基于NMPC的空空导弹自动驾驶仪设计

NMPC-Based Autopilot Design for Air-to-Air Missiles

本文针对空空导弹姿态控制存在模型非线性和时变性、控制约束等问题进行了基于广义扩张状态观测器、预测函数控制和改进障碍内点法的过载自动驾驶仪的设计。首先,建立导弹的动力学模型。然后,采用广义扩张状态观测器观测并补偿系统中的集总扰动,采用预测函数控制设计控制器,设计带控制约束的优化问题并转化成二次规划问题。采用改进的障碍内点法对二次规划问题进行快速求解,在保证控制性能的同时提高实时性。最后,通过仿真对比验证了本方案的有效性和可行性。

In this paper,an overload autopilot based on generalized extended state observer,predictive function control and improved barrier interior-point method is designed to solve the problems of model nonlinearity,time variability and control constraints in attitude control of air-to-air missile.Firstly,the dynamic model of missile is established.Then,the generalized extended state observer is used to observe and compensate lumped disturbance in the system,and the controller is designed by predictive function control.The optimization problem with control constraints is designed and transformed into a quadratic programming problem,which is quickly solved by an improved barrier inte-rior-point method,the control performance can be guaranteed and the real-time performance can be improved.Finally,the effectiveness and feasibility of the scheme are verified by simulation.