基于状态观测器的弹性导弹自动驾驶仪内模设计方法

Autopilot Design for Elastic Missile Systems Based on Internal Model Controller and State Observer

针对弹性导弹的控制问题,设计一种内模控制器和降阶状态观测器相结合的纵向自动驾驶仪,作为对Raytheon三回路自动驾驶仪的一种推广。首先,从包含弹性振动特性的控制系统模型出发,构建降阶状态观测器对不可直接测量的状态变量进行估计;其次,根据内模控制原理设计控制器来满足自动驾驶仪跟踪制导指令的要求,并对观测器和控制器可独立设计的分离原理进行证明;最后,根据自动驾驶仪的相关设计指标,通过线性二次型调节器来设计有效的控制增益。仿真结果表明,该方法相较于经典Raytheon三回路有一定的优越性,不仅可以实现姿态稳定和过载指令的有效跟踪,对弹性振动也有明显的抑制作用。

Aiming at the control problem of an elastic missile,a longitudinal autopilot combined with an internal model controller and a reduced-order state observer is proposed as a generalization of the Raytheon three-loop autopilot.Firstly,starting from a control system model comprising elastic vibration characteristics,a reduced-order state observer is established to estimate state variables which can not be measured directly.Second,in order to satisfy the requirement for the autopilot to track the guidance command,a controller is designed according to the principle of internal model control,and the separation principle of independent design between observer and controller is proved.Finally,according to the related design specifications of the autopilot,effective control gains are obtained by solving the linear quadratic regulator problem(LQR).Simulation results show that the method of this paper has certain advantages over the classic Raytheon three-loop,where not only the stability of the attitude and the effective tracking of the overload command are achieved,but also the elastic vibration is significantly inhibited.