一种线性自抗扰三回路姿态驾驶仪设计方法研究

Study on a design method of linear active disturbance rejection three-loop attitude pilot

针对传统三回路姿态驾驶仪在强非线性、强时变及强耦合条件下鲁棒性不足问题,提出了一种基于线性自抗扰控制的三回路姿态驾驶仪设计结构。在继承原驾驶仪设计结构和参数的基础上,采用线性自抗扰扩张状态观测器对建模过程中因“参数固化”和“小扰动”假设产生的不确定性和未建模扰动进行估计和补偿,实现了三回路驾驶仪鲁棒增强性设计。某再入飞行器的仿真结果表明,该方法控制鲁棒性高,解耦效果好。

Aiming at the problems of insufficient robustness of traditional three-loop attitude pilot under strong nonlinearity,strong time-varying and strong coupling conditions,a design structure of linear active disturbance rejection control(LADRC) three-loop attitude pilot is proposed.On the basis of inheriting the structures and parameters of the traditional attitude pilot,the LADRC extended state observer(ESO) is used to estimate and compensate the uncertainties and unmodeled disturbances caused by parameters solidification and small disturbance assumptions in the process of modeling,which enhances the robustness design of pilot.The simulation results of a reentry vehicle show that the proposed method has high robustness and good decoupling effect.