The invention provides a reusable launch vehicle first-sub-stage recovery fault-tolerant control method based on preset performance. The method comprises steps of 1, establishing a centroid-around motion model of a reusable launch vehicle first-sub-stage recovery control flight section is established; 2, establishing a reusable carrier rocket first-sub-stage recovery process actuator fault mathematical model, and converting the nominal motion model in the step 1 into a fault motion model; 3, designing an extended state observer; 4, on the basis of a preset performance theory, completing errorconversion under preset performance constraints through a performance function and an error conversion function; and 5, designing a terminal sliding mode surface and a sliding mode reaching law by utilizing an attitude tracking error derivative and the total disturbance estimation information outputted by the extended state observer in the step 3, and then combining the sliding mode reaching law with the sliding mode surface derivative to derive a sliding mode control law. The method is advantaged in that negative influence of total disturbance on the system is compensated, and the fault-tolerant capability and robustness of the system are improved.

    本发明提供一种基于预设性能的可重复使用运载火箭一子级回收容错控制方法,所述方法包括步骤一:建立可重复使用运载火箭一子级回收控制飞行段的绕质心运动模型;步骤二:建立可重复使用运载火箭一子级回收过程执行器故障数学模型,将步骤一所述标称运动模型转化为故障运动模型;步骤三:设计扩张状态观测器;步骤四:基于预设性能理论,利用性能函数和误差变换函数完成预设性能约束下的误差转换;步骤五:利用步骤三所述扩张状态观测器输出的姿态跟踪误差导数和总扰动估计信息设计终端滑模面与滑模趋近律,然后将滑模趋近律与滑模面导数结合推导滑模控制律。本发明补偿了总扰动对系统的负面影响,提高了系统容错能力和鲁棒性。


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    Title :

    Reusable launch vehicle one-sub-stage recovery fault-tolerant control method


    Additional title:

    可重复使用运载火箭一子级回收容错控制方法


    Contributors:
    LUO SHIBIN (author) / LI XIAODONG (author)

    Publication date :

    2020-07-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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