| 摘要: |
| 为实现参数不确定和扰动下运载火箭大偏航入轨过程高精度姿态稳定控制，提出了一种双回路扰动观测补偿有限时间收敛滑模控制方法。首先基于运载火箭飞行动力学方程构建了面向控制的姿态模型；然后分析模型中存在的复合扰动，构建双回路扰动观测补偿滑模控制框架；通过引入有限时间收敛微分器、观测器和滑模控制器，实现了运载火箭姿态控制回路对姿态指令的高精度快速响应。该方法能够有效观测并补偿同时存在的匹配和非匹配扰动项，提高运载火箭姿态控制系统对参数不确定的适应性。通过对比传统PID控制方法，充分验证了双回路扰动观测补偿有限时间收敛滑模控制方法的良好性能。 |
| 关键词: 大偏航入轨 扰动观测 有限时间收敛 非匹配扰动 双回路 |
| DOI： |
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| 基金项目: |
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| Double-Loop Disturbance Observer Based Finite-Time Convergence Sliding Mode Control for Rocket Orbital Insertion with Large Yaw |
| WU Yansheng |
| (China Aerospace Science and Technology Corporation) |
| Abstract: |
| For the achievement of precise attitude control during the process of rocket orbital insertion with large yaw with large parameter uncertainties, a double-loop disturbance observer based finite-time convergence sliding mode control method is proposed. Control-oriented attitude model was developed at first based on the rocket flight dynamic and kinematic equations. After analyzing the composite disturbances in the established model, a framework of double-loop observer-based sliding mode control was conducted. Finite-time convergence differentiator, observer and sliding mode controller were introduced subsequently for rocket quickly and precisely tracking attitude orders. The method presented in this paper can observe and compensate matched and mismatched disturbance simultaneously, leading to stronger adaptability to parameter uncertainties. By comparison between traditional PID control and double-loop sliding mode control, the high performance of the proposed control method is validated. |
| Key words: Orbital insertion with large yaw Disturbance observer Finite-time convergence Mismatched disturbance Double-loop |