高超声速飞行器自抗扰姿态控制器设计

Active disturbance rejection attitude control design for hypersonic vehicle

针对高超声速飞行器无动力再入过程中具有强耦合、气动参数摄动及不确定性的非线性姿态模型,结合自抗扰控制中的扩张状态观测器(extended state observer,ESO)及非线性状态误差反馈律(nonlinear law state error feedback,NLSEF),分别设计了高超声速飞行器内环和外环自抗扰姿态控制器。将不确定性、耦合及参数摄动等干扰作为"总和干扰"利用扩张状态观测器进行估计并动态反馈补偿,再利用NLSEF抑制补偿残差。自抗扰控制器(active disturbance rejection control,ADRC)设计无需精确的飞行器被控模型,也无需精确的气动参数及摄动界限。仿真结果表明,控制系统能够克服干扰及气动参数大范围摄动的影响,在获取良好的动态品质和跟踪性能的同时,具有较强的鲁棒性。

For the hypersonic vehicle nonlinear attitude mode in re-entry process unpowered with a strong coupling,aerodynamic parameter perturbations and non-deterministic,combining extended state observer（ESO） and nonlinear law state error feedback（NLSEF） in the active disturbance rejection control（ADRC）,the hypersonic vehicle inner and outer ADRC attitude controller are designed respectively.Interferences,such as uncertainty,coupling and parameter perturbations,are regarded as ＂the sum of interference＂,the extended state observer is used to estimate and implement dynamic feedback compensation,and then the NLSEF is used to inhibit the compensating residual.ADRC controller is designed without a precise model of vehicle,and without precise perturbation boundaries of aerodynamic parameters.Simulation results show that the control system can overcome the impact of large-scale perturbations of interference and aerodynamic parameters,which has good dynamic qualities,tracking capabilities,and strong robustness.