垂直起降运载火箭着陆段抗漂移控制算法

针对垂直返回火箭着陆段高精度控制的难点，提出一种抗漂移控制算法，以动力显式制导和PID控制为基础，设计了基于陀螺和加表信息的干扰观测器，用于估计环境干扰、液体晃动、结构偏差及模型不确定性等引起的干扰力和干扰力矩，通过伺服摆角和程序角补偿，平衡了力和力矩的干扰。仿真结果表明，该方法求解方便，工程实现性强 ，采用抗漂移控制算法相比于传统控制，姿态控制精度有较大提升，轨迹漂移量缩小50%以上，能为工程实践提供很好的支撑。

Anti Drift Control Algorithm for Landing Phase of Vertical Take-off and Landing Launch Vehicle

Aiming at the difficulties of high-precision control in the landing phase of the vertical return rocket, an anti drift control algorithm is proposed. Based on the dynamic explicit guidance and PID control, a disturbance observer based on the gyro and tabulated information is designed to estimate the disturbance force and disturbance torque of environmental disturbance, liquid sloshing, structural deviation and model uncertainty. The disturbance force and torque are balanced through swing angle and program angle compensation. The simulation results show that the method is easy to solve and has strong engineering realization; Compared with the traditional control, the anti drift control algorithm has greatly improved the attitude control accuracy, reduced the trajectory drift by more than 50%, providing good support for engineering practice.