可旋转翼式弹道修正组件滚转控制技术研究

doi:10.12305/j.issn.1001-506X.2024.04.30

摘要/Abstract

摘要：

针对可旋转翼式弹道修正组件滚转通道控制中存在的未建模摩擦干扰、参数不确定性和外部随机干扰造成的复合扰动问题, 提出一种基于扩张状态观测器(extended state observer, ESO)的滑模控制方法。首先建立弹道修正组件滚转通道模型, 将动力学模型中存在的外部干扰、未建模摩擦干扰和参数摄动整合为复合干扰, 然后设计ESO对修正组件滚转通道模型中难以直接测定的状态变量以及复合干扰进行估计, 并基于估计值结合滑模控制理论设计滚转通道控制器, 实现对滚转角指令的精确跟踪。综合考虑ESO和滑模控制器构成的闭环控制系统, 利用Lyaponov稳定性理论证明了所设计的闭环控制系统的稳定性。最后, 通过仿真实验分析, 证明所设计的修正组件滚转通道控制器, 对滚转角指令的瞬态响应和稳态性能优异, 同时可以有效抑制系统复合扰动, 具备较强的鲁棒性。

关键词: 可旋转翼式弹道修正组件, 滚转控制技术, 扩张状态观测器, 滑模控制, 扰动估计和抑制技术

Abstract:

Aiming at the composite disturbance problem caused by unmodeled friction disturbance, parameter uncertainty, and external random disturbance in the rolling channel control for a trajectory correction fuse with active-canards, a sliding mode control method based on the extended state observer (ESO) is proposed. Firstly, the model of the rolling channel of the trajectory correction fuse is established. The external disturbances, unmodeled friction force and parameter perturbations are integrated into a composite disturbance. Then the ESO is designed to estimate the state variables and composite disturbances that are difficult to directly measure in roll channel model of correction fuse, and the roll channel controller is designed based on the estimated values and the sliding mode control theory to realize the accurate tracking of the roll angle command. Comprehensively considering the closed loop control system composed of ESO and sliding mode controller, Lyapunov stability theory is used to prove the stability of the proposed loop control system. Finally, the simulation result verifies that the roll channel has great performance of instant response to roll angle indicator, which can effectively surpass the composite disturbance, and has strong robustness and good stability.

Key words: trajectory correction fuse with active-canards, roll control, extended state observer (ESO), sliding mode control, disturbance estimation and compensation techniques

中图分类号:

TJ413

郑秋实, 许伟春, 赵明翰, 李乃星, 包旭馨. 可旋转翼式弹道修正组件滚转控制技术研究[J]. 系统工程与电子技术, 2024, 46(4): 1412-1421.

Qiushi ZHENG, Weichun XU, Minghan ZHAO, Naixing LI, Xuxin BAO. Research on roll control technology of trajectory correction fuse with active-canards[J]. Systems Engineering and Electronics, 2024, 46(4): 1412-1421.

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参数	取值
参考面积S/m²	0.018 87
参考长度L/m	0.155
组件滚转惯量I_xf/(kg·m²)	0.012
舵机时间常数T_S	0.008 3

参数	飞行马赫数
	0.6	0.9	1.1	1.5	2.0
	C_lpf	-0.605 0	-1.409 0	-1.421 0	-0.558 0	0.373 0
C_{Mδ_x}	-0.001 6	-0.003 8	-0.004 2	-0.001 5	-0.001 0

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