制算法可以确保对指令精确、鲁棒和解耦的跟踪能力,姿态误差小于1°,姿态响应超调量小于5%。

In the full paper, we explain our design in detail; in this abstract, we just add some pertinent remarks to listing the three topics of explanation ; （1） mathematical model, （2） the design of attitude control law, and （3） control allocation; under topic 1, eqs. （1）, （3）, （4） and （5） are taken from the open literature but eq. （2）, though originally also taken from the open literature, has been suitably modified for our design; the subtopics of topic 2 are longitudinal control （subtopic 2. 1） and lateral/directional control （subtopic 2.2）; under subtopic 2. 1, eqs. （6）, （7） and （8） are all taken from the open literature except that eqs. （7） and （8） have been suitably modified; under subtopic 2.2, eqs. （9） and （12） are derived by us ; under topic 3, we explain how to make the allocation of control torque to aero-surface and reaction control system （RCS） reasonable with an on-line control algorithm based on eqs. （13） through （16） ; also under topic 3, eqs. （14） and （15） are derived by us and eqs. （13） and （16） are taken from the open literature but suitably modified. Simulation results, given in Figs. 1, 2 and 3 in the full paper, show preliminarily that the variable-structure attitude control system for RLV designed by us ensures that its tracking performance is accurate, robust and decoupled. The error of attitude angle is kept within 1° and overshoot is kept under 5 %..