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考虑弹性振动和液体晃动,采用鲁棒观测器设计了运载火箭的姿态控制系统。将姿态角测量结果中弹性振动的影响视为外界干扰,利用状态观测器的低通滤波特性实现对高频弹性信号的衰减,同时状态观测器替代速率陀螺估计得到姿态角速度,以姿态角和角速度信号为输入,采用扭曲二阶滑模控制方法设计了姿态控制律,并从理论上对该控制律稳定液体晃动和弹性振动的原理进行了证明,对观测器变换矩阵的选择进行分析。数值仿真表明,在参数摄动和干扰的影响下,所提出的变结构控制律能够有效的跟踪控制指令,稳定系统姿态,具有较强的鲁棒性,同时鲁棒状态观测器能够准确的估计出角速度信息。
Considering elastic vibration and liquid sloshing, a robust observer is used to design the attitude control system of the launch vehicle. Considering the influence of elastic vibration in attitude angle measurement as external disturbance, the attenuation of high-frequency elastic signal is realized by the low-pass filter characteristic of state observer. Meanwhile, attitude observer replaces rate gyro to obtain attitude angular velocity, and the attitude angle and angular velocity Signal is used as the input, the attitude control law is designed by using the twisted second-order sliding mode control method. The theory of stabilizing liquid and elastic vibration of the control law is proved theoretically, and the selection of observer transformation matrix is analyzed. The numerical simulation shows that the proposed variable structure control law can effectively track the control commands under the influence of parameter perturbation and disturbance, stabilize the system attitude, have strong robustness, and the robust state observer can accurately estimate Angular velocity information.