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月面着陆器在下降着陆过程中质量变化大,质心漂移及其引起的姿态扰动问题突出。载人月面着陆任务对安全性可靠性要求高,如何提高姿态控制的精度和稳定度是着陆任务顺利实施的关键。文章提出采用反作用控制系统和推力矢量控制的联合姿态控制方案,设计了自适应姿态控制器及质心漂移自适应估计器,通过李雅普洛夫方法证明闭环姿态控制系统稳定,引入反作用控制和推力矢量控制的误差特性以检验控制器的鲁棒性。数值仿真结果表明该控制方案可行,所设计自适应姿态控制器能使姿态控制系统稳定,推力矢量控制侧摆能使推力指向跟踪质心,可为工程应用提供参考。
The mass of lunar lander changes greatly during the descent landing, and the mass center drift and the attitude disturbance caused by it are prominent. The manned lunar landing mission has high requirements on safety and reliability. How to improve the accuracy and stability of attitude control is the key to the smooth implementation of the landing mission. In this paper, a joint attitude control scheme using reaction control system and thrust vector control is proposed. Adaptive attitude controller and center of mass drift adaptive estimator are designed. The closed-loop attitude control system is proved to be stable by Lyapunov method. The reaction control and thrust vector control The error characteristics of the controller to verify the robustness. The numerical simulation results show that the proposed control scheme is feasible. The designed attitude controller can stabilize the attitude control system and the thrust vector control can make the thrust point to track the center of mass, which can be used as reference for engineering application.