滑翔制导炮弹非线性自抗扰过载控制器设计

摘要

针对滑翔制导炮弹控制系统存在不确定内、外扰动以及舵偏指令响应滞后情况下的过载跟踪问题,基于自抗扰控制技术,设计了非线性自抗扰过载跟踪控制器.该控制器结构简单,计算量小,需调整参数少.数值仿真结果表明:该自抗扰过载控制器可在强扰动和舵机响应延迟的情况下,使得输出过载精确有效地跟踪过载指令,具备良好的抗干扰能力;并且舵控指令从0缓慢变化,有效地减缓了舵机的控制负担.该控制器对较大范围内的气动参数和舵机时间常数的摄动具备较强的适应性和鲁棒性,可为滑翔制导炮弹的控制系统设计提供一定的参考依据.%Considering the problem of acceleration tracking of gliding guided projectiles in the case of the uncertaint internal and external disturbances and the time delay of canard deflection command,a nonlinear active disturbance rejection acceleration tracking controller is designed based on the active disturbance rejection control technique.The controller is simple and easy to implement,and requires small amount of calculation and less parameters to be adjusted.The numerically simulated results show that the proposed active disturbance rejection controller can accurately control the output acceleration to track the acceleration command under the conditions of strong disturbance and delayed response of canard,and has better disturbance-resistant capability.Moreover,the canard deflection control command changes slowly from zero,which effectively reduces the control burden of canard system.In addition,the proposed controller has strong adaptability and robustness to the large-scale perturbation of the aerodynamic coefficients and the lag coefficient of canard.