低空掠海飞行拖靶自抗扰高度控制律设计

Design of Active Disturbances Rejection Control Law of Low Altitude Sea-skimming Tow Target

针对低空掠海飞行拖靶建模误差和外界扰动大的特点,提出了自抗扰高度控制律设计方法。该方法通过安排过渡过程解决了超调与快速性的矛盾,跟踪微分器提取误差的微分信号有效实现了微分反馈,非线性反馈在避免使用积分器的同时提高了控制效率。采用扩张状态观测器对未建模动态和干扰作用进行估计并补偿。仿真结果表明,在存在模型摄动和外界扰动情况下,基于自抗扰控制的拖靶高度控制系统具有较好的动态品质、稳态精度以及较强的鲁棒性。

To solve the problems that the modeling error and the internal and external disturbances of the low altitude sea-skimming tow target are great, an altitude control scheme based on the active dis- turbance rejection control technique is proposed. The contradiction of over-control and rapidity is harmonized by arranging the transient process, and the feedback of differential signal is achieved by track differentiator extracting the differential error signal. A nonlinear feedback method is used to improve the control efficiency avoid using integrator. Finally, the un-modeled dynamics and unknown disturbances in the system are estimated and compensated by the extended-state observer. The simulation results show that the control system has good dynamic capability, stable precision and strong robustness when being imported several kinds of disturbances.