Self-adaptive index time varying slip form posture control method of reentry flight vehicle

A re-entry vehicle and attitude control technology, applied in the field of re-entry vehicle adaptive exponential time-varying sliding mode attitude control, can solve problems such as not easy to obtain, complicated and changeable re-entry process, and weak anti-interference ability of the system

Inactive Publication Date: 2013-01-16
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, the shortcomings of ordinary sliding mode control are: 1) the arrival stage is not robust; 2) the chattering problem; 3) the selection of the switching gain in the control law
However, for reentry vehicles, the reentry process is complex and changeable, and it is not easy to obtain these upper bounds of uncertainty
If the value of the swit

Method used

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  • Self-adaptive index time varying slip form posture control method of reentry flight vehicle
  • Self-adaptive index time varying slip form posture control method of reentry flight vehicle
  • Self-adaptive index time varying slip form posture control method of reentry flight vehicle

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Embodiment

[0101] 1) Establish the six-degree-of-freedom twelve-state equation of the re-entry vehicle as the model of the controlled object, and combine the three airflow attitude angles (angle of attack α, sideslip angle β, and roll angle μ) kinematic equations involved in the equation with the three The angular velocity of rotation around the body axis (roll angular velocity ω x , yaw rate ω y , the pitch rate ω z Dynamic equation) written in affine nonlinear form (3);

[0102] 2) Perform feedback linearization processing on the above-mentioned affine nonlinear system to obtain a decoupled three-channel mathematical model of the re-entry vehicle;

[0103] 3) Construct the exponential time-varying sliding mode function formula (9) and the corresponding control law (11), and the switching gain in the control law is calculated online through formula (13).

[0104] 4) Calculate the control torque command according to formula (14). Since the control torque cannot be directly applied to...

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Abstract

The invention relates to a self-adaptive index time varying slip form posture control method of a reentry flight vehicle, belonging to the technical field of flight vehicles. The method comprises the steps of firstly establishing a posture motion equation in a mode that a powerless reentry flight vehicle model is used as an object; secondly modifying the equation into the mode of an MIMO (Multiple Input Multiple Output) affine non-linear system, further applying a feedback linearization principle to carry out linearization processing so as to obtain a three-channel linearization model of pitching, rolling and yawing; aiming at the obtained linearization system, designing a modified self-adaptive index time varying slip form controller; and subsequently obtaining a control moment instruction for the posture control of the reentry flight vehicle, and inputting the control moment instruction into the reentry flight vehicle so as to control the posture. By combining the index time varying slip form control with a self-adaptive method, the problem of excessive adaptation of switch gain in the self-adaptive slip form control is solved to a certain extent, the uncertainty of system parameters and the influence of external disturbance can be suppressed effectively, and the precise posture control is realized.

Description

technical field [0001] The invention relates to an adaptive exponential time-varying sliding mode attitude control method for a reentry aircraft, belonging to the technical field of aircraft control. Background technique [0002] For the re-entry vehicle, the flight conditions (airspace and speed domain) change in a large range during the re-entry process, and the coupling between channels is serious, showing strong nonlinear dynamic characteristics. In addition, the existence of various uncertain external disturbances and the inability to accurately know the aerodynamic characteristics of the aircraft make its attitude control extremely complicated. The key problem to be solved in the design of the reentry vehicle control system is to suppress the influence of the above nonlinear, strong coupling and uncertainty on the system performance. [0003] Although various advanced nonlinear control methods (such as dynamic inverse, feedback linearization, trajectory linearization,...

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Application Information

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IPC IPC(8): G05B13/04G05D1/00
Inventor 刘向东王亮盛永智
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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