基于非线性模型预测控制的火箭垂直回收姿态控制方法

Attitude control method for rocket vertical recovery based on nonlinear model predictive control

针对火箭垂直回收着陆段强扰动、强参数不确定性、箭体姿态动力学高动态变化的飞行特性,提出了一种基于非线性模型预测控制的火箭垂直回收姿态控制方法。首先,基于四元数构建姿态控制数学模型;然后,在非线性模型预测控制框架下求解控制指令;同时,引入反馈校正机制与变时域策略以提升控制精度,进一步利用ESO观测扰动。仿真结果表明,控制器响应速度快、跟踪精度高,观测器能够有效观测并补偿扰动,具有较强的扰动鲁棒性。

For the flight characteristics of strong disturbance,large parameter uncertainty,and high dynamic changes of rocket body attitude dynamics in the vertical landing phase of rocket recovery,a rocket vertical recovery attitude control method based on nonlinear model predictive control is proposed.Firstly,the attitude control mathematical model is constructed based on quaternions.Then,the control command is solved under the framework of nonlinear model predictive control,and the feedback correction mechanism and variable time domain strategy are introduced to improve the control accuracy.Furthermore,the disturbance is observed by ESO.The simulation results show that the controller has fast response,high tracking accuracy,and the observer can effectively observe and compensate the disturbance with strong disturbance robustness.