基于串级自抗扰理论的BTT导弹解耦控制器设计  

Design of Decoupling Controller for BTT Missile Based on Cascade Active Disturbance Rejection Control Theory

作　　者：周中凯 宋闯[1] 洪诗权[1] 郝明瑞 姜易阳[1] Zhou Zhongkai;Song Chuang;Hong Shiquan;Hao Mingrui;Jiang Yiyang(Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory,Beijing Electro-mechanical Engineering Institute,Beijing 100074,China)

机构地区：[1]北京机电工程研究所复杂系统控制与智能协同技术重点实验室,北京100074

出　　处：《战术导弹技术》2018年第6期78-84,共7页Tactical Missile Technology

摘　　要：针对传统的基于特征点设计的前馈补偿方法在BTT导弹弹体动态变化后解耦效果并不理想的问题,设计了一种串级自抗扰解耦控制方法。首先,使用线性扩张状态观测器将原系统改造成标称的积分串联型系统。其次,通过一级自抗扰控制器设计改善弹体内回路的动态特性,在此基础上引入前馈补偿支路,对通道间的运动学耦合进行补偿。最后,通过二级自抗扰控制器设计对剩余耦合量进行估计补偿,从而实现通道间解耦和期望的性能。数学仿真表明,相比传统前馈方法,串级自抗扰控制方法解耦效果更为明显,能够有效抑制侧滑角的扰动。Considering the heavy nonlinear crossing couplings between different channels existing in the BTT missile,traditional feedforward method which is based on feature points has little decoupling effect when the body dynamic characteristics of the body changes. Therefore,the design of cascade active disturbance rejection controller was studied for the BTT missile. Firstly,the original system can be transformed into an integral series nominal system by compensating the disturbances which are estimated through a Linear Extended State Observer. Secondly,the first order ADRC controller is used to improve the body dynamic performance of internal loop. On this foundation,the feedforward compensation branch is introduced to compensate the coupling term. Finally,by estimating and compensating the remaining disturbances with the second order ADRC,promising control performance and decoupling effect are achieved. Simulation results show that the proposed method can restrain sideslip disturbance effectively and obtain a better decoupling effect,compared with traditional feedforward method.

关 键 词：BTT 串级自抗扰 线性扩张状态观测器 前馈补偿 导弹 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程]