变外形航弹离散滑模倾斜转弯自动驾驶仪设计

摘要

为提高变外形航弹倾斜转弯控制系统对弹翼作动影响的鲁棒性能，提出了一种基于离散滑模控制原理的倾斜转弯自动驾驶仪设计方法。建立了航弹倾斜转弯控制仿射模型，针对该模型中存在的时变特性与耦合问题，通过反馈线性化方法对原系统进行解耦并离散化处理，将由后掠角采样值误差引起的各动力学系数偏差项作为模型不确定扰动，设计了变外形航弹的离散滑模倾斜转弯自动驾驶仪。仿真结果表明，所设计的离散倾斜转弯控制系统实现了各通道的解耦控制，对时变参数摄动具有良好的鲁棒性能，验证了对指令跟踪的动态延迟和误差与采样周期有关，实际选取时需综合考虑实际硬件性能与期望的指令跟踪精度要求。%In order to improve the robust performances of Bank-to-turn control system within the morphing phase,a Bank-to-turn autopilot design for the morphing aerial bombs based on the discrete-time sliding mode control principle was proposed.The Bank-to-turn control affine system was modeled.Meanwhile,aiming at the time-varying and coupling characteristics,input-output feedback linearization was utilized to decouple the system into three independent discrete-time subsystems.The aerodynamic coefficient deviation items caused by sampling errors of the sweepback were regarded as the external uncertain disturbances,and a discrete-time sliding mode Bank-to-turn autopilot for the morphing aerial bombs was designed.The simulation results indicate that the discrete-time control system has a good robust performance for the time-varying parametric perturbations engendered by wings morphing and can realize the decoupling control among channels.The tracking delay and errors are related to the sampling period,therefore,the actual hardware performances and command tracking accuracy should be considered in selecting sampling period.