Dynamic InversionBased Attitude Control of Aerospace Morphing Vehicle
WAN Hang, XU Shengli, ZHANG Qingzhen,ZHANG Di
1.School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China;
2.Shanghai ElectroMechanical Engineering Institute, Shanghai 201109, China
摘要针对空天变体飞行器在高超声速飞行环境下存在的强耦合、大干扰和强非线性等难题，提出基于动态逆的姿态稳定控制方法。采用适用于多刚体建模机制的Kane方法建立控制对象模型。首先，基于固定构型设计动态逆控制器，在内动态稳定的情况下，仿真验证标称状态下姿态控制的稳定性；然后，将外形切换过程中的模型和参数变化视为干扰，利用扩张状态观测器（extended state observer，ESO）进行观测补偿，完成过渡段的稳定衔接控制；最后，通过仿真分析过渡衔接控制算法的正确性。
Abstract：Aiming at the problem caused by strong coupling, large interference and strong nonlinearity of aerospace morphing vehicle in hypersonic flight environment, a dynamic inversionbased attitude control method is proposed. The plant model is built using Kane method applicable to multirigidbody modeling. Firstly, the dynamic inversion controller is designed based on the fixed configuration, and the attitude control stability in nominal state is validated by simulation under the condition of no unstable internal dynamics existing. And then, the model and parameter changes in the variable shape process are regarded as interference, and the ESO (extended state observer) is used for observation compensation to complete the stable transitional connection control. Finally, the correctness of the transitional connection control algorithm is analyzed through simulation.
