Modeling and control of vertically launching parallel vehicle
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摘要: 为了有效控制垂直发射时并联式运载器的运动,设计了一个用于垂直发射的姿态控制方法,首先分析了欧拉运动学方程存在的奇异点,在此基础上给出了采用四元数描述的姿态运动学方程,建立了并联式运载器的姿态动力学模型,其次给出了并联式运载器的推力矢量模型,基于数学模型对推力矢量在不同配置方式下的控制效率进行了比较,最后给出了保证四元数收敛的切换函数,应用变结构控制理论设计了对于满足一定条件的不确定性具有完全鲁棒性的姿态控制律.仿真结果表明了该姿态控制方法的有效性.Abstract: In order to effectively control the motion of vertically launching parallel vehicle, an attitude control method for vertically launching parallel vehicle was presented. A singularity of Euler kinematical equations was analyzed, and kinematical equations of attitude motion were given based on quaternion method. An attitude dynamical model of vertically launching parallel vehicle was constituted. Mathematical models of thrust vector control were presented for vertically launching parallel vehicle. Based on these mathematical models, control efficiencies were contrasted for different thrust vector control. And with a view to convergence of quaternion, switching functions of attitude control system were given. With a view of robust stability for conditioned uncertainty, an attitude control law was designed using sliding mode control theory. Simulation results show that this method can implement efficiently attitude control for vertically launching parallel vehicle.
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Key words:
- nonlinear control systems /
- attitude control /
- sliding mode control
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