引入角加速度测量的柔性飞行器姿态控制方法

doi:10.3969/j.issn.1000-1093.2020.11.009

摘要/Abstract

摘要： 讨论大气层外细长型柔性飞行器的姿态控制问题，该问题的本质是在测量器件附加柔性影响的情况下控制刚体姿态跟踪指令。提出动态面姿态控制方法，以实现姿态指令跟踪。建立柔性形变的2阶动态模型，结合刚体角速度与柔性形变的关系建立非线性模型并设计卡尔曼滤波器。针对轨控发动机质心偏移等因素产生的干扰力矩，引入角加速度计的测量，经过陷波滤波器处理后得到各轴向的估计力矩，将其作为卡尔曼滤波器的输入。仿真结果表明，对于柔性飞行器，采用所提出的状态估计及控制方法，可以保证姿态跟踪误差在0.5°以内。

关键词: 柔性飞行器, 动态面控制, 卡尔曼滤波器, 角加速度计, 陷波滤波器

Abstract: The attitude control of slender flexible aircraft outside the atmosphere is discussed. The essence of the problem is to control the attitude tracking command of rigid body under the condition of additional flexibility of measuring device. A dynamic surface attitude control method is presented for attitude command tracking. A second-order dynamic model of flexible deformation is established. A nonlinear model is established by combining the angular velocity of rigid body with the flexible deformation, and the Kalman filter is designed. The measurement of angular accelerometer is introduced for the problem of disturbance torque caused by the factors, such as the centroid shift of rail-controlled engine. After notch filtering, the estimated torque of each axis is obtained and used as the input of Kalman filter. The simulated results show that, for the flexible air vehicle, the proposed state estimation and control method can ensure the attitude tracking error being within 0.5°.

Key words: flexibleairvehicle, dynamicsurfacecontrol, Kalmanfilter, angularaccelerometer, notchfilter

中图分类号:

V448.22⁺2

张博伦，周荻. 引入角加速度测量的柔性飞行器姿态控制方法[J]. 兵工学报, 2020, 41(11): 2225-2233.

ZHANG Bolun， ZHOU Di. Flexible Aircraft Attitude Control Method with the Measurement of Angular Acceleration[J]. Acta Armamentarii, 2020, 41(11): 2225-2233.

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第41卷第11期2020 年11月
兵工学报ACTA ARMAMENTARII
Vol.41No.11Nov.2020

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