摘要
针对以小扰动线性化为代表的传统控制方法处理大范围不确定性问题时存在的不足,采用可对未知扰动进行实时跟踪估计并补偿的自抗扰控制方法设计控制律。构建辅助状态变量以满足控制器设计时的形式要求,在此基础上,分别设计基于扩张状态观测器(ESO)及降阶扩张状态观测器(RESO)的姿态控制器,通过对观测器的时频域分析确定基于RESO的控制器的优越性。仿真结果表明,以RESO为观测器的自抗扰控制方法与常规自抗扰方法相比具有更快的跟踪速度和更好的跟踪效果,本文所设计的控制器对仿真算例是有效的。
To solve the problems that traditional control methods represented by the linearization of small perturbation are insufficient in dealing with large scale uncertainty problem,the ADRC control method that has advantages such as real-time tracking and estimating of unknown disturbance is employed. On the condition of proper transformation of the attitude equation of hypersonic vehicle,the attitude controller based on extended state observer（ESO） and reduced-order extended state observer（RESO） are designed respectively,and the two control laws are analyzed in time-frequency domain and verified by simulation. The simulation results show that the active disturbance rejection control method based on RESO has faster tracking speed and better tracking effect compared with the conventional ADRC. The controller designed is effective for the simulation example.
作者
王光辉
江思荣
原继萍
杜立夫
罗宛臻
Wang Guanghui;Jiang Sirong;Yuan Jiping;Du Lifu;Luo Wanzhen(Beijing Aerospace Automatic Control Institute,Beijing 100854,China;National Key Laboratory of Science and Technology on Aerospace Intelligence Control,Beijing 100854,China;China Academy of Launch Vehicle Technology,Beijing 100076,China)
出处
《战术导弹技术》
北大核心
2018年第4期84-90,109,共8页
Tactical Missile Technology
基金
国家自然科学基金(61403355)
关键词
高超声速飞行器
自抗扰控制
扩张状态观测器
降阶观测器
hypersonic vehicle
active disturbance rejection control
extended state observer
re-duced-order observer
