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针对气动舵/侧向脉冲推力复合控制导弹,设计了复合控制自动驾驶仪,其包含最优控制器和控制分配两部分。应用最优/经典综合控制法设计的最优控制器用于求解虚拟控制量;控制分配模块将虚拟力矩分配到冗余的作动器上。该复合控制器结构简单,跟踪性能好,具有鲁棒性,并能考虑对作动器的实际约束。基于该复合控制自动驾驶仪,发现采用总加速度为反馈时系统的稳定性和跟踪快速性之间的矛盾严重。为解决这一问题,剔除总加速度中的瞬时影响因素,采用攻角产生的加速度作为反馈,仿真结果表明攻角产生的加速度作为反馈时系统具有更好的快速性。最后针对如何得到合理的加速度反馈进行了简要的讨论,结果表明将总加速度通过低通滤波器后再作为反馈,也可以获得良好的跟踪性能。
For the aerodynamic rudder / lateral pulse thrust composite control missile, a composite control autopilot is designed, which includes the optimal controller and the control distribution. The optimal controller designed by the optimal / classical integrated control method is used to solve the virtual control variables. The control distribution module distributes the virtual torque to the redundant actuators. The composite controller has the advantages of simple structure, good tracking performance, robustness and practical constraint on the actuator. Based on this composite control autopilot, we found that there was a serious conflict between the stability of the system and the rapidity of tracking when using the total acceleration as feedback. In order to solve this problem, the instantaneous influencing factors of total acceleration are eliminated, and the acceleration generated by the angle of attack is taken as the feedback. The simulation results show that the acceleration generated by the angle of attack can be used as a feedback system with better rapidity. Finally, a brief discussion is given on how to get a reasonable acceleration feedback. The results show that good tracking performance can be achieved by using the total acceleration as a feedback after passing through the LPF.