CAJ | 학술논문

以自研小型固体火箭为对象，基于扩张状态观测器，对三通道姿态控制器进行了设计及验证。建立了以攻角、侧滑角和滚转角为控制目标的积分链状态空间模型；结合扩张状态观测器，应用极点配置法对三通道姿态控制器进行了鲁棒设计；通过数值仿真和半实物仿真，结合拉偏分析，对控制器设计进行校核，证明了设计的有效性和鲁棒性；通过飞行试验验证了控制器性能，跟踪结果符合仿真分析，基本无延时、无静差，证明了该方法的可行性和工程应用价值。
이자연소형고체화전위대상，기우확장상태관측기，대삼통도자태공제기진행료설계급험증。건립료이공각、측활각화곤전각위공제목표적적분련상태공간모형；결합확장상태관측기，응용겁점배치법대삼통도자태공제기진행료로봉설계；통과수치방진화반실물방진，결합랍편분석，대공제기설계진행교핵，증명료설계적유효성화로봉성；통과비행시험험증료공제기성능，근종결과부합방진분석，기본무연시、무정차，증명료해방법적가행성화공정응용개치。
The design and validation for the three?channel attitude controller of a self?developed small solid rocket based on the extended state observer approach were presented.The integral?chain state space model was established for the control design of the angle of attack,angle of sideslip and roll angle;Combined with the extended state observer,the pole placement was applied to the ro?bust design of the three?channel attitude controller;Through numerical and hardware?in?the?loop simulation with uncertainties con?sidered,the effectiveness and robustness of the controller were illustrated and verified.The performance of the controller was valida?ted by flight?test with results of nearly no time delay or state error conforming to the simulation,which illustrates the feasibility and the engineering application value.