高超声速飞行器自抗扰姿态控制器设计

摘要

针对高超声速飞行器无动力再入过程中具有强耦合、气动参数摄动及不确定性的非线性姿态模型,结合自抗扰控制中的扩张状态观测器(extended state observer,ESO)及非线性状态误差反馈律(nonlinear law state error feedback,NLSEF),分别设计了高超声速飞行器内环和外环自抗扰姿态控制器.将不确定性、耦合及参数摄动等干扰作为"总和干扰"利用扩张状态观测器进行估计并动态反馈补偿,再利用NLSEF抑制补偿残差.自抗扰控制器(active disturbance rejection control,ADRC)设计无需精确的飞行器被控模型,也无需精确的气动参数及摄动界限.仿真结果表明,控制系统能够克服干扰及气动参数大范围摄动的影响,在获取良好的动态品质和跟踪性能的同时,具有较强的鲁棒性.%For the hypersonic vehicle nonlinear attitude mode in re-entry process unpowered with a strong coupling, aerodynamic parameter perturbations and non-deterministic, combining extended state observer ( ESO) and nonlinear law state error feedback ( NLSEF) in the active disturbance rejection cotrol ( ADRC) , the hypersonic vehicle inner and outer ADRC attitude controller are designed respectively. Interferences, such as uncertainty, coupling and parameter perturbations, are regarded as "the sum of interference" , the extended state observer is used to estimate and implement dynamic feedback compensation, and then the NLSEF is used to inhibit the compensating residual. ADRC controller is designed without a precise model of vehicle, and without precise perturbation boundaries of aerodynamic parameters. Simulation results show that the control system can overcome the impact of large-scale perturbations of interference and aerodynamic parameters, which has good dynamic qualities, tracking capabilities, and strong robustness.