多源干扰下运载器精细抗干扰容错姿态控制

A Refined Anti-Disturbance Fault-Tolerant Attitude Control Law for Launch Vehicle Subject to Fault and Multiple Disturbances

针对运载器再入段存在故障以及多源干扰情况下的姿态控制问题,利用部分干扰的已知信息,提出一种精细抗干扰容错控制方法。首先,建立包含故障与多源干扰的运载器姿态控制模型与弹性振动干扰模型;其次,设计一种干扰观测器对运动学中的模型不确定进行准确估计;结合强抗扰控制思想,设计干扰观测器估计弹性振动干扰,设计扩张状态观测器估计故障及其它干扰;最后,利用各观测器的输出,基于动态面控制,设计虚拟控制信号对非匹配通道的模型不确定项进行动态补偿,设计精细抗干扰容错控制器对故障以及多源干扰进行补偿,保证姿态跟踪的精确性。仿真结果表明该方法可有效提高姿态跟踪精度与系统可靠性,达到精细姿态控制效果。

Aiming at the attitude control problem in the case of faults and multi-disturbances in the reentry section of the launch vehicle, a refine anti-disturbance fault-tolerant control method is proposed by using some known disturbance information. Firstly, the attitude control model of the vehicle including faults and multi-disturbances is established, and then the elastic vibration disturbance model is established. Secondly, a disturbance observer is designed to accurately estimate the model uncertainty in kinematics. Then, based on the idea of enhanced anti-disturbance control, a disturbance observer is designed to estimate the elastic vibration disturbance, and an extended state observer is designed to estimate the fault and other disturbances. Finally, using the output of each observer and based on the dynamic surface control, a virtual control signal is designed to dynamically compensate the uncertainty of the model mismatched channel. A refine anti-disturbance fault-tolerant controller is designed to compensate the fault and multi-disturbances to ensure the accuracy of attitude tracking. Simulation results show the effectiveness of this method which can effectively improves the attitude tracking precision and system reliability and achieves the effect of fine attitude control.