基于离线预测控制的旋转尾翼稳定弹解耦控制器设计

摘要

低速旋转尾翼稳定弹飞行过程中存在着气动交联、惯性交联和控制交联,为了实现稳定飞行,有必要进行解耦控制器设计.鉴于模型预测控制方法虽然具有较好的解耦能力和对建模精度要求不高的优点,但存在计算量大的问题,为此提出一种基于指令滤波器的离线模型预测控制方法.通过离线求解控制参数阵和在线查表应用的方式,将大量计算工作转为离线进行,以满足实时控制需求.将指令状态和系统输出跟踪误差积分引入预测模型中,充分利用被控对象和指令模型的动态特性,使得离线求解的控制参数阵能够较好地应对指令信号的变化.基于旋转尾翼稳定弹姿态控制进行仿真,对算法的有效性进行了验证,结果表明所设计的控制器能够确保飞行指令的稳定跟踪.%In order to achieve the stable flight,a decoupling controller is necessary for a spinning fin stabilized projectile with low spin rate in flight with considering aerodynamic cross-linking,inertial crosslinking and control cross-linking.Since the model predictive control method has the advantages of good decoupling ability and less demand on modeling accuracy,but has the large on-line computing burden,thus an off-line model predictive control method with command filter is proposed.The off-line solved control parameter matrix and the on-line look-up table are used to reduce the on-line computing burden to meet the real-time control requirements.The state of command filter and the integral of tracking error are added into the prediction model to make full use of the dynamic characteristics so that the control parameter matrix can cope with the change of command signal.The effectiveness of the proposed algorithm is verified by the attitude control simulation.The designed controller can ensure the stability tracking of the flight command.