制导火箭弹非线性最优预测姿态的控制器设计

摘要

为了提高制导火箭弹的控制效果,基于最优控制理论,提出将非线性预测控制方法应用于火箭弹姿态的控制器设计.根据火箭弹的运动特点,结合弹箭一般运动方程组,给出了尾翼稳定火箭弹姿态动力学模型.以舵偏角为控制变量,推导出姿态控制系统的状态方程、目标函数与控制律,并设计了姿态控制器.在控制时域一定的条件下,利用6自由度弹道模型仿真分析了控制阶数对制导火箭弹非线性姿态控制器的影响,得到控制阶数对非线性最优预测控制影响的定性规律.仿真结果表明:该控制器具有良好的控制效果,系统控制响应快,可基本实现无差控制.%In order to improve the control effect of guided rockets, the nonlinear model predictive control method based on the optimal control theory was applied to the design of attitude controller of guided rockets. According to the movement characteristics of the rocket projectile and combined with a set of equations for the projectiles' general motion, a fin-stabilized rocket attitude dynamics model was presented. The equations of state, the objective function and the control law were deduced by use of the rudder deflection angle as control variable and thereby the attitude controller was designed. Under the control domain certain conditions, 6-DOF trajectory model was applied to simulating and analyzing the effect of the control order work on the nonlinear attitude controller of guided rockets. The qualitative laws obtained from the simulation can be used to provide a reference for designing the guided rocket control system. The simulation results show that this controller performs so well, and responses so fast as to basically realize non-error control.