旋转导弹动力学耦合分析与解耦控制方法研究

Research on Coupling and Decoupling Control Method for Rolling Airframe Missile

对旋转导弹动力学耦合分析及其解耦控制方法进行了研究。给出了旋转导弹产生的运动耦合、控制耦合,以及加速度计不在质心耦合的机理。讨论了前馈补偿解耦和三回路驾驶仪解耦的方法。介绍了基于变结构控制理论的自动驾驶仪解耦设计:保留动力学方程中的全部耦合项,将耦合视作扰动,用变结构自适应控制方法对导弹俯仰/偏航通道进行独立设计,不要求给出系统参数的在线辨识和典型弹道特征点精确参数,由系统参数上下界可获得时变参数的信息综合控制律。给出了变结构控制律的设计步骤,所得控制系统的鲁棒性强、稳定域大,在包含建模误差、外界扰动等不确定因素的极限边界条件下仍能获得理想的控制效果。研究对强对称耦合和参数快时变系统的控制有一定的参考意义。

Coupling analysis and decoupling method for rolling airframe missile were studied in this paper.The mechanisms of motion coupling,control coupling and coupling cased by accelerometer not on centroid were given.The decoupling methods of feed forward and three-loop autopilot were discussed.The decoupling design of autopilot based on variable structure control was presented.All the coupling items in the dynamic equations were kept and the coupling was served as disturbance.The rolling channel and pitch channel were designed independently using adaptive variable structure control method,in which it needn't identify the system parameters online and acquire the accurate parameters of characteristic points in typical trajectory,and the control law of time-varying parameters could be obtained from the up and low boundary of the system parameter.The design steps of variable structure control law were given.The control system obtained had strong robustness and large stable region,which could gain ideal control effect under the limitation conditions including uncertainness such as modeling error and outer disturbance.The study is valuable to the system control with strong symmetry coupling and fast time-varying parameter.