基于ESO的高超声速飞行器非线性动态逆控制

摘要

In the presence of parametric uncertainties and external disturbance for the longitudinal model of a Hy⁃personic Flight Vehicle ( HFV) , a scheme of Extended State Observer ( ESO) based Nonlinear Dynamic Inversion ( NDI) control is exploited in this paper. The decoupling of velocity and altitude is realized by adopting Exact Feed⁃back Linearization ( EFL) technique, and then the NDI controller is designed. In order to estimate the equivalent disturbance precisely, a second⁃order ESO is designed for the velocity subsystem and altitude subsystem. The esti⁃mated equivalent disturbances values are used as a compensation in NDI controller. Hence, the precise reference command tracking of velocity and altitude is achieved, which enormously improves the ability of disturbance rejec⁃tion while the control accuracy is ensured. The simulation results and their analysis demonstrate that, comparing with Sliding Mode Control, the proposed methodology in this paper has better response speed and tracking accuracy which indicates good control performance and robustness of the method.%以高超声速飞行器（ HFV）纵向运动模型为研究对象，针对其巡航飞行中存在的参数不确定性和外界干扰问题，提出了一种基于扩张状态观测器（ ESO）的非线性动态逆（ NDI）控制方法。采用精确反馈线性化方法实现了HFV速度与高度通道的解耦，并设计了动态逆控制器；在此基础上为系统的速度和高度通道设计了二阶ESO，实现对等效扰动的精确估计，并在控制器中进行补偿，从而实现HFV对高度和速度指令的精确跟踪，保证控制精度的同时大幅提升了系统的扰动抑制能力。仿真结果表明，相比于滑模控制，文中所设计方法具有更快的响应速度和更好的跟踪精度，体现出该方法的良好控制性能和较强的鲁棒性。