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根据单摆模型近似晃动质量推导晃动运动与姿态运动的动力学方程,基于状态相关黎卡提方程方法,综合动态逆控制方法设计了运载器末助推段非线性姿态控制器,由状态反馈实现姿态跟踪和晃动抑制。因实际中模拟晃动运动的单摆状态无法测量,引入输出多采样率技术,通过在一个采样周期内多次检测被控对象的输出估计状态,实现设计的状态反馈控制律。数值仿真结果表明:控制器能实现高精度姿态角跟踪和晃动抑制。
According to the approximate sway mass of the pendulum model, the dynamic equations of the swaying motion and the attitude motion are deduced. Based on the state-dependent Riccati equation method and the integrated dynamic inverse control method, the nonlinear attitude controller of the final load of the carrier is designed, and the state feedback Gesture Tracking and Sway Suppression. Due to the unrealistic measurement of the pendulum which simulates the actual shaking movement, the output multi-sampling rate technique is introduced. The state feedback control law is designed by detecting the output state of the controlled object many times in one sampling period. Numerical simulation results show that the controller can achieve high-precision attitude angle tracking and sloshing suppression.