导引头伺服系统的输出多采样率变结构控制

Digital Controller Redesign of Seeker Based on Sliding Mode Control Algorithms with Multi-rate Output Feedback

针对弹体耦合干扰力矩、摩擦力矩及参数扰动对导引头伺服系统跟踪性能的影响,基于输出多采样和区域极点配置技术,研究了导引头伺服系统的输出多采样率变结构控制,给出了确定控制器参数的方法。所设计的控制器能保证闭环系统是有界稳定的,且无需利用系统的状态作为反馈而仅利用输出采样来设计控制器,因而无须伺服机构中安装测速单元,有效节省了机构的体积和重量,有较强的实用性且易于实现。仿真结果表明,所设计的控制器对弹体耦合干扰力矩及系统参数扰动有较强的鲁棒性,且具有较高的跟踪精度,因而在导引头伺服系统这类对体积和质量有严格限制的伺服系统中具有较好的应用前景。

Based on multirate output feedback control law and region pole assignment technology, a discrete sliding mode control algorithm is presented. The control law is adapted to seeker servo system, which is disturbed by friction, coupling and restriction moment. The method to determine the parameters of the controller is also given. The disturbance doesn＇t need to satisfy the match condition and the boundary of the disturbance is known, Theoretical analyses show that the control strategy can guarantee the stability of the closed loop system. This methodology doesn＇t need the system states for feedback as it makes use of only the output samples to design the controller. Thus, it is more practical and easier to be implemented. Simulation results show that by adapting the presented control law, the servo system of seeker can reach good performance in the presence of disturbance. The advantages, such as easy implementation and good dynamic performance, make the control law more promising on control system design of seeker.