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针对以质点方式的滑块布局无法在实际工程中实现的问题,提出了一种大质量比的单滑块布局模式,并与喷气推力组合实现了飞行器的倾斜转弯.采用大质量比滑块的布局方式不仅易于工程实现而且可以提高飞行器的机动能力.通过动力学分析,结果表明大质量比的滑块在运动过程中会导致飞行器姿态与滑块转角之间的运动耦合,而且在动量交换过程所产生的惯性力矩也会影响飞行器的动态特性,因此滑块不能再作为质点来处理.针对这种强耦合非线性动力学系统,将非线性耦合项和未建模扰动视为总扰动,设计了一种线性扰动观测器对其进行估计,然后利用反馈线性化控制进行补偿.仿真结果验证了这种大质量比滑块布局模式的可行性,所设计的控制器可以实现对姿态指令的跟踪.
Aiming at the problem that the slider layout with mass points can not be realized in the actual project, a single slider layout model with large mass ratio is proposed and combined with the jet thrust to achieve the tilting of the aircraft. The layout is not only easy to implement but also can improve the maneuverability of the aircraft.According to the dynamic analysis, the results show that the mass ratio of the slider in the course of the movement will lead to the vehicle attitude and the slider between the kinematic coupling, but also in the momentum exchange process The moment of inertia generated will also affect the dynamic characteristics of the aircraft, so the slider can no longer be treated as a particle.For this strongly coupled nonlinear dynamical system, the nonlinear coupling term and the unmodeled perturbation are regarded as the total disturbance, and the design A linear perturbation observer estimates it and then compensates it with feedback linearization control.The simulation results verify the feasibility of this mass ratio slider layout pattern and the designed controller can track the attitude command .