A rocket attitude control method and device, electronic equipment and storage medium

Abstract

The application relates to the technical field of aircraft control, and discloses a rocket attitude control method and device, an electronic device and a storage medium, wherein the method comprises the following steps: collecting a state signal of a rocket attitude dynamics system; designing a corresponding nonlinear extended state observer based on the state signal, the nonlinear extended state observer being used for estimating disturbances and uncertain terms in an attitude dynamics model in real time; designing a double-power approaching law sliding mode controller based on the attitude dynamics model and the estimated disturbances and uncertain terms, the controller being configured to realize the chattering-free convergence of a sliding mode variable and a first-order derivative thereof within a limited time; and controlling the attitude of a target rocket through the nonlinear extended state observer and the double-power approaching law sliding mode controller. The application can effectively suppress disturbances, quickly and accurately control the rocket in a complex disturbance environment, and solve the problem that the control accuracy and response speed of a traditional linear feedback control technology are limited under the condition of strong disturbance and large initial deviation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aircraft control, in particular to a rocket attitude control method and device, an electronic device and a storage medium. BACKGROUND

[0002] In the initial stage of large rocket launch, its attitude control faces many challenges. The rocket is prone to be disturbed by turbulence, crosswind, sea wind and other factors in the initial stage, resulting in large attitude angle deviation. At the same time, factors such as rocket body tilt, crosswind and turbulence will excite elastic vibration and liquid sloshing, further affecting the attitude stability. The traditional linear feedback attitude control method has limited ability to deal with these disturbances and uncertain terms, and usually needs to leave a large phase redundancy to ensure stability, resulting in waste of control ability. Especially under the conditions of large initial deviation and strong disturbance, the control accuracy and response speed are difficult to meet the demand, which seriously restricts the performance of the rocket as a whole. It can be seen that the existing technology has the problems of control instability and limited response speed under the disturbed condition in the initial flight process of the rocket.

[0003] The foregoing narrative is to provide general background information and does not necessarily constitute the prior art. SUMMARY

[0004] The embodiments of the present application provide a rocket attitude control method and device, an electronic device and a storage medium, which can effectively suppress interference and quickly and accurately control the rocket in a complex interference environment, solving the problem of limited control accuracy and response speed of the traditional linear feedback control technology under the conditions of strong disturbance and large initial deviation.

[0005] In a first aspect, the embodiments of the present application provide a rocket attitude control method, comprising:

[0006] Collecting a state signal of a rocket attitude dynamics system;

[0007] Designing a corresponding nonlinear extended state observer based on the state signal, the nonlinear extended state observer being configured to estimate disturbances and uncertain terms in the attitude dynamics model in real time;

[0008] Designing a double-power approaching law sliding mode controller based on the attitude dynamics model and the estimated disturbances and uncertain terms, the double-power approaching law sliding mode controller being configured to realize the chattering-free convergence of the sliding mode variable and its first-order derivative in a limited time;

[0009] Controlling the attitude of the target rocket through the nonlinear extended state observer and the double-power approaching law sliding mode controller.

[0010] Optionally, in some embodiments of the present application, the collecting of the state signal of the rocket attitude dynamics system comprises:

[0011] The open-loop stability of the rocket attitude dynamics system was analyzed, and the stability analysis results under different operating conditions were obtained.

[0012] Based on the open-loop stability analysis results, a structural notch filter is designed to suppress the influence of elastic modes. The structural notch filter is used to preprocess the acquired state signals.

[0013] Optionally, in some embodiments of this application, the step of designing a corresponding nonlinear extended state observer based on the state signal includes:

[0014] The nonlinear and disturbance terms in the rocket attitude dynamics system are expanded into new state variables to construct an expanded state-space model.

[0015] Based on the extended state-space model, using attitude angle deviation and its first derivative as state inputs, and constructing observation errors using a linear combination of inertial navigation system (INS) signals and rate gyroscope signals, a second-order nonlinear extended state observer is designed.

[0016] Optionally, in some embodiments of this application, the step of constructing the observation error using a linear combination of inertial navigation system signals and rate gyroscope signals, and designing a second-order nonlinear extended state observer, includes:

[0017] Based on the linear combination relationship between the inertial measurement unit signal and the rate gyroscope signal, the weighting factor used to construct the observation error is determined;

[0018] Based on the observation error and the preset feedback gain coefficient, a second-order nonlinear extended state observer is constructed, which includes iterative calculation of the state estimator.

[0019] Optionally, in some embodiments of this application, the step of designing a double power-law reaching sliding mode controller based on the attitude dynamics model and the estimated disturbances and uncertainties includes:

[0020] A double power-law approaching law with finite-time convergence characteristics is selected, and the coefficient parameters used to adjust the convergence speed in the double power-law approaching law are determined.

[0021] Based on the attitude dynamics model, a sliding surface is designed. Combining the double power-law approaching law and the estimation results of the disturbances and uncertainties, the equivalent rudder deflection angle expression for controlling the rocket attitude is determined.

[0022] Optionally, in some embodiments of this application, the step of designing a sliding surface based on the attitude dynamics model, and determining the equivalent rudder deflection expression for controlling the rocket attitude by combining the double power-law approaching law and the estimation results of the disturbances and uncertainties, includes:

[0023] Substituting the double power-law into the first derivative equation of the sliding surface, a dynamic equation including control input is established.

[0024] Based on the attitude dynamics model and the estimation results of the disturbances and uncertainties, the dynamic equations are solved to obtain the equivalent rudder deflection control quantity including the disturbance compensation term.

[0025] Optionally, in some embodiments of this application, controlling the attitude of the target rocket through the nonlinear extended state observer and the double power-law approaching sliding mode controller includes:

[0026] The disturbance estimate output by the nonlinear extended state observer is input to the compensation loop of the double power-law sliding mode controller to form a closed-loop control circuit.

[0027] Based on the equivalent rudder deflection angle signal output by the double power-law sliding mode controller, the attitude control actuator of the rocket is driven to control the attitude of the target rocket.

[0028] Secondly, embodiments of this application provide a rocket attitude control device, comprising:

[0029] The signal acquisition module is used to acquire the state signals of the rocket attitude dynamics system;

[0030] The observer design module is used to design a corresponding nonlinear extended state observer based on the state signal. The nonlinear extended state observer is used to estimate the disturbances and uncertainties in the attitude dynamics model in real time.

[0031] The controller design module is used to design a double power-reaching sliding mode controller based on the attitude dynamics model and the estimated disturbances and uncertainties. The double power-reaching sliding mode controller is configured to achieve chatter-free convergence of the sliding mode variables and their first derivatives in a finite time.

[0032] The attitude control module is used to control the attitude of the target rocket through the nonlinear extended state observer and the double power-law sliding mode controller.

[0033] Thirdly, embodiments of this application provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the rocket attitude control method as described in the first aspect.

[0034] Fourthly, embodiments of this application provide a storage medium storing a computer program that can be loaded by a processor and executed as described in the first aspect of the rocket attitude control method.

[0035] This application provides a rocket attitude control method, device, electronic equipment, and storage medium. First, the state signals of the rocket attitude dynamics system are acquired. Then, a corresponding nonlinear extended state observer is designed based on the state signals to estimate the disturbances and uncertainties in the attitude dynamics model in real time. Next, based on the attitude dynamics model and the estimated disturbances and uncertainties, a double power-reaching sliding mode controller is designed to achieve chatter-free convergence of the sliding mode variables and their first derivatives within a finite time. Finally, the attitude of the target rocket is controlled by the nonlinear extended state observer and the double power-reaching sliding mode controller. In the rocket attitude control scheme provided in this application, a designed nonlinear extended state observer accurately estimates disturbances, providing a basis for control compensation and effectively suppressing the influence of crosswinds, vibrations, and other disturbances on rocket attitude, thereby improving control accuracy. The designed double-power-law sliding mode controller, with its fast convergence characteristics, can complete attitude deviation adjustments within a finite time, shortening the response time. Combining the nonlinear extended state observer and the double-power-law sliding mode controller enhances the rocket's attitude control performance under large initial attitude angle deviations and strong disturbances, solving the problem of insufficient control capability of traditional linear feedback control under strong disturbances and large deviations. This achieves rapid and precise control of the rocket's attitude, thereby improving the overall performance and flight safety of the rocket. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is an application environment diagram of the rocket attitude control method provided in the embodiments of this application;

[0038] Figure 2 This is a schematic flowchart of the rocket attitude control method provided in the embodiments of this application;

[0039] Figure 3 This is a flowchart illustrating the disturbance-resistant attitude control based on NESO and double power-law approaching sliding mode provided in an embodiment of this application.

[0040] Figure 4 This is a schematic diagram of the rocket attitude control device provided in the embodiments of this application;

[0041] Figure 5 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0042] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of systems and methods consistent with those detailed in the appended claims or with some aspects of this application.

[0043] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover descriptions such as non-exclusive inclusion, so that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0044] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0045] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0046] During the initial launch phase, the aerodynamic forces and moments experienced by a launch vehicle are relatively small due to its low flight speed. For launch vehicles launched from launch tubes, silos, or sea platforms, turbulence may occur during exit from the tube / silo, and the presence of crosswinds, sea breezes, and other disturbances can easily lead to significant attitude angle deviations during launch. Furthermore, the tilting of the launch vehicle, crosswinds, and turbulence during launch can easily induce strong elastic vibrations and fluid sloshing. If the attitude deviation is significant, excessive correction amplitude from the propeller motors can greatly increase the structural fatigue of the rocket. Traditional linear feedback attitude control methods are poor at handling disturbances and uncertainties; therefore, sufficient amplitude and phase redundancy is usually included in the attitude control design. However, a large stability margin can lead to wasted control capabilities, especially under conditions of large initial deviations and strong disturbances, resulting in limited control accuracy and response speed, thus restricting the overall performance of the rocket.

[0047] To address the aforementioned technical problems and overcome the shortcomings of existing technologies, this application provides a rocket attitude control method, device, equipment, and medium that enables robots to perform efficient, flexible, and precise task planning in complex dynamic scenarios, thereby improving the efficiency and adaptability of robot task planning.

[0048] Figure 1 This is a diagram illustrating the application environment of a rocket attitude control method in one embodiment. (Refer to...) Figure 1 The rocket attitude control method relates to a rocket attitude control system. This system includes a terminal 110 and a server 120. The terminal 110 and server 120 are connected via a network. The terminal 110 can be a desktop terminal or a mobile terminal, specifically a mobile phone, tablet computer, laptop computer, or other similar devices. The server 120 can be a standalone server or a server cluster consisting of multiple servers. In a specific embodiment, the server 120 is used to collect state signals from the rocket attitude dynamics system; design a corresponding nonlinear extended state observer based on the state signals, which is used to estimate disturbances and uncertainties in the attitude dynamics model in real time; design a double-power-law sliding mode controller based on the attitude dynamics model and the estimated disturbances and uncertainties, configured to achieve chatter-free convergence of the sliding mode variables and their first derivatives within a finite time; and control the attitude of the target rocket through the nonlinear extended state observer and the double-power-law sliding mode controller.

[0049] Please see Figure 2 , Figure 2 This is a schematic flowchart of a rocket attitude control method according to an embodiment of this application. This embodiment mainly uses the application of the rocket attitude control method to a computer device as an example for illustration. The rocket attitude control method provided in an embodiment of this application may specifically include the following steps:

[0050] S1. Acquire the state signals of the rocket attitude dynamics system;

[0051] Specifically, for step S1, acquiring the state signals of the rocket's attitude dynamics system is fundamental to achieving precise attitude control. The rocket's attitude dynamics system includes multiple complex physical processes, such as the elastic vibration of the rocket body and the sloshing of liquid fuel. By acquiring state signals such as attitude angle deviation and attitude angular velocity through sensors, the rocket's attitude changes can be monitored in real time. State signals are typically provided by devices such as inertial measurement units and rate gyroscopes, reflecting the rocket's attitude and motion state in space. In actual acquisition processes, the acquired state signals may be affected by noise and interference. To improve control accuracy, signal filtering techniques, such as Kalman filtering, can be used to preprocess the acquired signals to remove noise and interference, obtaining more accurate attitude information.

[0052] S2. Design a corresponding nonlinear extended state observer based on the state signal. The nonlinear extended state observer is used to estimate the disturbances and uncertainties in the attitude dynamics model in real time.

[0053] Specifically, for step S2, the design of the Nonlinear Expanded State Observer (NESO) is crucial for accurately estimating unknown disturbances and uncertainties in the system. As an advanced observer design method, the NESO can estimate disturbances and uncertainties in the system in real time. In rocket attitude control, these disturbances and uncertainties include aerodynamic forces, elastic modal vibrations, and fluid sloshing. By expanding the nonlinear and disturbance terms in the rocket attitude dynamics system into new state variables and constructing an expanded state-space model, the dynamic characteristics of the system can be described more comprehensively. Then, by constructing the observation error using a linear combination of inertial navigation system (INS) and rate gyroscope signals, a second-order nonlinear expanded state observer is designed, thereby achieving accurate estimation of disturbances and uncertainties.

[0054] Furthermore, when designing a nonlinear extended state observer, it is necessary to rationally select the observer parameters, such as the feedback gain coefficient and the feedback gain in the nonlinear function. The selection of observer parameters directly affects the estimation accuracy and convergence speed of the observer. Optimal observer parameters can be determined through system identification and parameter optimization methods, such as genetic algorithms or particle swarm optimization algorithms, to improve the observer's performance.

[0055] S3. Based on the attitude dynamics model and the estimated disturbances and uncertainties, a double power-reaching sliding mode controller is designed. The double power-reaching sliding mode controller is configured to achieve chatter-free convergence of the sliding mode variables and their first derivatives in a finite time.

[0056] Specifically, for step S3, the design of the double power-reaching law sliding mode controller aims to achieve chatter-free convergence of the sliding mode variables and their first derivatives within a finite time. As a robust control method, the sliding mode controller can ensure system stability even with disturbances and uncertainties. The double power-reaching law is a special type of sliding mode control law that can achieve chatter-free convergence of the sliding mode variables and their first derivatives within a finite time. By selecting appropriate double power-reaching law parameters, the convergence speed and control accuracy of the system can be adjusted. The sliding surface is designed, and combined with the estimated disturbances and uncertainties, the equivalent rudder deflection angle expression for controlling the rocket's attitude is determined, thereby achieving precise control of the rocket's attitude.

[0057] In practical applications, to further improve the performance of sliding mode controllers, adaptive control techniques can be used to adjust the parameters of the double power-law reaching law. For example, based on the real-time state of the system and the estimated disturbance values, the convergence speed and control gain of the reaching law can be dynamically adjusted to achieve better control performance. Furthermore, other advanced control methods, such as neural network control or fuzzy control, can be combined to improve the robustness and adaptability of the system.

[0058] S4. The attitude of the target rocket is controlled by a nonlinear extended state observer and a double power-law approaching sliding mode controller;

[0059] Specifically, in step S4, the disturbance estimate output by the nonlinear extended state observer is input into the compensation loop of the double power-law approaching sliding mode controller to form a closed-loop control circuit. Based on the estimated disturbance and uncertainties, the controller calculates the equivalent rudder deflection angle signal, which drives the rocket's attitude control actuators (such as engine nozzle deflection or attitude control rocket ignition), thereby achieving precise control of the rocket's attitude.

[0060] Furthermore, in practical rocket attitude control systems, to improve the actual control effect, it is also necessary to consider the dynamic characteristics and constraints of the actuators. For example, actuators may exhibit nonlinear characteristics such as delay and saturation, which can affect the performance of the control system. The actual control effect can be improved by introducing a dynamic model of the actuators and considering these constraints in the controller design. Fault diagnosis and fault-tolerant control techniques can also be employed to enhance the reliability and safety of the system.

[0061] This embodiment can effectively suppress vibrations caused by elastic modes, avoid instability of the control system caused by structural elastic deformation, and achieve chatter-free convergence of sliding mode variables and their first derivatives within a finite time. This improves the system's response speed and control accuracy, enhances the rocket's attitude control performance under conditions of large initial attitude angle deviations and strong disturbances, ensures stable flight of the rocket in the initial stage of launch, and improves the overall performance and flight safety of the rocket.

[0062] Optionally, in some embodiments, step S1, "acquiring the state signals of the rocket attitude dynamics system," may specifically include:

[0063] S11. Analyze the open-loop stability of the rocket attitude dynamics system and obtain the stability analysis results under different operating conditions;

[0064] Specifically, for step S11, analyzing the open-loop stability of the rocket attitude dynamics system is to understand the system's stability characteristics under different operating conditions. During the initial launch phase, the rocket faces various operating conditions, such as different crosswind conditions and sea states (for sea launches), which can affect the rocket's attitude stability. Specifically, to suppress the influence of elastic modes on the rocket's attitude control process, the frequency response method is first used to obtain the amplitude-frequency characteristic curves of the rocket body at different frequencies, identifying its zeros and poles, and then analyzing its open-loop stability. Thus, by analyzing the system's open-loop stability, the stability boundaries, oscillation modes, and potential instability trends under different operating conditions can be determined. This provides a basis for the subsequent design of structural notch filters to suppress the influence of elastic modes on the control system and ensure the stability of the rocket attitude control system.

[0065] S12. Based on the open-loop stability analysis results, a structural notch filter is designed to suppress the influence of elastic modes. The structural notch filter is used to preprocess the acquired state signals.

[0066] Specifically, for step S12, based on the results of the open-loop stability analysis, a structural notch filter is designed to suppress the adverse effects of elastic modes on the rocket's attitude control system. Elastic modes are vibration patterns generated when the rocket structure is subjected to external forces, which may lead to instability in the attitude control system. A structural notch filter is a filter that preprocesses the acquired state signal, filtering out vibration components within a specific frequency range caused by elastic modes. The design of the structural notch filter requires determining parameters such as the center frequency and bandwidth of the notch filter based on the frequency characteristics of the elastic modes obtained from the open-loop stability analysis, so that the notch filter can effectively suppress the influence of elastic modes and improve the performance and stability of the attitude control system.

[0067] Based on the acquisition of the state signals of the rocket attitude dynamics system, this embodiment further analyzes the open-loop stability of the system to obtain stability analysis results under different operating conditions. Based on this, a structural notch filter is designed to preprocess the acquired signals, effectively suppressing the negative impact of elastic modes on the rocket attitude control system and improving the stability and anti-interference capability of the rocket attitude control system.

[0068] Optionally, in some embodiments, step S2, "designing the corresponding nonlinear extended state observer based on the state signal," may specifically include:

[0069] S21. Expand the nonlinear and disturbance terms in the rocket attitude dynamics system into new state variables and construct the expanded state-space model.

[0070] Specifically, in step S21, the nonlinear and disturbance terms in the rocket attitude dynamics system are often difficult to measure or model directly, but their impact on the system cannot be ignored. By treating these nonlinear and disturbance terms as new state variables, the original attitude dynamics model can be extended into a higher-order state-space model. The expanded state-space model can more accurately reflect the actual dynamic behavior of the system, providing a more comprehensive system description for subsequent observer design. For example, attitude angle deviation, attitude angular velocity, and disturbance terms can all be treated as state variables to construct a unified state-space model, thereby achieving joint estimation of system state and disturbances. When constructing the expanded state-space model, more prior knowledge and physical information can be introduced to improve the accuracy and reliability of the model. For example, by combining the rocket's structural characteristics and aerodynamic characteristics, the nonlinear and disturbance terms can be modeled and described more accurately.

[0071] S22. Based on the extended state-space model, the attitude angle deviation and the first derivative of the attitude angle deviation are used as state input quantities. The observation error is constructed by the linear combination of the inertial navigation system signal and the rate gyroscope signal. A second-order nonlinear extended state observer is designed.

[0072] Specifically, for step S22, the attitude angle deviation and its first derivative are first used as state inputs. These two variables directly reflect changes in the rocket's attitude and are key indicators for attitude control. Simultaneously, an observation error is constructed using a linear combination of the inertial navigation system (INS) signal and the rate gyroscope signal. The INS and rate gyroscope are important sensors for rocket attitude measurement, and their signals provide crucial information such as attitude angles and angular velocities. By linearly combining these two signals, a comprehensive observation error signal is obtained, reflecting the deviation between the current observation value and the actual system state. Based on this observation error signal and the expanded state-space model, a second-order nonlinear extended state observer is designed to estimate the system state and the values ​​of disturbances and uncertainties. The design of the second-order observer improves the tracking capability and anti-interference capability of the system dynamics. To further improve the observer's performance, the linear combination of the INS and rate gyroscope signals can be optimized. For example, by designing adaptive weighting factors, the weights of the INS and rate gyroscope signals in the combination can be dynamically adjusted based on factors such as signal quality, noise level, and the real-time state of the system, thereby improving the accuracy and reliability of the observation error signal.

[0073] As can be seen, this embodiment uses a nonlinear extended state observer (NESO) to estimate unknown disturbances and uncertainties in the system. NESO achieves the estimation and identification of disturbances and uncertainties by successively adjusting the deviation between the estimated value and the output value of the original system. By designing a second-order nonlinear extended state observer, the observation error is constructed using the attitude angle deviation and its first derivative as state variables, and a linear combination of inertial navigation system (INS) signals and rate gyroscope signals.

[0074] This embodiment constructs an expanded state-space model by expanding the nonlinear and disturbance terms in the rocket attitude dynamics system into new state variables. Based on this model, the attitude angle deviation and its first derivative are used as state inputs. The observation error is constructed by using a linear combination of inertial navigation system (INS) signals and rate gyroscope signals. The designed second-order nonlinear expanded state observer can more accurately estimate the disturbances and uncertainties in the attitude dynamics model, providing reliable data support for subsequent precise attitude control and effectively improving the stability and control accuracy of the rocket attitude control system.

[0075] Optionally, in some embodiments, step S22, "constructing observation errors using a linear combination of inertial navigation system signals and rate gyroscope signals, and designing a second-order nonlinear extended state observer," may specifically include:

[0076] S221. Based on the linear combination relationship between the inertial measurement unit signal and the rate gyroscope signal, determine the weighting factor used to construct the observation error;

[0077] Specifically, for step S221, determining appropriate weighting factors is crucial for constructing the observation error signal. The selection of weighting factors requires comprehensive consideration of the characteristics of the inertial navigation system (INS) signal and the rate gyroscope signal, such as signal accuracy, noise level, and dynamic response. By analyzing the performance of the INS signal and the rate gyroscope signal under different flight phases and operating conditions, an optimal set of weighting factors can be determined, ensuring that the constructed observation error signal reflects the actual state deviation of the system to the greatest extent possible. For example, in the initial stage of rocket launch, due to significant attitude changes, it may be necessary to assign a larger weight to the rate gyroscope signal to better capture rapid attitude changes. In practical applications, an adaptive adjustment method for weighting factors can be used to address situations where the rocket's attitude changes drastically and signal characteristics dynamically change during flight. For example, fuzzy control algorithms or neural network algorithms can be used to adjust the magnitude of the weighting factors in real time.

[0078] S222. Based on the observation error and the preset feedback gain coefficient, construct a second-order nonlinear extended state observer that includes iterative calculation of the state estimator;

[0079] Specifically, in step S222, a second-order nonlinear extended state observer is constructed based on the already constructed observation error signal and the preset feedback gain coefficient. This observer continuously updates the estimated values ​​of the system state, including attitude angle deviation, attitude angular velocity, and disturbances and uncertainties, through iterative calculations. The selection of the feedback gain coefficient is crucial to the observer's performance, affecting its convergence speed and estimation accuracy. By appropriately selecting the feedback gain coefficient, it can be ensured that the observer can quickly and accurately track the actual state of the system and suppress the influence of disturbances and uncertainties. To optimize the selection of the feedback gain coefficient, system identification techniques and parameter optimization algorithms can be employed. For example, a genetic algorithm or particle swarm optimization algorithm can be used to optimize the feedback gain coefficient with the minimization of the observer's estimation error as the objective function.

[0080] This embodiment effectively improves the estimation accuracy and anti-interference capability of the observer by reasonably determining the weighting factor and optimizing the feedback gain coefficient, and realizes the accurate estimation of disturbances and uncertainties in the rocket attitude dynamics system, providing more accurate and reliable system state information for subsequent attitude control.

[0081] Optionally, in some embodiments, step S3, "designing a double-power-law sliding mode controller based on the attitude dynamics model and the estimated disturbances and uncertainties," may specifically include:

[0082] S31. Select a double power-law approach with finite-time convergence characteristics, and determine the coefficient parameters used to adjust the convergence speed in the double power-law approach.

[0083] Specifically, for step S31, a double power-law reaching law with finite-time convergence is selected, and its coefficient parameters are determined to adjust the convergence speed. A double power-law reaching law is a type of reaching law used in sliding mode control. Its mathematical expression typically contains two power terms, ensuring that the sliding mode variable and its first derivative achieve chatter-free convergence within a finite time. Selecting a suitable double power-law reaching law and determining its coefficient parameters can effectively adjust the system's convergence speed and stability.

[0084] S32. Based on the attitude dynamics model, design the sliding surface, and combine the estimation results of the double power-law approaching law and disturbances and uncertainties to determine the equivalent rudder deflection angle expression used to control the rocket attitude;

[0085] Specifically, for step S32, the sliding surface needs to be designed based on the rocket's attitude dynamics model. The sliding surface is a key concept in sliding mode control, transforming complex nonlinear system dynamics into a simplified sliding dynamic. The design of the sliding surface is typically based on the system's state variables, such as attitude angle deviation and attitude angular velocity. Next, combining the estimation results of the double power-law approaching law and disturbances and uncertainties, the equivalent rudder deflection angle expression is determined. The equivalent rudder deflection angle expression is obtained by substituting the sliding mode control law into the system dynamics equations, solving for the control input that allows the system state to converge to the sliding surface.

[0086] In a specific embodiment, this embodiment employs a double power-reaching law sliding mode control method to design an attitude controller, which has advantages such as fast response speed and strong robustness. It can achieve chatter-free convergence of the sliding mode variables and their first derivatives under bounded disturbance conditions. A double power-reaching law is selected, and its convergence characteristic within a fixed time is proven. By solving the convergence time function through the generalized Riccati equation, it is proven that the double power-reaching law has a supremum of convergence time, and the convergence time is independent of the initial state of the sliding mode. The sliding surface is designed, and its first derivative is obtained. Substituting this into the second derivative formula of the pitch angle deviation, the expression for the equivalent rudder deflection angle of the pitch channel is obtained.

[0087] This embodiment selects a double power-law approaching law and optimizes the convergence coefficient. It utilizes the characteristics of high power-law to accelerate initial convergence and low power-law to suppress final chattering, ensuring that the sliding mode variables and their first derivatives converge without chattering within a finite time, thus solving the problem of severe chattering in traditional sliding mode control. By combining the attitude dynamics model to design the sliding surface, the double power-law approaching law is fused with the disturbance term estimated by NESO, and the equivalent rudder deflection angle control quantity including disturbance compensation is derived. This enables the controller to respond quickly to large initial attitude angle deviations and to offset the effects of crosswinds, elastic vibrations, and other disturbances in real time.

[0088] Optionally, in some embodiments, step S32, "designing a sliding surface based on the attitude dynamics model, and determining the equivalent rudder deflection expression for controlling the rocket attitude by combining the estimation results of the double power-law approaching law and disturbances and uncertainties," may specifically include:

[0089] S321. Substitute the double power approaching law into the first derivative equation of the sliding surface to establish the dynamic equation containing the control input;

[0090] Specifically, for step S321, the key is to substitute the double power-reaching law into the first-order derivative equation of the sliding surface to establish a dynamic equation that includes the control input. The design of the sliding surface aims to transform the complex nonlinear system dynamics into a simplified sliding dynamic, thus making controller design easier. The double power-reaching law is a control strategy used to define how the sliding variables approach the sliding surface; its mathematical expression typically contains two power terms to ensure chatter-free convergence in a finite time. By substituting the double power-reaching law into the first-order derivative equation of the sliding surface, a differential equation describing the system's dynamic behavior can be obtained, which includes the control input term, providing a foundation for subsequent solutions to the control variables.

[0091] S322. Based on the attitude dynamics model and the estimation results of disturbances and uncertainties, the dynamic equations are solved to obtain the equivalent rudder deflection control quantity including disturbance compensation terms;

[0092] Specifically, for step S322, the established dynamic equations and the understanding of the attitude dynamics model are used, combined with the disturbance and uncertainty terms estimated by the Nonlinear Extended State Observer (NESO), to solve the dynamic equations. The aim is to obtain an equivalent rudder deflection control quantity that includes disturbance compensation terms. The equivalent rudder deflection control quantity refers to the control input that enables the system to dynamically satisfy the sliding surface conditions. Essentially, it transforms the complex control problem into solving an equivalent control quantity through mathematical transformation. The equivalent rudder deflection control quantity not only includes control over the system's normal dynamics but also compensation for the estimated disturbances and uncertainties, thereby ensuring that the system can stably track the desired attitude even in the presence of disturbances.

[0093] This embodiment not only improves the control accuracy of the rocket attitude control system, but also enhances the system's anti-interference capability and fast response characteristics. It fully utilizes the robustness of sliding mode control and the advantages of active disturbance rejection control to achieve precise control of the rocket attitude in complex interference environments.

[0094] Optionally, in some embodiments, step S4, "controlling the attitude of the target rocket using a nonlinear extended state observer and a double-power-law sliding mode controller," may specifically include:

[0095] S41. Input the disturbance estimate output by the nonlinear extended state observer into the compensation loop of the double power approaching law sliding mode controller to form a closed-loop control loop.

[0096] Specifically, for step S41, the core of this step lies in feeding back the disturbance estimate output by the Nonlinear Extended State Observer (NESO) to the double power-law approaching sliding mode controller to achieve real-time disturbance compensation. Specifically, NESO can estimate disturbances and uncertainties in the rocket attitude dynamics system in real time, such as elastic modal vibrations, fluid sloshing, and aerodynamic disturbances. These estimates are input into the compensation stage of the sliding mode controller, enabling the controller to dynamically adjust the control strategy based on the current actual disturbance conditions, thereby improving control accuracy and system stability. Through this feedback mechanism, a closed-loop control loop is formed, ensuring that the system can respond in real time and suppress the effects of disturbances. In practical applications, to further improve the performance of the closed-loop control loop, adaptive filtering techniques can be used to process the disturbance estimate output by the observer to remove potential estimation errors and noise interference. For example, an adaptive Kalman filter can be used to smooth the disturbance estimate, improving the reliability of the feedback signal.

[0097] S42. Based on the equivalent rudder deflection angle signal output by the double power-law sliding mode controller, the attitude control actuator of the rocket is driven to control the attitude of the target rocket.

[0098] Specifically, for step S42, the key is to use the equivalent rudder deflection angle signal output by the double power-law approaching sliding mode controller to actually control the rocket's attitude. The equivalent rudder deflection angle signal is a control quantity calculated by the controller based on the rocket's attitude dynamics model, sliding mode surface design, and disturbance estimates. Upon receiving this signal, the attitude control actuators (such as engine nozzle deflection mechanisms, attitude control rockets, etc.) will adjust the rudder deflection angle or engine thrust direction accordingly, thereby changing the rocket's attitude. This process realizes the conversion from control signal to actual attitude adjustment and is the key execution link of the entire attitude control system. In this way, precise control of the rocket's attitude can be achieved, enabling it to fly stably along a predetermined attitude trajectory.

[0099] Furthermore, the actuator can be dynamically modeled, and its delay and saturation characteristics can be considered in the controller design. By introducing methods such as feedforward compensation or predictive control, the tracking performance of the actuator can be improved. For example, a feedforward controller based on the actuator model can be designed to pre-calculate the input signal required by the actuator to compensate for its dynamic delay, thereby achieving a faster attitude response.

[0100] This embodiment can achieve high-precision, high-stability, and rapid response control of rocket attitude, effectively suppress the influence of various disturbances on rocket attitude, and improve the flight stability and control performance of rocket in complex environments. It is of great significance for ensuring the successful launch and accurate orbital insertion of rocket.

[0101] To facilitate understanding of the rocket attitude control method provided in this embodiment, this embodiment also provides a specific implementation method of the rocket attitude control method, the specific process of which is as follows:

[0102] (1) Processing of complex nonlinear systems

[0103] Based on typical rocket dynamics models and incorporating historical data, a higher-order model of the rocket's pitch channel is established, grounded in feature modeling.

[0104] (1) Standardized expression of system dynamics model

[0105] The original system characterization is transformed into a general nonlinear system expression. First, it is assumed that the observed dynamic system has the following form:

[0106]

[0107] In the formula, This refers to the nonlinear term in the original system. State variables, such as attitude angle deviation and attitude angular velocity, represent the original system. n first state, The disturbance experienced by the original system. u To correspond to the control quantities of the rocket attitude control actuators (such as rudder deflection angle and vernier engine thrust commands); b For control gain, describe the relationship between control input and state. x n The intensity of the influence (such as the transfer coefficient from rudder deflection angle to attitude angular acceleration) needs to be determined through system identification or dynamic modeling. This involves integrating the original system... and The term is expanded to a new state quantity. The expanded system can be obtained as follows:

[0108]

[0109] (2) Implementation of Nonlinear Extended State Observer (NESO)

[0110] Based on the observed dynamic system model, a nonlinear extended state observer is designed. By successively adjusting the deviation between the estimated value and the output value of the original system, the estimation of disturbances and uncertainties is achieved. Here, the observation error is constructed by a linear combination of inertial navigation system signals and rate gyroscope signals, and a second-order nonlinear extended state observer is designed.

[0111] Design a nonlinear extended state observer for the system shown in the above equation:

[0112]

[0113] In the formula, e For observation error,z 1. Observer on system output y The estimated value, y These are actual measured values; z 1 ，z 2 ,..., z n The following steps are to estimate the original system. n First-order states (such as attitude angle, angular velocity, angular acceleration). z n+1 To estimate the expansion state, , ,..., This is the feedback gain coefficient;

[0114] fal It is a piecewise continuous nonlinear function:

[0115] ;

[0116] This is the large error region. Accelerated convergence ( μ When the value is greater than 1, the larger the error, the faster the update, adapting to scenarios with large initial attitude deviations of the rocket; For the small error zone, To linearize the process (when μ < 1), chattering is suppressed, ensuring that the observer has no high-frequency fluctuations in steady state and improving attitude control accuracy.

[0117] For the launch vehicle attitude control problem, a second-order system with attitude angle deviation and its first derivative as state variables is taken as the observed system. Both attitude angle deviation and its first derivative contain information about system disturbances and uncertainties to some extent. Therefore, this paper uses a linear combination of inertial navigation system (INS) signals and rate gyroscope signals to construct the observation error.

[0118]

[0119]

[0120] In the formula, and This is a weighting factor, and its value is determined based on the actual working conditions. This refers to the attitude angle deviation output by the inertial navigation system. This represents the angular velocity deviation output by the rate gyroscope.

[0121] The nonlinear extended state observer is designed as follows:

[0122]

[0123] in, , , These are pitch angle deviation estimation, pitch angle deviation first derivative estimation, and disturbance and uncertainty term estimation, respectively. , , This is the feedback gain coefficient; To control the gain of the feedback term, which is used to determine the degree of compensation for the external input; , , The feedback gain in the nonlinear function is an important variable affecting the estimation and tracking performance.

[0124] (3) Implementation of double power-law approaching sliding mode control:

[0125] A double power-law approaching law is selected, a sliding mode surface is designed, and its first derivative is calculated. Substituting this into the second derivative formula for pitch angle deviation, the expression for the equivalent rudder deflection angle of the pitch channel is obtained. The convergence time function is solved using the generalized Riccati equation to ensure that the sliding mode variables and their first derivatives converge without chattering within a finite time.

[0126] Considering the mission requirements of disturbance resistance and rapid launch control during the rocket's launch phase, this paper adopts a double power-law reaching law sliding mode control method to design the attitude controller. First, a double power-law reaching law of the following form is selected:

[0127]

[0128] In the formula: . a 1 and a 2 is a power parameter. a 1>1 makes the sliding mode variable s When the absolute value is large, Rapid rate of change (accelerated convergence, attitude adjustment time during launch phase reduced by 30%); 0 < a 2<1 s When approaching zero, The rate of change is slow (suppressing chattering, reducing chattering amplitude by 50%), achieving chatter-free convergence in a finite time, thus solving the chattering problem of traditional sliding mode control.

[0129] Substituting the double power approach law into the above equation, we can obtain the expression for the equivalent rudder deflection angle of the pitch channel:

[0130]

[0131] In the formula, The equivalent rudder deflection angle represents the rudder surface deflection angle required to achieve the desired attitude adjustment;

[0132] , , , , These are coefficients in the rocket dynamics model, related to the rocket's physical characteristics (such as mass, inertia, aerodynamic properties, etc.);

[0133] The attitude angle deviation represents the difference between the current attitude angle and the desired attitude angle.

[0134] The attitude angular velocity deviation represents the difference between the current attitude angular velocity and the desired attitude angular velocity.

[0135] This represents the rate of change of attitude angle deviation, reflecting the trend of attitude deviation change.

[0136] The design of the anti-interference attitude controller is now complete.

[0137] like Figure 3 As shown in the figure, this embodiment also provides a flowchart of the disturbance-resistant attitude control scheme based on NESO and double power-law reaching sliding mode. The specific process is as follows:

[0138] The double-power-law approach controller calculates the basic control signal based on the deviation between the rocket's current attitude and the desired attitude. u 0, this signal is used to drive rocket attitude adjustment; the structural notch filter receives the basic control signal. u The signal is then filtered to reduce interference from elastic modes and other factors, and the filtered control signal is output. u This enhances system stability. In the servo stage, control signals are... u The signal is converted into a form acceptable to the rocket attitude control actuators to drive them to perform actions. The rocket's attitude dynamics characteristics are simulated through rigid-elastic-fluid coupling attitude dynamics, including the coupling effects of rigid body motion, elastic deformation, and fluid sloshing, providing a simulation environment for the rocket's attitude motion in the control system.

[0139] The rocket's attitude angular velocity and attitude angle are measured in real time using rate gyroscopes and inertial navigation systems, providing measurement data for the Extended State Observer (NESO) and the double-power-law approaching controller. The NESO estimates disturbances and uncertainties in the system, such as vibrations and fluid sloshing caused by elastic modes, based on the measured attitude information, and generates estimation signals. z 1. z 2. z 3. The estimated disturbance signal is fed back to the double-power-law approaching controller to compensate the control signal, improving control accuracy and system stability. The double-power-law approaching controller updates the control signal based on the fed-back disturbance estimation signal. u0, forming a closed-loop control. The updated control signal, after being filtered by the structural notch filter, drives the servo circuit, thereby affecting the rocket's attitude dynamics and adjusting the rocket's attitude according to the desired trajectory. The rate gyroscope and inertial components continuously measure the rocket's attitude information, the extended state observer continuously updates the disturbance estimate, and the double power-law approaching controller adjusts the control signal in real time, forming a closed-loop control circuit to ensure that the rocket's attitude stably and accurately tracks the desired attitude.

[0140] In summary, the rocket attitude control method provided in this embodiment improves the accuracy of attitude control by accurately estimating disturbances and uncertainties in the system through a nonlinear extended state observer (NESO); it improves the system's response speed by employing a double power-reaching sliding mode control method, which enables chatter-free convergence of the sliding mode variables and their first derivatives within a finite time; and it effectively suppresses various disturbances during launch, such as crosswinds, vibrations, and liquid sloshing, ensuring stable control of the rocket under large initial attitude angle deviations.

[0141] It should be understood that, although Figure 2 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0142] To facilitate better implementation of the rocket attitude control method of this application, this invention also provides a rocket attitude control device based on the above-described rocket attitude control method. The meanings of the terms used are the same as in the rocket attitude control method described above, and specific implementation details can be found in the descriptions within the method embodiments.

[0143] Please see Figure 4 , Figure 4 The diagram below illustrates the structure of a rocket attitude control device provided in this embodiment. Specifically, the rocket attitude control device may include a signal acquisition module 201, an observer design module 202, a controller design module 203, and an attitude control module 204, as follows:

[0144] Signal acquisition module 201 is used to acquire the state signals of the rocket attitude dynamics system;

[0145] The observer design module 202 is used to design a corresponding nonlinear extended state observer based on the state signal. The nonlinear extended state observer is used to estimate the disturbances and uncertainties in the attitude dynamics model in real time.

[0146] The controller design module 203 is used to design a double power-reaching sliding mode controller based on the attitude dynamics model and the estimated disturbances and uncertainties. The double power-reaching sliding mode controller is configured to achieve chatter-free convergence of the sliding mode variables and their first derivatives in a finite time.

[0147] The attitude control module 204 is used to control the attitude of the target rocket through a nonlinear extended state observer and a double power approaching law sliding mode controller.

[0148] Optionally, in some embodiments, the signal acquisition module 201 is specifically used for:

[0149] Analyze the open-loop stability of the rocket attitude dynamics system and obtain stability analysis results under different operating conditions;

[0150] Based on the open-loop stability analysis results, a structural notch filter is designed to suppress the influence of elastic modes. The structural notch filter is used to preprocess the acquired state signals.

[0151] Optionally, in some embodiments, the observer design module 202 is specifically used for:

[0152] The nonlinear and disturbance terms in the rocket attitude dynamics system are expanded into new state variables, and an expanded state-space model is constructed.

[0153] Based on the extended state-space model, a second-order nonlinear extended state observer is designed, using attitude angle deviation and its first derivative as state inputs and employing a linear combination of inertial navigation system (INS) signals and rate gyroscope signals to construct observation errors.

[0154] Optionally, in some embodiments, an observation error is constructed using a linear combination of the inertial navigation system signal and the rate gyroscope signal, and a second-order nonlinear extended state observer is designed, including:

[0155] Based on the linear combination relationship between the inertial measurement unit signal and the rate gyroscope signal, the weighting factor used to construct the observation error is determined;

[0156] Based on the observation error and the preset feedback gain coefficient, a second-order nonlinear extended state observer is constructed, which includes iterative calculation of the state estimator.

[0157] Optionally, in some embodiments, the controller design module 203 is specifically used for:

[0158] Select a double power-law approach with finite-time convergence characteristics and determine the coefficient parameters used to adjust the convergence rate in the double power-law approach.

[0159] Based on the attitude dynamics model, a sliding surface is designed. Combining the double power reaching law and the estimation results of disturbances and uncertainties, the expression for the equivalent rudder deflection angle used to control the rocket attitude is determined.

[0160] Optionally, in some embodiments, a sliding surface is designed based on the attitude dynamics model, and the equivalent rudder deflection angle expression for controlling the rocket attitude is determined by combining the estimation results of the double power-law approaching law and disturbances and uncertainties, including:

[0161] Substituting the double power-law into the first derivative equation of the sliding surface, a dynamic equation containing control input is established.

[0162] Based on the attitude dynamics model and the estimation results of disturbances and uncertainties, the dynamic equations are solved to obtain the equivalent rudder deflection control quantity including disturbance compensation terms.

[0163] Optionally, in some embodiments, the attitude control module 204 is specifically used for:

[0164] The disturbance estimate output by the nonlinear extended state observer is input into the compensation loop of the double power-law sliding mode controller to form a closed-loop control loop.

[0165] Based on the equivalent rudder deflection angle signal output by the double power-law sliding mode controller, the attitude control actuator of the rocket is driven to control the attitude of the target rocket.

[0166] Specific limitations regarding the rocket attitude control device can be found in the limitations of the rocket attitude control method described above, and will not be repeated here. Each module in the aforementioned rocket attitude control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in a computer device, or stored in software in the memory of a computer device, so that the processor can call and execute the corresponding operations of each module.

[0167] The rocket attitude control device provided in this embodiment acquires the state signals of the rocket attitude dynamics system through the signal acquisition module 201; the observer design module 202 designs a corresponding nonlinear extended state observer based on the state signals, which is used to estimate the disturbances and uncertainties in the attitude dynamics model in real time; the controller design module 203 designs a double power-reaching law sliding mode controller based on the attitude dynamics model and the estimated disturbances and uncertainties, which is configured to achieve chatter-free convergence of the sliding mode variables and their first derivatives within a finite time; the attitude control module 204 controls the attitude of the target rocket through the nonlinear extended state observer and the double power-reaching law sliding mode controller; by combining the nonlinear extended state observer and the double power-reaching law sliding mode controller, the attitude control performance of the rocket under large initial attitude angle deviations and strong disturbances is enhanced, solving the problem of insufficient control capability of traditional linear feedback control under strong disturbances and large deviations, realizing fast and accurate control of the rocket attitude, thereby improving the overall performance and flight safety of the rocket.

[0168] Furthermore, embodiments of this application also provide an electronic device, such as... Figure 5 As shown, it illustrates a structural schematic diagram of the electronic device involved in the embodiments of this application, specifically:

[0169] The electronic device may include components such as a processor 301 with one or more processing cores, a memory 302 with one or more computer-readable storage media, a power supply 303, and an input unit 304. Those skilled in the art will understand that... Figure 5 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0170] The processor 301 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines, and performs various functions and processes data by running or executing software programs and / or modules stored in the memory 302, and by calling data stored in the memory 302, thereby providing overall monitoring of the electronic device. Optionally, the processor 301 may include one or more processing cores; preferably, the processor 301 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 301.

[0171] The memory 302 can be used to store software programs and modules. The processor 301 executes various functional applications and rocket attitude control methods by running the software programs and modules stored in the memory 302. The memory 302 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 302 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 302 may also include a memory controller to provide the processor 301 with access to the memory 302.

[0172] The electronic device also includes a power supply 303 that supplies power to various components. Preferably, the power supply 303 can be logically connected to the processor 301 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 303 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0173] The electronic device may also include an input unit 304, which can be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0174] Although not shown, the electronic device may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 301 in the electronic device loads the executable files corresponding to the processes of one or more applications into the memory 302 according to the following instructions, and the processor 301 runs the applications stored in the memory 302 to realize various functions, as follows:

[0175] The system acquires state signals from the rocket attitude dynamics system; based on these state signals, it designs a corresponding nonlinear extended state observer, which is used to estimate disturbances and uncertainties in the attitude dynamics model in real time; based on the attitude dynamics model and the estimated disturbances and uncertainties, it designs a double-power-law sliding mode controller, which is configured to achieve chatter-free convergence of the sliding mode variables and their first derivatives within a finite time; and it controls the attitude of the target rocket using the nonlinear extended state observer and the double-power-law sliding mode controller.

[0176] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0177] This application's embodiments utilize a designed nonlinear extended state observer to accurately estimate disturbances, providing a basis for control compensation and effectively suppressing the impact of crosswinds, vibrations, and other disturbances on rocket attitude, thereby improving control accuracy. The designed double-power-law sliding mode controller, with its rapid convergence characteristics, can complete attitude deviation adjustments within a finite time, shortening response time. Combining the nonlinear extended state observer and the double-power-law sliding mode controller enhances the rocket's attitude control performance under large initial attitude angle deviations and strong disturbances, solving the problem of insufficient control capability of traditional linear feedback control under strong disturbances and large deviations. This achieves rapid and precise control of the rocket's attitude, thereby improving overall rocket performance and flight safety.

[0178] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0179] Therefore, embodiments of this application provide a storage medium storing a plurality of instructions that can be loaded by a processor to execute steps in any of the rocket attitude control methods provided in embodiments of this application. For example, the instructions can execute the following steps:

[0180] The system acquires state signals from the rocket attitude dynamics system; based on these state signals, it designs a corresponding nonlinear extended state observer, which is used to estimate disturbances and uncertainties in the attitude dynamics model in real time; based on the attitude dynamics model and the estimated disturbances and uncertainties, it designs a double-power-law sliding mode controller, which is configured to achieve chatter-free convergence of the sliding mode variables and their first derivatives within a finite time; and it controls the attitude of the target rocket using the nonlinear extended state observer and the double-power-law sliding mode controller.

[0181] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0182] The storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0183] Since the instructions stored in the storage medium can execute the steps of any of the rocket attitude control methods provided in the embodiments of this application, the beneficial effects that any of the rocket attitude control methods provided in the embodiments of this application can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.

[0184] The above provides a detailed description of a rocket attitude control method, apparatus, device, and medium provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A rocket attitude control method, characterized in that, Includes the following steps: Collect state signals from the rocket attitude dynamics system; Based on the state signal, a corresponding nonlinear extended state observer is designed. The nonlinear extended state observer is used to estimate the disturbances and uncertainties in the attitude dynamics model in real time. Based on the attitude dynamics model and the estimated disturbances and uncertainties, a double-power-law sliding mode controller is designed. This double-power-law sliding mode controller is configured to achieve chatter-free convergence of the sliding mode variables and their first derivatives within a finite time. The double-power-law sliding mode controller is as follows: ； In the formula, The equivalent rudder deflection angle represents the rudder surface deflection angle required to achieve the desired attitude adjustment; , , , , These are coefficients in the rocket dynamics model, related to the rocket's physical properties; Attitude angle deviation represents the difference between the current attitude angle and the desired attitude angle; Attitude angular velocity deviation represents the difference between the current attitude angular velocity and the desired attitude angular velocity; This represents the rate of change of attitude angle deviation, reflecting the trend of attitude deviation change. The attitude of the target rocket is controlled by the nonlinear extended state observer and the double power approaching law sliding mode controller.

2. The rocket attitude control method according to claim 1, characterized in that, The state signals of the rocket attitude dynamics system are collected, including: The open-loop stability of the rocket attitude dynamics system was analyzed, and the stability analysis results under different operating conditions were obtained. Based on the open-loop stability analysis results, a structural notch filter is designed to suppress the influence of elastic modes. The structural notch filter is used to preprocess the acquired state signals.

3. The rocket attitude control method according to claim 1, characterized in that, The nonlinear extended state observer designed based on the state signal includes: The nonlinear and disturbance terms in the rocket attitude dynamics system are expanded into new state variables to construct an expanded state-space model. Based on the extended state-space model, using attitude angle deviation and its first derivative as state inputs, and constructing observation errors using a linear combination of inertial navigation system (INS) signals and rate gyroscope signals, a second-order nonlinear extended state observer is designed.

4. The rocket attitude control method according to claim 3, characterized in that, The method of constructing observation errors using a linear combination of inertial navigation system (INS) signals and rate gyroscope signals, and designing a second-order nonlinear extended state observer, includes: Based on the linear combination relationship between the inertial measurement unit signal and the rate gyroscope signal, the weighting factor used to construct the observation error is determined; Based on the observation error and the preset feedback gain coefficient, a second-order nonlinear extended state observer is constructed, which includes iterative calculation of the state estimator.

5. The rocket attitude control method according to claim 1, characterized in that, The design of a double-power-law sliding mode controller based on the attitude dynamics model and the estimated disturbances and uncertainties includes: A double power-law approaching law with finite-time convergence characteristics is selected, and the coefficient parameters used to adjust the convergence speed in the double power-law approaching law are determined. Based on the attitude dynamics model, a sliding surface is designed. Combining the double power-law approaching law and the estimation results of the disturbances and uncertainties, the equivalent rudder deflection angle expression for controlling the rocket attitude is determined.

6. The rocket attitude control method according to claim 5, characterized in that, The process of designing a sliding surface based on the attitude dynamics model, and combining the double power-law approaching law and the estimation results of the disturbances and uncertainties, determines the equivalent rudder deflection angle expression for controlling the rocket attitude, including: Substituting the double power-law into the first derivative equation of the sliding surface, a dynamic equation including control input is established. Based on the attitude dynamics model and the estimation results of the disturbances and uncertainties, the dynamic equations are solved to obtain the equivalent rudder deflection control quantity including the disturbance compensation term.

7. The rocket attitude control method according to claim 1, characterized in that, The control of the target rocket's attitude via the nonlinear extended state observer and the double power-law approaching sliding mode controller includes: The disturbance estimate output by the nonlinear extended state observer is input to the compensation loop of the double power-law sliding mode controller to form a closed-loop control circuit. Based on the equivalent rudder deflection angle signal output by the double power-law sliding mode controller, the attitude control actuator of the rocket is driven to control the attitude of the target rocket.

8. A rocket attitude control device, characterized in that, include: The signal acquisition module is used to acquire the state signals of the rocket attitude dynamics system; The observer design module is used to design a corresponding nonlinear extended state observer based on the state signal. The nonlinear extended state observer is used to estimate the disturbances and uncertainties in the attitude dynamics model in real time. The controller design module is used to design a double-power-law sliding mode controller based on the attitude dynamics model and the estimated disturbances and uncertainties. The double-power-law sliding mode controller is configured to achieve chatter-free convergence of the sliding mode variables and their first derivatives within a finite time. The double-power-law sliding mode controller is as follows: ； In the formula, The equivalent rudder deflection angle represents the rudder surface deflection angle required to achieve the desired attitude adjustment; , , , , These are coefficients in the rocket dynamics model, related to the rocket's physical properties; Attitude angle deviation represents the difference between the current attitude angle and the desired attitude angle; Attitude angular velocity deviation represents the difference between the current attitude angular velocity and the desired attitude angular velocity; This represents the rate of change of attitude angle deviation, reflecting the trend of attitude deviation change. The attitude control module is used to control the attitude of the target rocket through the nonlinear extended state observer and the double power-law sliding mode controller.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the rocket attitude control method as described in any one of claims 1-7.

10. A storage medium, characterized in that, The system stores a computer program capable of being loaded by a processor and executing the rocket attitude control method as described in any one of claims 1-7.

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