移动质心再入飞行器姿态的无源性控制

Attitude Control of Moving Mass Reentry Vehicle Using Passivity-base Techniques

从能量的观点研究了再入飞行器的移动质心控制方案。由于受移动质量块大小和位移的限制,移动质心控制方式不能像空气舵一样产生很大的控制力矩。采用基于能量的欧拉-拉格朗日法,在飞行器坐标系内推导了单质量块移动的七自由度动力学方程。在对动力学方程进行合理简化的基础上,采用无源性控制设计了俯仰平面的姿态控制器。状态反馈跟踪控制采用了能量形成加上阻尼注入的PD+(PD Plus)控制思想。在控制律推导过程中,直接考虑了动力学系统的非线性。通过Lyapunov函数证明了控制器能使系统全局渐近稳定。对非线性系统再入飞行控制仿真结果表明,即使存在风干扰和参数时变情况下所设计控制器也有满意的性能。

This paper dealt with the control of a moving mass reentry vehicle （RV） from the energy perspective. Moving mass control can not produce large control moment comparing with that of aerodynamic control surfaces subject to mass and space constraints. The seven-degree-of-freedom （7 - DOF） equations of dynamics for a single moving mass were derived from Euler-Lagrange approach that is based on energy in the body-fixed frames. Attitude controller was designed based on sound simplified dynamics equation using the passivity-based control （PBC） technique for pitch plane. It was followed the energy shaping plus damping injection proportional-differential plus idea used for state feedback tracking control. In our derivation of the control law, the nonlinearity of the system＇s dynamics was directly taken into account. This controller was proved globally asymptotically stabilize the system by relying on Lyapunov techniques. Results obtained from nonlinear simulations demonstrate satisfactory performance of the controller during re-entry flight control mission profile, even when wind disturbance and parameters time-varying occurred.