Linear quadratic Gaussian with loop transfer recovery （LQG/LTR） gain scheduling technique is utilized to design gain scheduling autopilot for surface-to-air missile. In order to eliminate the artificial uncertaintie...Linear quadratic Gaussian with loop transfer recovery （LQG/LTR） gain scheduling technique is utilized to design gain scheduling autopilot for surface-to-air missile. In order to eliminate the artificial uncertainties that the traditional ＂trial and error＂ de- sign process introduces into system, a method to design target loop based on pole assignment is proposed, which provides an explicit algorithm to construct the matrix differential Riccati equation （MDRE） based on the expected poles determined by the performance specifications. Meanwhile, it is proved that by introducing integrators to augment plant dynamics the fast modes of LQG/LTR gain scheduling controller can be restrained effectively, which alleviates an obstacle for the engineering application of LQG/LTR gain scheduling technique. The proposed method is applied in the design of LQG/LTR gain scheduling autopilot for a surface-to-air missile. The design and simulation results indicate that the fast modes of controller are eliminated obviously, and that the dynamic characteristics of autopilot are stable when flight Mach number and altitude vary.展开更多
The open-loop crossover frequency is pointed as an important parameter for practical autopilot design. Since different gain designs may achieve the same open-loop crossover frequency, it should be neither considered a...The open-loop crossover frequency is pointed as an important parameter for practical autopilot design. Since different gain designs may achieve the same open-loop crossover frequency, it should be neither considered as a performance objective of the optimal autopilot design-schemes nor neglected. Besides, the main assignment of the autopilot is to drive the missile to track the acceleration commands, so the autopilot gain design should be evaluated directly according to the resultant tracking performance. For this purpose, an optimal design methodology of the three-loop missile autopilot is introduced based on constraint optimization technique, where the tracking performance is established analytically as the design objective and the open-loop crossover frequency is formed as inequality constraint function, both are manipulated in terms of stable characteristic parameters of the autopilot closed-loop. The proposed technique is implemented with the assistance of a numerical optimization algorithm which automatically adjusts the design parameters. Finally, numerical simulation results are provided to demonstrate the effectiveness and feasibility of the proposed approach compared with that in some references.展开更多
Controller tuning is the correct setting of controller parameters to control complex dynamic systems appropriately and with high accuracy.Therefore,this study addressed the development of a method for tuning the headi...Controller tuning is the correct setting of controller parameters to control complex dynamic systems appropriately and with high accuracy.Therefore,this study addressed the development of a method for tuning the heading controller of an unmanned surface vehicle(USV)based on the backstepping integral technique to enhance the vehicle behavior while tracking a desired position for water monitoring missions.The vehicle self-steering system(autopilot system)is designed theoretically and tested via a simulation.Based on the Lyapunov theory,the stability in the closed-loop system is guaranteed,and the convergence of the heading tracking errors is obtained.In addition,the designed control law is implemented via a microcontroller and tested experimentally in real time.Conclusion,experimental results were carried out to verify the robustness of the designed controller when disturbances and uncertainties are introduced into the system.展开更多
文摘Linear quadratic Gaussian with loop transfer recovery （LQG/LTR） gain scheduling technique is utilized to design gain scheduling autopilot for surface-to-air missile. In order to eliminate the artificial uncertainties that the traditional ＂trial and error＂ de- sign process introduces into system, a method to design target loop based on pole assignment is proposed, which provides an explicit algorithm to construct the matrix differential Riccati equation （MDRE） based on the expected poles determined by the performance specifications. Meanwhile, it is proved that by introducing integrators to augment plant dynamics the fast modes of LQG/LTR gain scheduling controller can be restrained effectively, which alleviates an obstacle for the engineering application of LQG/LTR gain scheduling technique. The proposed method is applied in the design of LQG/LTR gain scheduling autopilot for a surface-to-air missile. The design and simulation results indicate that the fast modes of controller are eliminated obviously, and that the dynamic characteristics of autopilot are stable when flight Mach number and altitude vary.
文摘The open-loop crossover frequency is pointed as an important parameter for practical autopilot design. Since different gain designs may achieve the same open-loop crossover frequency, it should be neither considered as a performance objective of the optimal autopilot design-schemes nor neglected. Besides, the main assignment of the autopilot is to drive the missile to track the acceleration commands, so the autopilot gain design should be evaluated directly according to the resultant tracking performance. For this purpose, an optimal design methodology of the three-loop missile autopilot is introduced based on constraint optimization technique, where the tracking performance is established analytically as the design objective and the open-loop crossover frequency is formed as inequality constraint function, both are manipulated in terms of stable characteristic parameters of the autopilot closed-loop. The proposed technique is implemented with the assistance of a numerical optimization algorithm which automatically adjusts the design parameters. Finally, numerical simulation results are provided to demonstrate the effectiveness and feasibility of the proposed approach compared with that in some references.
文摘Controller tuning is the correct setting of controller parameters to control complex dynamic systems appropriately and with high accuracy.Therefore,this study addressed the development of a method for tuning the heading controller of an unmanned surface vehicle(USV)based on the backstepping integral technique to enhance the vehicle behavior while tracking a desired position for water monitoring missions.The vehicle self-steering system(autopilot system)is designed theoretically and tested via a simulation.Based on the Lyapunov theory,the stability in the closed-loop system is guaranteed,and the convergence of the heading tracking errors is obtained.In addition,the designed control law is implemented via a microcontroller and tested experimentally in real time.Conclusion,experimental results were carried out to verify the robustness of the designed controller when disturbances and uncertainties are introduced into the system.
