一种变质心高速旋转炮弹鲁棒姿态控制律

A Robust Attitude Control Law of Spin-stabilized Projectile with a Moving-mass

针对采用变质心技术的高速旋转炮弹的姿态控制问题,提出一种基于扩张状态观测器的动态面控制方法。根据由弹体和单滑块组成的多体系统的特点,建立了系统的姿态动力学模型,并对其进行了合理的简化。将系统的滚转通道引起的强耦合、建模误差及外部扰动等视为未知不确定干扰,并且考虑由于炮弹尺寸限制而引起的多体系统控制输入(滑块位移)的有限性,设计了扩张状态观测器和辅助系统,分别对系统的干扰进行观测以及处理控制输入的有限性,综合动态面控制技术设计了姿态控制律,最后基于李雅普诺夫稳定性原理证明了控制器的稳定性。仿真结果表明,该控制器能够在克服干扰的前提下快速稳定地跟踪指令信号,具有良好的控制精度和鲁棒性。

Aiming at the problem of attitude control of the spin-stabilized projectile with a moving-mass,a controller design method based on dynamic surface and the extended state observer(ESO) is proposed. According to the characteristics of the multi-body system composed of the projectile itself and a moving-mass,the attitude dynamics model of the system is established,and its simplification is gotten based on reasonable assumption. The modelling errors,strong coupling effect caused by moment of the roll channel and the external disturbance are regarded as unknown disturbance of the system. The constraint of control input,i.e. the displacement of the moving-mass,is also considered,which is caused by the limited size of the projectile. An ESO and an auxiliary system are built to estimate the system disturbance and deal with the problem of control input constraint respectively. An attitude controller based on dynamic surface control theory,ESO and the auxiliary system is designed,and the stability of the controller is proved according to Lyapunov stability theory.Simulation results show that the output of the controller can track the command signal quickly and steadily while overcoming the system disturbance,and the controller is of good control precision and robustness.