滑翔制导炮弹自抗扰姿态解耦控制器设计

Design of attitude decoupling controller for gliding guided projectile based on active disturbance rejection control

针对滑翔制导炮弹姿态控制系统设计时存在的交叉耦合、执行机构响应延迟、控制能力约束以及不确定内外扰动等问题,基于自抗扰控制技术,设计了自抗扰姿态解耦控制器。该控制器结构简单、计算量小、需调控制参数少且不依赖精确的数学模型。通过数值仿真验证了该控制器的可行性和有效性。结果表明设计的姿态控制器能有效地实现俯仰/偏航解耦,并具有快速精确的跟踪性能以及良好的抗干扰能力。此外,控制参数对较大范围内的模型参数摄动不敏感,具备较强的适应性和鲁棒性,可为该类制导炮弹的控制系统设计提供一定的参考依据。

Aiming at the problems of cross coupling between pitch and yaw channels, actuator response de- lay, constraint of control authority, and uncertain internal and external disturbances in the design of attitude control system for gliding guided projectile, a disturbance rejection attitude decoupling controller is designed based on the active disturbance rejection control technique. The proposed controller has the advantages of simple structure, small computation, few control parameters, and independent of the accurate mathematical model. The feasibility and effectiveness of the controller are verified by numerical simulation. The results show that the proposed attitude controller can effectively realize pitch/yaw decoupling and fast and accurate tracking perfor- mance, as well as the attractive ability of active disturbance rejection. In addition, the well-tuned control pa- rameters are not sensitive to the perturbation of the model parameters in a wide range, to demonstrate strong adaptability and robustness of the controller, which can provide some reference for the design of the control sys- tem of the gliding guided projectile.