基于ESO的再入飞行器姿态控制

Attitude Control Method of Re-entry Flight Vehicle Based on ESO

针对飞行器再入姿态控制系统受到较大干扰力矩时,采用目前工程上常用的"前馈+PID"控制方法难以获得理想控制精度的问题,提出了采用自抗扰控制技术进行再入姿态控制的方法。首先利用扩张状态观测器对前馈项没有完全补偿的剩余飞行器角加速度进行估计并加以补偿,使得作用在飞行器上的力矩接近于平衡状态,并采用PD控制器进行误差反馈控制,给出了飞行器再入姿态自抗扰控制律,并在频率域分析的基础上给出了控制参数设计原则。仿真结果表明采用本方法能够有效地克服干扰力矩,从而明显地提高再入飞行器姿态动态跟踪精度。

Due to the great disturbance on the attitude control system of re-entry vehicle, the current widely used control method in engineering, which is called as ＂PID with Feedforward Control＂, is difficult to obtain satisfactory system per- formance. In this paper, the idea of using Active Disturbance Rejection Control （ADRC） technology to design attitude controller of re-entry vehicle is proposed. Firstly, the residual attitude angular acceleration without compensation by feed- forward controller is estimated and compensated by making full use of ESO, this would make the flight moments close to the balance states. Secondly, PD controller is introduced for error-feedback control. Thirdly, some principles for de- signing control parameters based on frequency domain analysis are given. Finally, Simulation results show that ADRC can effectively overcome the attitude disturbance generated by the disturbing torque, thereby significantly improve the dynamic tracking accuracy of aircraft attitude.