制导炮弹姿态非线性模型预测控制仿真分析

Simulation and Analysis of Nonlinear Model Predictive Control for Guided Projectile Attitude

为实现对某制导炮弹攻角、侧滑角和速度倾斜角指令的快速跟踪控制,应用具有解析控制律的非线性模型预测控制方法设计其控制器。将制导炮弹控制器分成内、外两个回路来设计,通过外回路控制器将攻角、侧滑角和速度倾斜角指令转成弹体角速度指令,再由内回路控制器转成舵偏角指令。仿真分析了非线性模型预测控制参数(控制阶数和预测时域)对制导炮弹控制器的影响,得到其对控制效果影响的定性规律。仿真结果表明,合理选取控制阶数和预测时域组合,可使该控制器具有良好的控制效果,系统控制响应快,基本实现无差控制。

In order to fast track angle-of-attack,side-slip and bank angle about the velocity commands of a guided projectile,a controller design is established using the nonlinear model predictive control method with an analytical control law.The controller of the guided projectile is divided into an out-loop controller and an inner-loop controller.The out-loop nonlinear model predictive controller converts the angle-of-attack,side-slip and bank angle about the velocity commands to body rate commands for the inner-loop.The inner-loop nonlinear model predictive controller converts body rate commands to fin commands.The performance of the nonlinear controller,affected by the parameters（i.e.control order and predictive horizon）of a nonlinear model predictive control,is demonstrated through simulation.The simulation results show that the nonlinear controller performs well,responses quickly and almost realizes no steady error control,so long as the control order and the predictive horizon are appropriately selected.