考虑前馈作用的BTT导弹自动驾驶仪设计方法研究

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。

An Effective Controller Design Method of BTT Missile Autopilot Considering Feedforward Effect

Aim.For the feedback problem of back to turn(BTT) missile autopilot,we present a controller design method.Sections 1 through 4 of the full paper explain our design method,which we believe is effective.The core of section 1 is that it builds a three-channel mathematical model of the missile,which is eqs.(1).The core of section 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 method;(3) a continuous nonlinear autopilot based on our strategy which solves the feedforward problem of the missile on pitching channel;eqs.(32) is the pitching channel continuous nonlinear autopilot proposed by us.The core of section 3 is that it designs a three-channel co-operating relationship,which solves the feedforward problem of the yaw 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 its eqs.(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 uncertain factors and the problem of the stable error,attains high tracking precision,and improves dynamic characteristics and stable quality.