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针对高超声速飞行器控制指令受噪声干扰、气动参数不精确、各通道强耦合以及舵面偏角有限等特点,设计了基于轨迹线性化(TLC)的自抗扰姿态控制器。针对姿态角指令信号受噪声干扰、姿态回路受加速度限制的特点,应用最速二阶跟踪微分器对姿态指令进行预处理;应用轨迹线性化方法分别对姿态角回路、角速率回路设计解耦控制器;为了提高控制器的鲁棒性,在角速率回路以综合干扰为扩张状态设计扩张状态观测器(ESO),并对综合干扰进行补偿。仿真结果表明,该方法可以有效滤除指令信号中噪声、减小舵面偏角,并提高控制系统的鲁棒性。
Aiming at the characteristics of hypersonic vehicle control commands such as noise interference, inaccurate aerodynamic parameters, strong coupling of each channel and limited rudder deflection, a self-guided disturbance attitude controller based on trajectory linearization (TLC) was designed. Aiming at the characteristics that the attitude angle command signal is disturbed by the noise and the attitude loop is limited by the acceleration, the steepest second order tracking differentiator is used to preprocess the attitude command. The trajectory linearization method is used to design the decoupling controller In order to improve the robustness of the controller, an extended state observer (ESO) is designed in the angular rate loop with the integrated disturbance as an expanded state, and the integrated interference is compensated. The simulation results show that this method can effectively filter the noise in the command signal, reduce the rudder angle and improve the robustness of the control system.