Self-anti-disturbance sliding mode control method for a vertical rising and landing reusable vehicle

A technology of vertical take-off and landing, carrier, applied in the field of aircraft control

Active Publication Date: 2018-11-13
黑龙江省工研院资产经营管理有限公司
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Problems solved by technology

[0004] The purpose of the present invention is to solve the control problem under the condition that the vertical take-off and landing reusable vehicle is in the whole flight, an

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  • Self-anti-disturbance sliding mode control method for a vertical rising and landing reusable vehicle

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[0065] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0066] Combine figure 1 with figure 2 The present invention proposes an active disturbance rejection sliding mode control method for a vertical take-off and landing reusable vehicle, which includes the following steps:

[0067] Step 1: The vertical take-off and landing of the repeated use of the carrier takes the program angle (the attitude angle is the program angle, which includes the pitch program angle, the yaw program angle and the roll program ...

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Abstract

The invention provides a self-anti-disturbance sliding mode control method for a vertical rising and landing reusable vehicle. The method comprises steps of converting an attitude angle guidance instruction into a quaternion; establishing an attitude control model based on quaternion description; designing a nonlinear feedback control law; designing an extended state observer; and designing self-anti-disturbance sliding mode controller. The invention effectively avoids the singularity problem of the attitude, and designs the corresponding quaternion-based self-anti-disturbance sliding mode controller based on the attitude control model, so as to adapt to the control requirements of different actuators in different flight phases, overcome internal and external interference, and ensure highaccuracy, fast response, strong robustness and adaptive control performance, which has important research significance for the vertical rising and landing reusable vehicle recycling technology.

Description

technical field [0001] The invention belongs to the technical field of aircraft control, in particular to an automatic disturbance rejection sliding mode control method for a vertical take-off and landing reusable vehicle. Background technique [0002] During the process from launch to vertical return of the vertical take-off and landing reusable vehicle, especially the attitude adjustment flight segment after the end of the active segment, a large attitude reversal will occur to correct the flight range. Therefore, under the influence of large liquid sloshing and external complex The attitude angle is very prone to singular problems, which has a great impact on the high-precision autonomous fixed-point soft landing control technology of the vertical take-off and landing reusable vehicle. Therefore, it is urgent to study the attitude dynamics modeling method based on quaternion description, effectively avoid the problem of attitude singularity, and design a corresponding att...

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 韦常柱崔乃刚张亮关英姿浦甲伦
Owner 黑龙江省工研院资产经营管理有限公司
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