滚转导弹过载驾驶仪控制耦合解耦算法研究

舵机动力学滞后引起的控制耦合严重限制了过载驾驶仪在滚转导弹上的应用。建立滚转导弹驾驶仪模型，推导了等效舵机动力学传递函数矩阵，对比研究了基于最优舵面超前角度补偿和输出反馈动态的解耦控制方法，进行了仿真验证。仿真结果表明：随着转速与舵控系统频带比值的提高，控制耦合增加；基于最优舵面超前角度补偿的解耦方法实现简单，适用于工程应用，然而当转速与舵机频带的比值、输入指令频率与舵机频带的比值增加时，解耦效果变差，舵机控制效率降低；基于输出反馈动态解耦方法能够实现完全解耦，且受转速测量精度的影响较小，但该方法要求对舵机的传递函数精确已知，且补偿器的复杂性与舵机阶数密切相关，工程应用存在一定的难度。

Research on Decoupling Algorithm for Control Coupling of a Spinning Missile Autopilot

The application of acceleration autopilot in spinning missile is restricted by the control coupling resulting from the actuator kinetics. A model of spinning missile autopilot is established, and the transfer function matrix of the equivalent actuator is derived. The methods of optimal actuator leading angle compensation and decoupling control based on dynamic output feedback are studied. Simulation results show that, with increase in the ratio of actuator band to rotating frequency, the control coupling becomes larger. The optimal actuator leading angle compensation is suitable for engineering application, but when the rotating frequency and the actuator frequency are increased, the decoupling effect deteriorates and the actuator control efficiency decreases. The complete decoupling can be achieved by using the method of decoupling control based on dynamic output feedback, and the measured errors have little effect on the application. However, this method needs a precise actuator kinetics model, and the complexity of compensator is closely related to the actuator order.