北京航空航天大学学报 ›› 2016, Vol. 42 ›› Issue (7): 1432-1440.doi: 10.13700/j.bh.1001-5965.2015.0441

• 论文 • 上一篇    下一篇

可重复使用飞行器进场着陆拉平纵向控制

郝现伟1, 王勇1, 杨业2, 郭涛2, 张代兵3   

  1. 1. 北京航空航天大学自动化科学与电气工程学院, 北京 100083;
    2. 北京航天自动控制研究所, 北京 100854;
    3. 国防科技大学 机电工程与自动化学院, 长沙 410073
  • 收稿日期:2015-07-01 出版日期:2016-07-20 发布日期:2016-07-29
  • 通讯作者: 王勇,Tel.: 010-82317544 E-mail: wy_buaa@sina.com E-mail:wy_buaa@sina.com
  • 作者简介:郝现伟 男,博士研究生。主要研究方向:无人驾驶飞行器飞行控制。E-mail: haoxw_1220@163.com;王勇 男,博士,研究员,博士生导师。主要研究方向:无人驾驶飞行器飞行控制。Tel.: 010-82317544 E-mail: wy_buaa@sina.com
  • 基金资助:
    总装预研重点基金(9140A25030109HK0103)

Flare longitudinal control for approach and landing of reusable launch vehicle

HAO Xianwei1, WANG Yong1, YANG Ye2, GUO Tao2, ZHANG Daibing3   

  1. 1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
    2. Beijing Aerospace Automatic Control Institute, Beijing 100854, China;
    3. School of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha 410073, China
  • Received:2015-07-01 Online:2016-07-20 Published:2016-07-29

摘要: 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。

关键词: 可重复使用飞行器(RLV), 进场着陆, 前馈校正, 模型降阶, 控制律切换

Abstract: To solve the flare longitudinal control problem for approach and landing of reusable launch vehicle (RLV), a compound control strategy based on combined feedback control and feedforward control is proposed. The feedback control law parameters were designed. The feedforward control law parameters were designed and optimized based on the index of time-weighted height tracking error and the integral for square of error change rate. Under the premise of not affecting the stability of the system, according to feedforward control with the input compensation, the tracking precision of RLV for the flare trajectory was improved and the ground distribution of RLV was reduced. The method of control law smooth switching was proposed by initial value of integrator, which realizes the smooth switching between the different control laws of the RLV landing gear before rand after release. Simulation verifies that flare longitudinal compound control law and the method of control law smooth switching are effective.

Key words: reusable launch vehicle (RLV), approach and landing, feedforward correction, model reduction, control laws switching

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