移动质心再入飞行器建模及自抗扰滚动控制

Moving Centroid Reentry Vehicle Modeling and Active Disturbance Rejection Roll Control

基于移动质心滚动控制方案,研究了其动力学系统建模和非线性耦合系统控制的问题。不同于移动质心控制系统建模中常用的牛顿力学建模和常规拉格朗日建模法,采用准坐标形式的拉格朗日法建立了完整的系统动力学方程,避免了牛顿力学中复杂的相互作用力分析和常规拉格朗日建模法物理意义不明确的缺点。鉴于移动质心滚动控制系统的非线性、耦合性和时变性,提出把系统的非线性耦合项和外部干扰统归为未知扰动,并采用自抗扰控制(ADRC)技术进行估计和补偿,相对于常用的比例微分(PD)控制,自抗扰控制器能更好地适应系统参数的变化,具有很强的鲁棒性。最后,通过数学仿真验证了整个控制方案的可行性。

Based on the moving centroid roll control scheme,a dynamic system molding and coupled nonlinear system control is studied.Differing from the Newtonian mechanics molding and conventional Lagrange mechanics molding used in moving centroid control system molding,a quasi-coordinates Lagrange method is adopted to establish the system dynamics equation,which avoids the complicated force analysis in Newtonian mechanics and the physical meaning implicitness in conventional Lagrange mechanics.In view of the nonlinear,coupling and time-varying nature of the moving centroid roll control system,the active disturbance rejection control（ADRC） technology is adopted to design the attitude controller.The active disturbance rejection controller estimates and compensates for the total unknown disturbances which include the nonlinear coupling parts and external interferences.The active disturbance rejection controller is more robust in disturbance resistance and more adaptable to system parameter changes than the proportion-differential（PD） controller.The feasibility of the entire control system is validated by mathematical simulation.