CAJ | 학술논문

针对直接力／气动力复合姿态控制问题，将具有扩张观测器的动态逆控制与最优控制相结合，设计了一种基于误差修正的直接力／气动力复合控制双层姿态控制方法。该控制方法以气动力控制为主，将滑模变结构控制与动态逆控制相结合进行气动力控制，通过引入扩展观测器对控制系统中的不确定干扰进行估计与补偿，以提高控制系统的鲁棒性；在此基础上，基于最优控制方法进行直接力控制设计以实现跟踪误差快速修正，达到提高系统响应速度的目的。与气动力单独控制的仿真结果对比表明，该复合控制算法能够有效改善系统的动态响应特性。
침대직접력／기동력복합자태공제문제，장구유확장관측기적동태역공제여최우공제상결합，설계료일충기우오차수정적직접력／기동력복합공제쌍층자태공제방법。해공제방법이기동력공제위주，장활모변결구공제여동태역공제상결합진행기동력공제，통과인입확전관측기대공제계통중적불학정간우진행고계여보상，이제고공제계통적로봉성；재차기출상，기우최우공제방법진행직접력공제설계이실현근종오차쾌속수정，체도제고계통향응속도적목적。여기동력단독공제적방진결과대비표명，해복합공제산법능구유효개선계통적동태향응특성。
Based on the characteristic of lateral thrust control and aerodynamic,an error compensation based dual?layer blen?ded attitude control method was investigated to deal with the blended attitude control with lateral thrust and aerodynamic force. The proposed control method carry through the aerodynamic force control based on the combination of variable structure control and dy?namic inverse control, with the extended state observer employed to estimate and compensate the error. And then, the optimal con?trol based lateral thrust control is proposed to realize the fast modification of error, which improves the response speed. The results show that the dynamic response characteristic of the missile can be improved by using the blended controller.