Integrated Control Of Mass Moment And Direct Force For A Spinning Missile

Nowadays, hypersonic near space vehicles are favored by many countries because of their quick response and precise attack, but they also pose a huge threat to the airspace of the other countries. In order to defense this type of vehicles, it is necessary to find a method to improve the response speed of the interceptors. In this dissertation, an attitude control method of a hypersonic spinning missile controlled by mass moment and direct force was mainly studied.Firstly, according to the principle of multi-rigid-body dynamics and Newton’s theorem, the dynamical model of an integrated control spinning missile was established in the quasibody coordinate system. Under certain assumptions, the dynamical model was simplified to the state space equations of the attitude dynamics of the integrated control system. And the nonlinear integrated dynamic inversion controller was designed by using the nonlinear dynamic inversion and time-scale separation.Secondly, as to the distribution of the control torque, the nonlinear allocation algorithm, the increasing chain algorithm and the improved increasing chain algorithm were studied based on the dynamical model with dynamic inversion controller. The improved increasing chain was proved to be more suitable for nonlinear dynamic inversion controller by comparing the effects on the performance of the integrated control system. The simulation results showed the effectiveness of the dynamic inversion controller and the improved increasing chain algorithm.Finally, the source and influence of the system disturbance were analyzed, and the extended state observer was designed to observe the disturbance of the system. The corresponding compensation was carried out based on the output of the extended state observer. The simulation results showed that the disturbance was accurately observed and the system disturbance was well compensated by the extended state observer.