可重复使用飞行器归一化复合控制系统设计

以可重复使用飞行器（RLV）的姿态控制系统为研究对象，提出一种基于归一化方法的新型复合控制系统设计方法。对RLV三自由度姿态动力学模型中的气动控制量和反作用控制系统（RCS）控制量分别进行归一化处理，建立RLV复合控制的归一化模型。在此基础上，通过对归一化模型的输入矩阵中同种执行机构控制阈值的设计，获得两种异类执行机构复合控制的切换条件，并进一步修正了归一化复合控制模型。基于积分型终端滑模控制方法，设计了可重复使用飞行器的复合控制系统，并采用广义逆的方法，直接将控制分配融合到控制律的设计中来，实现控制律和控制分配的一体化设计，不需要优化算法，减少了控制系统的计算量。最后，对可重复使用飞行器姿态控制系统进行数学仿真，不仅校验了采用归一化方法设计的复合控制系统的有效性，而且与采用线性规划优化控制方法具有相同的姿态控制效果。

Compound Control System Design for RLV Based on Normalization Method

A novel compound control system for reusable launch vehicle (RLV) based on normalization method is proposed in the paper. Firstly, a normalization model for RLV including normalized pneumatic model and normalized thrust vector model is built, and a new switching condition for pneumatic/thrust vectoring compound controller by adopting control threshold is derived from the normalization model. Secondly, an integral terminal sliding mode compound controller is designed and assigned control command is accomplished by utilizing the generalized inverse method without optimization algorithm. Finally, the performance and robustness are assessed through a RLV with model parameter perturbations, and the simulation also indicates both the proposed method and the linear programming optimization algorithm can obtain the same performance.