载人月面着陆器动力下降段自适应姿态控制

Adaptive attitude control for manned lunar lander during the powered descent phase

载人月面着陆器动力下降过程中质心偏移及其引起的姿态扰动问题比较突出,对此本文提出了采用反作用控制系统(RCS)和推力矢量控制(TVC)的联合自适应姿态控制方法.基于月面着陆器姿态运动学和动力学模型,设计了自适应姿态控制器及质心偏移自适应估计器,利用Lyapunov方法证明闭环姿态控制系统稳定,引入RCS和TVC的误差特性以检验控制器的鲁棒性.数值仿真结果表明该自适应姿态控制方法可行,所设计姿态控制器保证姿态控制系统稳定且具有鲁棒性.

During the powered descent phase of manned lunar lander,offset of center of mass and attitude disturbance brought by the offset are outstanding,so the combined Reaction Control System(RCS) and Thrust Vector Control(TVC) attitude control method is proposed.Based on the lunar lander's attitude kinematic and dynamic models,adaptive attitude controller and estimator of center of mass offset are developed.Stability of closed-loop attitude control system is proved via Lyapunov method,while error characteristic of RCS and TVC is imported to verify the controller's robustness.Numerical simulation results show that the proposed adaptive attitude control method is feasible,and the designed attitude controller can guarantee the attitude control system stable and possess robustness.