倾斜转弯小直径炸弹鲁棒自动驾驶仪设计(英文)

Robust autopilot design for bank-to-turn small diameter bomb

针对倾斜转弯(BTT)控制模式决定了小直径炸弹是一个强耦合非线性不确定时变系统的特点,研究了其自动驾驶仪的鲁棒设计问题。将小直径炸弹俯仰、偏航、滚转通道之间的耦合视作不确定干扰,基于H∞控制理论,采用双回路方法设计了自动驾驶仪,即采用LQR设计方法作为内回路,以确保炸弹确定性模型部分的控制效果;H∞/混合灵敏度控制作为外回路,以抑制通道之间耦合干扰,增强系统的鲁棒性能,并分析了系统的动态跟踪性能和对全弹道上参数扰动的鲁棒性能。6DOF弹道仿真结果表明炸弹BTT控制性能和鲁棒性能良好,满足设计指标要求。其研究方法可为小直径炸弹BTT控制系统的工程应用提供参考。

Bank-to-turn control mode makes small diameter bomb（SDB） be a strongly coupled uncertain system. The paper studies how to design a robust autopilot. Based on H∞ control theory, the autopilot is designed using outer-loop/inner-loop control in which the couple between pitching, yawing and roll channels is taken as uncertain bounded disturbance. Considering a linear quadratic regulator （LQR） as inner-loop to ensure the control effect of certain part in model, and taking H∞ mixed sensitivity control as outer-loop to restrain coupling disturbance and strengthen the system＇s robust performance, the dynamic tracking performance and the robustness for the parameter disturbance in the full trajectory are analyzed. The six-degrees-of-freedom （6DOF） simulation shows that the BTT control system of SDB functions better and robustly, which meets the design demands. It can afford the reference for BTT control system practice application of SDB.