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论文:2012,Vol:30,Issue(3):307-313 |
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引用本文： |
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黄汉桥, 黄长强, 赵辉, 曹林平, 翁兴伟. 考虑前馈作用的BTT导弹自动驾驶仪设计方法研究[J]. 西北工业大学 |
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Huang Hanqiao, Huang Changqiang, Zhao Hui, Cao Linping, Weng Xingwei. An Effective Controller Design Method of BTT Missile Autopilot Considering Feedforward Effect[J]. Northwestern polytechnical university |
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| 考虑前馈作用的BTT导弹自动驾驶仪设计方法研究 |
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| 黄汉桥1,2, 黄长强2, 赵辉2, 曹林平2, 翁兴伟2 |
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1. 西北工业大学 精确制导与控制研究所,陕西 西安 710072;
2. 空军工程大学 航空航天工程学院,陕西 西安 710038 |
| 摘要: |
| 针对BTT导弹自动驾驶仪的设计要求,文章提出了一种考虑前馈作用的导弹自动驾驶仪控制器设计方法。基于该型导弹三通道弹体数学模型,建立了自动驾驶仪控制系统数学模型。应用增益技术和递推设计方法,并基于过载稳定跟踪控制的设计要求,提出了一种全局非线性稳定控制策略,设计了连续的非线性自动驾驶仪,解决了该导弹俯仰通道的前馈问题;对于偏航通道,通过设计三通道协调控制律,将有前馈的自动驾驶仪设计问题转化为无前馈的设计问题;同时也利用滑模变结构控制原理解算出了横滚通道的舵偏角指令。数字仿真结果表明,所设计的自动驾驶仪控制系统可有效克服前馈问题所产生的稳态误差以及不确定性因素的影响,同时也提高了跟踪精度,并具有良好的动态特性和稳态品质。 |
| 关键词:
效率
前馈控制
李亚普洛夫方法
数学模型
导弹
非线性系统
稳定性
系统误差
变结构控制
自动驾驶仪
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| An Effective Controller Design Method of BTT Missile Autopilot Considering Feedforward Effect |
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| Huang Hanqiao1,2, Huang Changqiang2, Zhao Hui2, Cao Linping2, Weng Xingwei2 |
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1. Institute of Precision Guidance and Control, Northwestern Polytechnical University, Xi'an, 710072, China;
2. College of Aeronautics and Astronautics Engineering, Air Force Engineering University, Xi'an 710038 China |
| Abstract: |
| Aim. For the feedback problem of back to turn(BTT) missile autopilot,we present a controller designmethod. Sections 1 through 4 of the full paper explain our design method,which we believe is effective. The coreof section 1 is that it builds a three-channel mathematical model of the missile,which is eqs. (1) . The core of sec-tion 2 consists of: (1) overload control system model of autopilot considering rudder on pitching channel(eq.(10) ) ; (2) a global nonlinear control strategy based on the gain technique and the power integrator design meth-od; (3) a continuous nonlinear autopilot based on our strategy which solves the feedforward problem of the missileon pitching channel; eqs. (32) is the pitching channel continuous nonlinear autopilot proposed by us. The core ofsection 3 is that it designs a three-channel co-operating relationship,which solves the feedforward problem of theyaw channel,and eqs. (34) and (39),both proposed by us,are the control law of autopilot on the yaw channel.The core of section 4 calculates rudder declination by applying sliding mode control theory on rolling channel and itseqs. (44) is the rolling channel autopilot proposed by us. The simulation results,presented in Figs. 1 through 7,and their analysis show preliminarily that the designed control system suppresses to a minimum the influence of un-certain factors and the problem of the stable error,attains high tracking precision,and improves dynamic character-istics and stable quality. |
| Key words:
efficiency
feedforward control
Lyapunov methods
mathematical models
missiles
nonlinear sys-tems
stabilization
systematic errors
varable structure control;autopilot
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| 收稿日期: 2011-06-12
修回日期:
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| DOI: |
| 通讯作者:
Email： |
| 作者简介: 黄汉桥(1982-),西北工业大学校友,现就职于空军工程大学,主要从事无人作战飞行器总体技术的研究。
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参考文献: |
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[1] 周军，陈新海，周凤岐.倾斜转弯导弹自动驾驶仪设计的前馈问题研究.西北工业大学学报，1994，12(1): 37-41 Zhou Jun，Chen Xinhai.Zhou Fengqi.Study of Feedforword Problem for Back-to-Turn Missile Autopilot Design.Journal ofNorthwestern Poltechnical University，1994，12(1): 37-41 (in Chinese)
[2] 邢立旦，陈万春，殷兴良.应用最优/经典综合设计法设计三回路 BTT 自动驾驶仪.宇航学报，2008，29(1): 183-187Xing Lidan，Chen Wanchun，Yin Xingliang.Design Three-Loop Autopilot for BTT Missile Using Combined Optimal/ClassicalApproach.Journal of Astronautics，2008，29(1): 183-187 (in Chinese)
[3] 童春霞，王正杰，张天桥.BTT 导弹的变结构解耦控制系统设计.宇航学报，2006，27(1): 27-30Tong Chunxia，Wang Zhengjie，Zhang Tianqiao.Decoupling System Design Based on Variable Structure System for BTT Mis-sile.Journal of Astronautics，2006，27(1): 27-30 (in Chinese)
[4] 李 威，韩品尧.用古典频域理论设计 BTT 导弹控制系统.倾斜转弯技术论文选集.北京: 航空航天部出版，1989，98-111Li Wei，Han Pinyao.BTT Missile Control System Design with Classical Frequency Theory.Symposium of BTT Technique.Min-istrny of Aeronamtics and Astronautius，1989，98-111 (in Chinese)
[5] Lin W，Qian C J.Adding a Power Integrator: A Tool for Global Stabilization of High-order Cascade Nonlinear Systems.Systemsand Control Letters，2000，39(5): 339-351
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[7] 王强德，井元伟，张嗣瀛.控制方向未知的非线性系统的自适应输出跟踪控制.控制与决策，2006，21(3): 248-252Wang Qiangde，Jing Yuanwei，Zhang Siying.Adaptive Output Tracking Control of Nonlinear Systems with Unknown Control Di-rections.Control adn Decision，2006，21(3): 248-252 (in Chinese)
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[9] Zhou Jun，Huang Hanqiao，Guo Jianguo.A Design Method of BTT Missile Autopilot with the Impact of Feedforward.ModernApplied Science，2010(4): 58 ～66 |
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