一种快时变气动下双旋飞行器非线性动态逆解耦控制方法

An analysis of the rapidly varying parameters and uncertainty characteristics of dual-spin projectiles is conducted, and a nonlinear dynamic inversion decoupling control method based on a time-scale separation architecture is proposed. Initially, a seven-degree-of-freedom coupled multi-rigid body dynamics model of the dual-spin projectile is constructed, with aerodynamic parameter uncertainty considered as normalized disturbances. Subsequently, the dynamics model is decomposed into roll channel and pitch/yaw channel subsystems. Utilizing the time-scale separation approach, the pitch and yaw channels are further decoupled into cascaded subsystems featuring fast and slow dynamic characteristics. An extended state observer is designed to accurately estimate changes in attitude angles and compensate for disturbances. Additionally, an integral sliding mode surface is introduced to enhance the system's robustness against disturbances and model uncertainties. Based on these developments, nonlinear dynamic inversion controllers are separately designed. Simulation results indicate that the proposed control method, under conditions of 1000 Hz frequency and ±30% aerodynamic parameter perturbation, can achieve an average tracking error of no more than 2% in pitch and yaw overload, demonstrating excellent control performance and robustness.