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针对可重复使用飞行器(RLV)进场着陆拉平段的纵向控制问题,提出了反馈控制与前馈控制相结合的复合控制策略。设计反馈控制律参数,在此基础上基于时间加权高度跟踪误差/误差变化率平方积分指标优化设计前馈控制律参数。按输入补偿的前馈控制在不影响系统稳定性的前提下,提高了RLV对拉平着陆轨迹的跟踪精度,减小了RLV的接地散布。提出了基于积分器初值的控制律平滑切换方法,实现了RLV起落架释放前后不同控制律之间的平滑切换。仿真验证了拉平纵向复合控制和拉平过程中不同控制律之间平滑切换方法的有效性。
In order to solve the problem of longitudinal control of RLP approach landing leveling stage, a hybrid control strategy based on feedback control and feedforward control is proposed. The feedback control law parameters are designed. Based on this, the feedforward control law parameters are optimized based on the square integral of time-weighted height tracking error / error rate of change. The feedforward control based on input compensation can improve RLV tracking accuracy of leveling landing trajectory and reduce RLV ground dispersion without affecting system stability. A control law smooth switching method based on the integrator initial value is proposed, which achieves smooth switching between different control laws before and after RLV landing gear release. The simulation results show that the method of smooth switching between the two control laws in leveling longitudinal composite control and leveling is validated.