基于动态逆和分散控制的导弹控制系统设计

Design of control systems for missiles based on dynamic inversion and decentralized control

针对导弹六自由度非线性模型,根据时标分离原理将导弹系统分为快慢不同的4个回路.以快回路和较慢回路为例,提出在快回路和较慢回路中设计动态逆控制器以实现非线性解耦控制,并在较慢回路中设计鲁棒分散控制器以补偿整个控制系统的不确定性及干扰.鲁棒分散控制器结构简单,且不依赖于被控对象精确的数学模型.仿真结果表明,按照该方法设计的导弹闭环控制系统具有良好的稳态性能和动态性能,鲁棒性强.

Based on the nonlinear six degree-of-freedom missile model, the missile system was separated into four loops according to time-scale separation principle. Taking account of the fast loop and the relatively slow loop, the dynamic inversion controllers were designed in both of the two loops for decoupling control, and the robust decentralized controller was designed in the relatively slow loop to compensate the uncertainty and disturbances of the whole system. The robust decentralized controller has a simple structure and does not rely on the accurate mathematical model. Finally, the simulation results show that the closed-loop control system which is designed according to the approach achieves both good steady performance and dynamic performance, and its robust performance is also excellent.