Active-Disturbance-Rejection/Robust Attitude Control System Design of Underactuated Vehicle Based on Flap Control

doi:10.12382/bgxb.2022.0035

Abstract

Abstract:

To solve the problems of insufficient maneuverability and difficulties in engineering applications that are commonly seen in existing underactuated hypersonic vehicle control strategies, an active disturbance rejection/robust control system with new underactuated control strategies is proposed. Firstly, an underactuated control strategy based on channel cascade is presented an important feature is that the yaw channel acts as the inner loop of the roll channel in the new strategy, and the introduction of the ±1.5° legal range of sideslip angle also improves the command tracking speed of the roll angle. Then, the control law is constructed by the combination of active disturbance rejection control (ADRC) and robust control theory. It is not only suitable for non-minimum phase systems with overload feedback/underactuation, but also reduces model parameters dependence in ADRC as well as order reduction difficulty in robust control, thus broadening the controller’s application in engineering. Finally, 1000 times Monte Carlo simulations are carried out on the hypersonic vehicle model with ±20% random perturbation in parameters, and the results show that the proposed strategy can improve the response speed of the roll channel while ensuring the sideslip angle does not cross the boundary. In addition, the control system also has good robustness when confronted with model perturbation and compound interference.

Key words: hypersonic vehicle, flap, underdrive control, active disturbance rejection control, robust control, non-minimum phase

MA Yuemeng, WANG Linwei, SHAO Chuntao, ZHOU Di, WANG Yonghai. Active-Disturbance-Rejection/Robust Attitude Control System Design of Underactuated Vehicle Based on Flap Control[J]. Acta Armamentarii, 2023, 44(5): 1251-1266.

Figures/Tables 28

Fig.1 Diagram of cascade underactuated strategy system

Fig.2 Block diagram of pitch channel control system design

Fig.3 Diagram of order reduction of inner loop controller in pitch channel

Fig.4 Step response of closed-loop system of inner loop controller in pitch channel

Fig.5 Singular value of closed-loop system of inner loop controller in pitch channel

Fig.6 Bode diagram of equivalent closed-loop system of inner loop controller

Fig.7 Zero pole diagram of equivalent closed-loop system of inner loop controller

Fig.8 Diagram of order reduction of outer loop controller in pitch channel

Fig.9 Step response of closed-loop system of external loop in pitch channel

Fig.10 Singular value of closed-loop system of external loop in pitch channel

Fig.11 Block diagram of roll-yaw channel control system design

Fig.12 Bode diagram of equivalent closed-loop system in yaw channel

Fig.13 Zero-pole diagram of equivalent closed-loop system in yaw channel

Fig.14 Diagram of order reduction of robust controller in roll channel

Fig.15 Step response of closed-loop system in roll channel

Fig.16 Singular value of closed loop system in roll channel

Table 1 Aerodynamic parameters of pitch channel

a₁	a₂	a₃	a₄	a₅	a₆
0	149.1	143.6	1.656	0.168	0.933

Table 2 Aerodynamic parameters of yaw channel

b₁	b₂	b₄	b₆	b₇
18.30	152.8	0.648	-0.933	3

Table 3 Aerodynamic parameters of roll channel

c₁	c₂	c₃	c₄
1.0982	-10	0. 849	0

Table 4 Controller parameters of pitch channel

参数位置	名称	数值
	β₁	100
NESO1(俯仰通道)	β₂	10000
	δ₁	0.01
	μ₁	0.5
	β₁	100
NESO2(俯仰通道)	β₂	10000
	δ₂	0.01
	μ₂	0.5

Table 5 Controller parameters of roll-yaw channel

参数位置	名称	数值
NESO1 (滚转与偏航通道)	β₁	100
	β₂	100
	β₃	10000
	δ₃	0.01
	μ₃	0.5
NESO2 (滚转与偏航通道)	β₁	1000
	β₂	10000
	δ₄	0.01
	μ₄	0.5
NESO3 (滚转与偏航通道)	β₁	100
	β₂	10000
	δ₅	0.01
	μ₅	0.5

Fig.17 Roll angle response curve

Fig.18 Sideslip angle response curve

Fig.19 Longitudinal overload response curve

Fig.20 Aileron deflection angle response curve

Fig.21 Elevator angle response curve

Fig.22 Observation results of compound disturbance in roll-yaw channel of nominal system

Fig.23 Observation results of compound disturbance in pitch channel of nominal system

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