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针对高超声速飞行器大跨度机动飞行所引起的本质非线性及强耦合动力学特性、执行机构输入受限、多源气动参数摄动及外部环境干扰并存情况下的姿态跟踪控制问题,结合模型辅助自抗扰控制技术,构建并阐述了基于轨迹线性化控制框架的集抗饱和与主动干扰补偿于一体的姿态控制体系。首先,面向控制角度,将姿态和角速率子系统描述为带不确定性的严格反馈形式;其次,基于自抗扰控制的设计思路,采用跟踪微分器对姿态标称指令及其微分安排过渡过程,解决单一轨迹线性化控制中的执行机构饱和问题;分别针对姿态与角速率回路构造包含模型信息的扩张状态观测器对总干扰进行观测并补偿,克服大范围不确定性对闭环跟踪性能的影响;基于轨迹线性化控制思想,分别设计前馈跟踪控制律和反馈镇定控制律,实现姿态跟踪误差沿着标称指令镇定。仿真结果表明,该控制方案能够实现给定大幅度制导指令下的高精度抗干扰控制,且对于再入过程中的多源干扰大范围摄动具有较强的适应能力。
In order to solve the problem of attitude tracking control of hypersonic vehicles caused by large-span maneuver flight, such as intrinsic nonlinearity and strong coupling dynamics, actuator input limitation, multi-source aerodynamic parameters perturbation and external environment interference, Anti-jamming control technology, a posture control system based on the trajectory linearization control framework and anti-saturation and active interference compensation is constructed and elaborated. Firstly, facing the control angle, the attitude and angular velocity subsystems are described as the strict feedback form with uncertainty. Secondly, based on the ADVERTISEMENT ADVERTISING ADAPTER control theory, the tracking differentiator is used to describe the transition of the nominal instruction and its differential arrangement To solve the problem of actuator saturation in single-track linearization control. The extended state observer with model information is constructed for attitude and angular velocity loop respectively to observe and compensate the total interference and overcome the influence of large-scale uncertainty on closed-loop tracking performance Based on the idea of trajectory linearization control, the feedforward tracking control law and the feedback stabilization control law are respectively designed, and the attitude tracking error is stabilized along with the nominal command. The simulation results show that the proposed control scheme can achieve high-precision anti-interference control under given large guidance orders and has strong adaptability to large-scale perturbation of multi-source interference in the reentry process.