Moving mass control is of benefit to reentry vehicle in shape maintenance, energy consumption reduction and load capability increase, while bringing in considerable conflict between design cost and performance of the controller. In this paper, grey prediction PID control for a moving mass actuated reentry vehicle is researched. Section 1 gives mathematical models of a moving mass actuated reentry vehicle; eq. ( 3 ) is worth paying special attention to. Section 2 proposes our moving mass grey prediction PID control method, its core is that we develop a new PID control structure including compensation of instant trim location, as is shown in Fig. 1, and replace instant trim location and attitude control error by their improved values according to their grey model prediction; eqs. (14 ) ~ (16) are worth paying special attention to. Section 3 gives a simulation example; in it, Figs. 2 ~7 show that the proposed moving mass grey prediction PID has notably better robustness and better dynamic characteristics than conventional PID control; also Figs. 8 and 9 show connection between control performance and prediction steps.%再入飞行器采用变质心控制不但可以保持较好的气动外形,还可以增大机动能力,但变质心控制较强的非线性和控制耦合特性使控制器设计成本和使用性能之间的协调非常困难.文章提出了一种基于灰色GM(1,1)预测模型的变质心PID离散控制器,首先依据变质心控制机理提出增加配平位置补偿的PID控制结构,然后采用GM(1,1)模型对配平位置和姿态控制偏差进行在线快速建模预测,最后将预测值应用于改进的PID控制算法以获得控制指令.仿真结果证明该变质心灰色预测PID控制相对常规PID控制具有更好的动态特性和非线性系统自适应能力,且仍具有较低的设计成本和较强的工程实用性.
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