基于MIMO-ESO的高速飞行器自抗扰控制

ADRC Attitude Controller Design for Hypersonic Vehicle based on MIMO-ESO

针对高速飞行器无动力再入过程中具有强耦合、气动参数摄动及不确定性的非线性姿态模型,设计了高速飞行器MIMO-ESO自抗扰姿态控制器。考虑各通道间的耦合影响,结合自抗扰控制中的扩张状态观测器及非线性状态误差反馈律,将不确定性、耦合及参数摄动等干扰作为“总和干扰”,利用扩张状态观测器进行估计并动态反馈补偿,再利用非线性状态误差反馈律抑制补偿残差。仿真结果表明,MIMO-ESO自抗扰控制器能够克服干扰及气动参数大范围摄动的影响,在获取良好的动态品质和跟踪性能的同时,具有较强的鲁棒性,克服了实际工程中难以建立精确被控模型并获取参数摄动范围的困难,具有工程应用价值。

For the hypersonic vehicle nonlinear attitude mode in reentry process with a strong coupling,aerodynamic parameter perturbations and non-deterministic,the hypersonic vehicle MIMO-ESO ADRC attitude controller is designed.Extended state observer and nonlinear law state error feedback are conbined,interference such as uncertainty,coupling and parameter perturbations as is put"the sum of interference",the extended state observer is used to estimate and dynamic feedback compensation,nonlinear law state error feedback is used to inhibit residual of compensation.ADRC controller is charged without a precise model of vehicle,and without precise perturbation boundaries of aerodynamic parameters.Simulation results show that the MIMO-ESO ADRC attitude controller can overcome the impact of large-scale perturbations of interference and aerodynamic parameters,have good dynamic qualities and tracking capabilities,also have strong robustness.It overcomes the difficulty of establishing accurate controlled model and obtaining parameter perturbation range in practical engineering,and has engineering application value.