第18卷第12期 2010年12月
1004-924X(2010)12-2590-07
文章编号
光学精密工程
Optics and Precixion Engineering
Vol, 18No.12
Dec.2010
协调增益调度的重复使用助推器姿态控制设计
许江涛1，崔乃及刚1，吕世良2
（1.哈尔滨工业大学航天学院航天工程系，黑龙江哈尔滨150001； 2.中国科学院长春光学精密机械与物理研究所，克林长春130033)
摘要：针对可重复使用助推飞行器在大攻角飞行过程中的耦合及干扰间题，提出了基于协调增益调度策略的姿态控制器设计方法。首先，忽略大攻角飞行时俯仰、偏航、滚转通道间潜在的耦合，建立了有别于小扰动线性化的各通道线性化模型，独立设计了各通道的增益调度控制器。然后在单通道控制的基础上，说明了协调增益调度控制策略的思想。最后，设计了协调调度控制器用于消除通道间的交叉耦合。非线性实时仿真表明，该策略使攻角最大误差降低了1～2°，侧滑角跟踪精度提高了将近0.4"，满足可重复使用助推飞行器大攻角飞行时对系统性能指标的要求，同时控制策略的设计方法物理概念清晰，易于工程实现。
关键调：助推飞行器；增益调度；协调调度策略；姿态控制；交叉揭合
中图分类号：V448.12
文献标识码：A
doi:10.3788/OPE.20101812.2590
Design of coordinated gain scheduled attitude
controllerforreusableboostervehicle
XU Jiang-tao',CUI Nai-gang',LU Shi-liang
(l.School ofAstronautics,HarbinInstituteof Technology,Harbin15oool,China
2.Changchun Institute of Optics,FineMechanics and Physics, Chinese Academy of Sciences,Changchun130033,China)
Abstract:In consideration of the serious coupling and distributions in the attitude control of a reusable booster with a high angle of attack, a new kind of gain-scheduled attitude control strategy was presen-ted. Firstly, each of the pitch. yaw and roll channels was treated separately by ignoring the intention-al coupling among the channels, and the linear control model of each channel was established in a way different from that considering small perturbation linearization. Then, the gain-scheduled controller for each channel was designed, and the theory of coordinated gain scheduled control strategy was put forward based on the single gain-scheduled controller. Finally, the coordinated scheduled controller was designed to deal with the intentional cross coupling among different channels. The results of non linear real-time simulation validate that the tracking error of the attack angle has reduced about 2°, and the control accuracy of sideslip angle has improved about O. 4° by proposed strategy. The control system can satisfy the control performance requirement of the reusable booster, and the strategy of
收稿日期：2009-12-24；修订日期：2010-04-15
基金项目：国家863高技术研究发展计划资助项目