基于扩张状态观测器的小型固体火箭控制系统设计与验证

Extended state observer based small solid rocket control system design and validation

以自研小型固体火箭为对象,基于扩张状态观测器,对三通道姿态控制器进行了设计及验证。建立了以攻角、侧滑角和滚转角为控制目标的积分链状态空间模型;结合扩张状态观测器,应用极点配置法对三通道姿态控制器进行了鲁棒设计;通过数值仿真和半实物仿真,结合拉偏分析,对控制器设计进行校核,证明了设计的有效性和鲁棒性;通过飞行试验验证了控制器性能,跟踪结果符合仿真分析,基本无延时、无静差,证明了该方法的可行性和工程应用价值。

The design and validation for the three-channel attitude controller of a self-developed small solid rocket based on the extended state observer approach were presented.The integral-chain state space model was established for the control design of the angle of attack,angle of sideslip and roll angle;Combined with the extended state observer,the pole placement was applied to the ro-bust design of the three-channel attitude controller;Through numerical and hardware-in-the-loop simulation with uncertainties con-sidered,the effectiveness and robustness of the controller were illustrated and verified.The performance of the controller was valida-ted by flight-test with results of nearly no time delay or state error conforming to the simulation,which illustrates the feasibility and the engineering application value.