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旋转弹在飞行过程中会受到外界干扰和不确定性的影响,并且存在气动交联、惯性交联和控制交联,为了实现稳定飞行,有必要进行解耦控制器设计。提出了一种基于滚动时域优化(RHO,Receding Horizon Optimal)的解耦控制方法。将旋转弹和舵机系统的动力学模型用状态空间形式描述,基于旋转弹、指令滤波器、积分跟踪误差的状态方程得到一个增广状态方程。采用基于指令滤波器的滚动时域优化方法进行控制量解算,根据系统输出与指令信号之间的差值实时调节控制器增益,实现旋转弹解耦控制。从加速度控制仿真结果可以看出,所设计的控制系统基本不受转速、建模误差和外界干扰的影响,具有较高的鲁棒性。
During the flight, the projectile will be affected by external disturbances and uncertainties, and there are aerodynamic cross-linking, inertial cross-linking and cross-linking control. In order to achieve stable flight, decoupling controller design is necessary. A decoupling control method based on RHO (Receiving Horizon Optimal) is proposed. The dynamical model of the projectile and the servo system is described in state space. An augmented state equation is obtained based on the state equations of the projectile, command filter and integral tracking error. The method of rolling-time domain optimization based on command filter is used to solve the control variables, and the gain of the controller is adjusted in real time according to the difference between the system output and the command signal to realize the control of decoupling of the rotary bombs. It can be seen from the simulation results of acceleration control that the designed control system is basically free from the influence of speed, modeling error and outside interference, and has high robustness.