重复使用运载火箭精确回收滑模动态面控制
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摘要
针对可重复使用运载火箭一子级再入垂直着陆阶段,利用滑模动态面控制(SMDSC)技术设计了一个精确垂直回收控制策略。首先考虑运载火箭的燃料消耗、质心变化及转动惯量摄动等特点,建立运载火箭一子级返回段动力学模型。然后针对范数有界的不确定性和有界连续的未知干扰,设计一个滑模状态观测器和一个自适应参数估计器用于获得其估计值;随后,基于获得的状态估计值和未知参数估计值,设计了一个基于自适应动态面技术的跟踪控制律。最后,通过数值仿真,对比两种不同控制策略下的运载火箭垂直返回姿态角跟踪能力。结果表明,采用本文提出的自适应滑模动态面控制策略具有更好的跟踪效果.
A precise vertical recovery control strategy is designed by using the sliding mode dynamic surface control(SMDSC) technology in the reentry landing phase for a reusable launch vehicle. Firstly,the actual dynamic model of the launch vehicle is established,which includes the fuel consumption,the change of the center of mass and the inertia perturbation. Then,a sliding mode state observer and an adaptive parameter estimator are given to obtain the estimated value of the norm bounded uncertainties and disturbances. Subsequently,a dynamic surface tracking control law is proposed based on the derived estimations. Finally,the numerical simulation is carried out to compare with the attitude tracking ability of the vertical return launch vehicle under two different control strategies. The results show that the proposed adaptive sliding mode dynamic surface control strategy has better tracking performance.
A precise vertical recovery control strategy is designed by using the sliding mode dynamic surface control(SMDSC) technology in the reentry landing phase for a reusable launch vehicle. Firstly,the actual dynamic model of the launch vehicle is established,which includes the fuel consumption,the change of the center of mass and the inertia perturbation. Then,a sliding mode state observer and an adaptive parameter estimator are given to obtain the estimated value of the norm bounded uncertainties and disturbances. Subsequently,a dynamic surface tracking control law is proposed based on the derived estimations. Finally,the numerical simulation is carried out to compare with the attitude tracking ability of the vertical return launch vehicle under two different control strategies. The results show that the proposed adaptive sliding mode dynamic surface control strategy has better tracking performance.
引文
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[18]Hu C F,Gao Z F,Ren Y L,et al.A robust adaptive nonlinear fault-tolerant controller via norm estimation for reusable launch vehicles[J].Acta Astronautica,2016,128:685-695.
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[20]刘玉玺,张卫东,刘汉兵,等.全向发射状态下运载火箭变结构自适应滑模控制[J].宇航学报,2015,36(9):1002-1009.[Liu Yu-xi,Zhang Wei-dong,Liu Han-bing,et al.Variable structure/adaptive sliding mode control of launch vehicle based on the omni-directional launch[J].Journal of Astronautics,2015,36(9):1002-1009.]
[21]Emov D,Edwards C,Zolghadri A.Enhancement of adaptive observer robustness applying sliding mode techniques[J].Automatica,2016,72:53-56.
[22]Wang C L,Lin Y.Adaptive dynamic surface control for linear multivariable systems[J].Automatica,2010,46(10),1703-1711.
[23]Drouot A,Richard E,Boutayeb M.Hierarchical back-steppingbased control of a gun launched MAV in crosswinds:theory and experiment[J].Control Engineering Practice,2014,25:16-25.
[24]Yonemoto K,Yamasaki H,Ichige M.Winged test rocket with fully autonomous guidance and control for realizing reusable suborbital vehicle[J].International Journal of Mechanical,Aerospace,Industrial,Mechatronic and Manufacturing Engineering,2016,10(1):96-107.
[25]Baldesi G,Toso M.European Space Agency’s launcher multibody dynamics simulator used for system and subsystem level analyses[J].CEAS Space Journal,2012,3(1-2):27-48.
[26]Santoro F,Bellomo A,Bolle A,et al.The Italian spacegate:study and innovative approaches to future generation transportation based on high altitude flight[J].Acta Astronautica,2014,101:98-110.
[27]Kobayakawaa T,Kawatoa H,Mochizukia K,et al.Abort recovery strategy for future vertical landing systems[J].Acta Astronautica,2015,116:148-153.
[2]徐大富,张哲,吴克,等.垂直起降重复使用运载火箭发展趋势与关键技术研究进展[J].科学通报,2016,61(32):3453-3463.[Xu Da-fu,Zhang Zhe,Wu Ke,et al.Recent progress on development trend and key technologies of vertical take-off vertical landing reusable launch vehicle[J].Chinese Science Bulletin,2016,61(32):3453-3463.]
[3]高朝辉,张普卓,刘宇,等.垂直返回重复使用运载火箭技术分析[J].宇航学报,2016,37(2):145-152.[Gao Chaohui,Zhang Pu-zhuo,Liu Yu,et al.Analysis of vertical landing technique in reusable launch vehicle[J].Journal of Astronautics,2016,37(2):145-152.]
[4]康建斌,谢泽兵,郑宏涛,等.火箭子级垂直返回海上平台制导、导航和控制技术研究[J].导弹与航天运载技术,2016,6(350):32-35.[Kang Jian-bin,Xie Ze-bing,Zhen Hong-tao,et al.Study on guidance,navigation and control of vertical landing droneship for rocket first stage[J].Missiles and Space Vehicles,2016,6(350):32-35.]
[5]Nebylov A,Nebylov V.Reusable space planes challenges and control problems[J].International Federation of Automatic Control,2016:480-485.
[6]Mirshams M,Khosrojerdi M.Attitude control of an underactuated spacecraft using quaternion feedback regulator and tube-based MPC[J].Acta Astronautica,2017,132:143-149.
[7]丰晓霞,夏广庆,韩秀利,等.运载火箭姿态控制系统稳定性分析[J].大连理工大学学报,2015,55(5):542-547.[Feng Xiao-xia,Xia Guang-qing,Han Xiu-li,et al.Analysis of stability for launch vehicle attitude control system[J].Journal of Dalian University of Technology,2015,55(5):542-547.]
[8]刘鹏云,孙瑞胜,李伟明,等.基于锥形运动的制导火箭速度控制导引律设计[J].航空学报,2014,35(4):933-941.[Liu Peng-yun,Sun Rui-sheng,Li Wei-ming,et al.A coning motion-based guidance law for guided rocket with velocity control[J].Acta Aeronautica et Astronautica Sinica,2014,35(4):933-941.]
[9]张志国,余梦伦,耿光有,等.应用伪谱法的运载火箭在线制导方法研究[J].宇航学报,2017,38(3):262-269.[Zhang Zhi-guo,Yu Meng-lun,Geng Guang-you,et al.Research on application of pseudo-spectral method in online guidance method for a launch vehicle[J].Journal of Astronautics,2017,38(3):262-269.]
[10]郭军海,赵华.一种运载火箭上升段轨迹的高精度确定方法[J].宇航学报,2015,36(9):1018-1023.[Guo Jun-hai,Zhao Hua.Accurate algorithm for trajectory determination of launch vehicle in ascent phase[J].Journal of Astronautics,2015,36(9):1018-1023.]
[11]吕新广,宋征宇.长征运载火箭制导方法[J].宇航学报,2017,38(9):895-902.[Lv Xin-guang,Song Zheng-yu.Guidance methods of long-march launch vehicles[J].Journal of Astronautics,2017,38(9):895-902.]
[12]王子瑞,刘磊,王永骥.基于新型动态积分滑模的运载火箭姿态控制[J].计算技术与自动化,2011,30(4):42-46.[Wang Zi-rui,Liu Lei,Wang Yong-ji.Dynamic integral sliding mode for launch vehicle attitude control system[J].Computing Technology and Automation,2011,30(4):42-46.]
[13]Roy D,Goswami R,Sanyal S,et al.Pitch attitude control of a booster rocket[J].International Journal of Engineering and Science,2013,2(7):8-12.
[14]赵党军,李新民,王永骥,等.基于微分代数方法的运载火箭自抗扰姿态控制[J].华中科技大学学报,2011,39(8):104-107.[Zhao Dang-jun,Li Xin-min,Wang Yong-ji,et al.Auto-disturbance-rejection attitude control of carrier rockets using differential algebraic approach[J].Journal of Huazhong University of Sci.&Tech.,2011,39(8):104-107.]
[15]Lee H,Reiman S,Dillon C.Robust nonlinear dynamic inversion control for a hypersonic cruise vehicle[C].AIAA Guidance,Navigation and Control Conference and Exhibit,Hilton Head,USA,August 20-23,2007.
[16]Pamadi K B,Ohlmeyer E J.Evaluation of two guidance laws for controlling the impact flight path angle of a naval gun launched spinning projectile[C].AIAA Guidance,Navigation,and Control Conference and Exhibit,Keystone,USA,August 21-24,2006.
[17]耿克达,周军,林鹏.变质心再入飞行器自适应滑模退步控制律设计[J].固体火箭技术,2013,36(5):580-585.[Geng Ke-da,Zhou Jun,Lin Peng.Design of adaptive sliding mode backstepping control for moving mass reentry vehicle[J].Journal of Solid Rocket Technology,2013,36(5):580-585.]
[18]Hu C F,Gao Z F,Ren Y L,et al.A robust adaptive nonlinear fault-tolerant controller via norm estimation for reusable launch vehicles[J].Acta Astronautica,2016,128:685-695.
[19]Wang Z,Wu Z,Du Y J.Robust adaptive backstepping control for reentry reusable launch vehicles[J].Acta Astronautica,2016,126:258-264.
[20]刘玉玺,张卫东,刘汉兵,等.全向发射状态下运载火箭变结构自适应滑模控制[J].宇航学报,2015,36(9):1002-1009.[Liu Yu-xi,Zhang Wei-dong,Liu Han-bing,et al.Variable structure/adaptive sliding mode control of launch vehicle based on the omni-directional launch[J].Journal of Astronautics,2015,36(9):1002-1009.]
[21]Emov D,Edwards C,Zolghadri A.Enhancement of adaptive observer robustness applying sliding mode techniques[J].Automatica,2016,72:53-56.
[22]Wang C L,Lin Y.Adaptive dynamic surface control for linear multivariable systems[J].Automatica,2010,46(10),1703-1711.
[23]Drouot A,Richard E,Boutayeb M.Hierarchical back-steppingbased control of a gun launched MAV in crosswinds:theory and experiment[J].Control Engineering Practice,2014,25:16-25.
[24]Yonemoto K,Yamasaki H,Ichige M.Winged test rocket with fully autonomous guidance and control for realizing reusable suborbital vehicle[J].International Journal of Mechanical,Aerospace,Industrial,Mechatronic and Manufacturing Engineering,2016,10(1):96-107.
[25]Baldesi G,Toso M.European Space Agency’s launcher multibody dynamics simulator used for system and subsystem level analyses[J].CEAS Space Journal,2012,3(1-2):27-48.
[26]Santoro F,Bellomo A,Bolle A,et al.The Italian spacegate:study and innovative approaches to future generation transportation based on high altitude flight[J].Acta Astronautica,2014,101:98-110.
[27]Kobayakawaa T,Kawatoa H,Mochizukia K,et al.Abort recovery strategy for future vertical landing systems[J].Acta Astronautica,2015,116:148-153.