导弹非零给定点LQR自动驾驶仪设计

Missile Autopilot Design Based on Non-zero Set Point LQR Method

静不稳定控制技术是提高空空导弹机动性能的有效手段。针对静不稳定导弹的控制问题,基于非零给定点线性二次型调节器(LQR)理论设计了纵向两回路自动驾驶仪。首先给出一种基于英美弹体坐标系的静不稳定导弹状态空间模型,引入加速度计到质心的距离参量;然后使用非零给定点输出调节器理论,推导了针对一般状态空间表达式描述的系统的最优控制问题,求得了通用解和自动驾驶仪的结构和参数表达式;最后根据经典控制理论对权重系数的选择进行理论研究和仿真分析,并对所设计自动驾驶仪的鲁棒性能以及引入加速度计到质心的距离变量对控制效果的影响进行仿真分析。结果表明所设计的自动驾驶仪有较强的鲁棒性,对静不稳定导弹起到了较好的控制作用。

It＇ s an efficient way to introduce static unstablity in the design of air-to-air missile. A two-loop longitudinal autopilot is de- signed to solve the problem of control on the statically unstable missile based on the theory of Non-zero set point regulator. Firstly, a missile＇ s longitudinal model in the style of state space notation is introduced, which is established on the hesperian body axis system, at the same time, the distance between aecelerometer and centroid is drawn into the model. And then, the optimal control is derivated from the theory of LQR and Non-zero set point regulator, with which a common result is obtained, and then, the autopilot is designed. At last, the weights are researched with the classical control theory, and the autopilot＇ s performance is analyzed from its robustness, anti-jamming ability and the affection of the distance between accelerometer and centroid. Results show that the autopilot has a stronger robustness, which can control the statically unstable missile efficiently.