运载火箭自适应增广控制参数设计及稳定性裕度分析

Parameters design and stability margin analysis of adaptiveaugmenting control for launch vehicle

针对运载火箭主动飞行段的强鲁棒姿态控制系统设计要求,提出自适应增广控制器(adaptive augmenting controller,AAC)的参数设计方法以及稳定性裕度分析方法。首先,针对传统运载火箭建立了小扰动线性化方程,推导了传递函数,并基于特征点参数设计了比例微分(proportional-derivative,PD)控制器及校正网络。然后,开展了AAC设计,给出调节参数的具体设计方法和准则。为了评估加入AAC之后整个控制系统的稳定性,基于正弦分析法推导了AAC的正弦响应模型,从而可评估系统的稳定性。最后,在多种干扰条件下完成了六自由度(six degree of freedom,6-DOF)的仿真分析,证明了AAC的有效性,同时也获得了AAC+PD控制系统的幅值裕度和相位裕度。仿真结果表明,该方法能够反映实际系统的稳定性,具有一定的工程指导意义。

In view of the design requirements of robust attitude control system in the ascent phase of launch vehicle,a parameter design method of adaptive augmenting controller(AAC)and a stability margin analysis method are proposed.Firstly,the small disturbance linearization equations and transfer functions are established for the conventional launch vehicle,and the proportional-derivative(PD)controller and the correction network are designed based on characteristic point parameters.Then,an AAC design is carried out,and the specific design method and criterion of the adjustment parameters are given.To further evaluate the stability of the whole control system after the addition of AAC,the sine response model of AAC is derived based on the sine analysis method.Therefore,the stability of the system can be evaluated.Finally,the actual six degree of freedom(6-DOF)simulation analysis is completed under various disturbance conditions,which proves the effectiveness of AAC.Moreover,the amplitude margin and phase margin of the AAC+PD control system are obtained.The simulation results show that the method can reflect the stability of the actual system,and it has certain engineering guiding significance.