航空布撒器倾斜转弯自动驾驶仪设计与仿真

Design and Simulation of a Coordinated BTT Autopilot for Airborne Dispenser

航空布撒器动力学具有非线性、强耦合、大参变的特点。针对动力学模型耦合和气动系数不确定性,给出了倾斜转弯自动驾驶仪的三通道独立设计方法。首先,采用混合灵敏度理论设计俯仰和滚转通道自动驾驶仪,以保证弹体在大空域范围内有较好的指令响应特性和稳定性。针对快速滚转引起的耦合,在偏航通道中引入攻角和滚转角速率信息,实现滚转/偏航运动解耦,抑制侧滑角。全弹道仿真表明,该方法设计的驾驶仪能适应大范围的气动参数变化,具有很好的鲁棒性,并能有效地实现倾斜转弯控制的好r forl coord inated law for yaw channel is givenaftUsing。

The dynamics of airborne dispenser is highly nonlinear, cross -coupling and seriously parameter- variant in nature. In the paper a method by which BTT autopilot is designed respectively for each channel is given in order to deal with the system cross - coupling and aero - dynamical coefficient uncertainties. First, robust autopilot for pitch and roll channel is designed using mixed - sensitivity method, so that it performs a good response feature and has a good stability in a large flight envelope. Then the information of attack angle and roll rate are introduced into yaw channel in order to decouple the roll/yaw channel and reduce the sideslip angle induced by rapid rolling maneuver. Finally, nonlinear simulation results of full envelope show that the autopilot designed by this way can fly stably in a large envelope and can carry out excellent turns with small sideslip angle.