Guidance And Control Of Hypersonic Flight Vehicle With A Single Roll-control Moving Mass

The hypersonic gliding vehicle has become a crucial research subject and risen to the national strategic level of the world’s major military powers in terms of its advantages of long range,strong penetration and high strike accuracy,etc.The moving mass control technology utilizes internal movable masses for attitude control and maneuvering purposes,which can solve the engineering application difficulties including aerodynamic rudder surface ablation,aerodynamic shape keeping,side jet interaction flow and fuel restriction,thus it has promising application in maneuvering reentry and hypersonic flight scenarios.The single moving mass configuration can reduce the number of actuators to optimize the internal structure of the flight vehicle while meeting the control performance requirements,and is also cost-effective,thus becoming a more promising configuration at present.Therefore,this paper focuses on a hypersonic flight vehicle with a single roll-control moving mass,considering the unique properties that it is an underactuated coupled nonlinear system with fixed-trim angle-of-attack,and researches on the dynamics,guidance and control problems during the terminal reentry missions,where high penetration,strong robustness and high precision are required.Firstly,considering the effects of Earth’s rotation and non-spherical perturbation,a complete space motion model of the flight vehicle system is established based on the momentum theorem and the angular momentum theorem of particle systems,the modeling results reveal the characteristics of the moving mass control technology.Considering the assumption of traditional linear aerodynamic coefficients is no longer applicable in the hypersonic reentry flight environment,the open-access flight test data of aerodynamic coefficients regarding CAV-H is employed to conduct aerodynamic modeling.Considering the fact that the pitch channel has no active control input,the influence of the moving mass parameters including installation position and mass ratio on the longitudinal static stability and the trim angle-of-attack is analyzed based on the Lyapunov first method,where the stability criterion and the analytical expression of the trim angle-of-attack are derived,the analysis results provide a quantitative reference for the moving mass parameters design.Secondly,considering that the flight vehicle relies on the roll operation to adjust the direction of the lifting surface to achieve the bank-to-turn maneuver,an active disturbance rejection controller for the roll channel is designed to track the command roll angle,where the control results are compared with the case of classic linear controller.Considering that the entire flight vehicle is a strong nonlinear and strongly coupled system under the channel cross-coupling and the moving mass inertial coupling,the three-channel coupling dynamics analysis is carried out,which reveals that the stabilization of side slip angle should not be ignored.Thus an improved underactuated active disturbance rejection controller is proposed to deal with the roll-yaw coupling control problem,where the multiple controller parameters are optimized based on the particle swarm optimization algorithm.The proposed controller effectively addresses the underactuated problem of simultaneously tracking the command roll angle and stabilizing the side slip angle,which makes full use of the control authority of the single moving mass.Thirdly,considering that the trim lift of the investigated flight vehicle is unable to adjust,which makes it difficult to apply the traditional guidance law design idea of pith-turn double plane decoupling,a three-dimensional guidance model adapted to the investigated flight vehicle is established,and the general form of the rolling guidance law to solve the residual lift problem is designed to improve the terminal strike accuracy.Considering the higher requirements of the modern battlefield for the penetration capability and the robustness of the guidance system,the spiral ballistic characteristics of the flight vehicle is fully considered,a spiral maneuvering penetration error angle command is designed and an adaptive sliding mode rolling guidance law is proposed to track the error angle command.The proposed guidance law can meet the requirements of the terminal guidance precision,maneuver penetration and anti-interference ability.Finally,considering that the actual hypersonic reentry missions are completed under the joint action of the guidance system and the control system,a six-degree-of-freedom joint digital discrete simulation of ‘adaptive sliding mode rolling guidance & roll/yaw coupling underactuated control’ is designed.Two sets of the controller parameters are designed correspondingly to meet the full ballistic applicability of the controller.The six-degree-of-freedom simulation results under disturbances show that the proposed controller can truly and effectively solve the effects of side-slip coupling disturbance and other uncertain factors,and can stably track the guidance command,the proposed guidance law can also be combined to complete the terminal reentry mission of high penetration,strong robustness and high precision.