旋转弹舵机控制滞后及延迟补偿时间分析  

Actuator control delay and delay compensation time of spinning missile

作　　者：连捷 姚晓先[1] 郭致远[1] LIAN Jie, YAO Xiaoxian, GUO Zhiyuan(School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, Chin)

机构地区：[1]北京理工大学宇航学院,北京100081

出　　处：《系统工程与电子技术》2018年第6期1318-1324,共7页Systems Engineering and Electronics

摘　　要：针对十字鸭舵布局的双通道旋转弹控制滞后问题,从舵机控制力角度建立控制模型,推导了控制力滞后角的计算公式;从系统组成方面对指令的形成与传输过程进行了分析,得出滞后形成的两方面原因:地磁陀螺和弹载计算机引起的舵机输入指令信号延迟和舵机性能引起的舵机指令响应信号延迟;利用滞后角计算公式和正弦波扫频法,得到低转速下舵机输入指令信号和指令响应信号的延迟补偿时间为常数;提出根据延迟补偿时间常数和转速进行滞后补偿的方法,并进行了实验验证。实验结果表明,此方法具有良好的补偿效果。This paper is mainly about the control delay of dual-channel spinning missiles with the canard deployment of＂＋＂.The formula of the lag angle of control is derived by the control method built by the control force of the actuator.The formation and transmission of the command are analyzed from the system composition,and two reasons for the formation of the lag are obtained.One is the input command signal delay of the actuator induced by the geomagnetic gyro and the missile-borne computer.The other is the command response signal delay induced by the actuator itself.The delay compensation time of the input command signal and command response signal,which is calculated by the formula of lag angle and the swept-sine method,is a time constant.An algorithm of compensation,which is based on the constant of delay compensation time and roll speed,has been verified by experiment.The results show that this method has agood compensation effect.

关 键 词：滞后角 滞后补偿 舵机延迟补偿时间 导弹控制 旋转弹 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程]