摘要
提出运载火箭姿态控制的一种最佳解耦控制方法。传统的运载火箭姿态控制,是通过对火箭在制导坐标系(发射惯性坐标系)中定义的欧拉角,形成俯仰、偏航、滚动三个独立回路的姿态控制指令,控制弹体姿态稳定、快速地跟踪指令姿态角。由于控制力矩是分别绕箭体轴给出的,而箭体轴通常与欧拉角的瞬时转轴不重合,所以造成三个控制回路的耦合(只有当偏航、滚动姿态角皆为零时才完全解耦),因此欧拉角控制的解耦问题成为许多学者的研究课题,并给出了一些解耦控制方法,但都比较复杂,实现困难。本文提出的最佳解耦控制方法是基于箭体坐标系的,该方法是根据实时确定的箭体系到指令箭体系的方向余弦矩阵,确定一组箭体系分别绕各轴的转角Δxθ1,Δθy1,Δzθ1,即箭体各轴同时转动角Δθx1,Δyθ1,Δzθ1后可使箭体系与指令箭体系重合,这样便保证了解耦和最小转角的最佳控制。该方法成功地应用于大范围机动变轨控制,也将适用于其它轴对称飞行器的控制。
In this paper, an optimal decoupling control method of attitude control for launch vehicle is proposed. The traditional control method of attitude control for launch vehicle is based on controlling Eular angles, which are defined in the guidance coordinate system. That is, by using command attitude angles and real-timely measured attitude angles to form attitude control commands in three each other independent control circuits, pitch circuit, yaw circuit and roll circuit. Performing of these commands makes that body attitude angles tracks command attitude angles steadily and quickly. However, because of real control toques are provided respectively around axes of vehicle body, but axes of vehicle body doesn＇ t coincide with instantaneous rotational axes of Eular＇s angles, so that coupling between these control circuits is arisen. Hence, the decoupling on Eular＇s angle control becomes a question studied by many researches, but results on decoupling study are very complex and difficult to apply. The proposed optimal decoupling control method in this paper was based on coordinate system of vehicle body, according to direction cosine matrix from guidance coordinate system to body coordinate system, a set of rotating angles △θx1,△θy1,△θz1 around body axes is defined, namely, if body of vehicle simultaneous rotates △θx1,△θy1,△θz1 respectively, body system will coincide with commanded body system. Hence, this method guarantees to carry out decoupling control and optimality. This method has applied to controlling on maneuver in changing trajectory successfully.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2006年第4期783-786,共4页
Journal of Astronautics
关键词
姿态控制
解耦控制
箭体坐标系
指令箭体坐标系
机动变轨
Attitude control
Decoupling control
Body coordinate system
Commanded body coordinate system
Maneuver in changing trajectory
