鲁棒增益调度结构化火箭弹控制系统设计

发动机推力是影响火箭弹模型时变特性的重要因素。首先,基于122 mm火箭弹推导了俯仰、偏航动力学线性化模型,并以线性分式变换来描述。然后,基于鲁棒增益调度设计了结构化的控制器。这种控制器具有矩阵形式的比例-积分结构,在续航段将速度和时间作为调度变量,在无动力飞行段将速度作为调度变量,按照线性控制综合方法整定各特征点的控制器参数,并用结构奇异值验证闭环系统的局部稳定性。最后,对设计的控制器做了仿真分析,结果表明,该控制器对火箭弹模型因推力、飞行状态变化等引起参数摄动的情况具有鲁棒稳定性。

Fixed-structure controller design for rockets based on robust gain scheduling

Thrust is an important factor affecting the time-varying characteristics of the rocket model. First, based on the pitch/yaw dynamics of the 122 mm rocket, a linearized model described in terms of the linear fractional transformation is presented. Then, a global autopilot with fixed structure is calculated based on robust gain scheduling. The controller is based on the matrix format structure of proportional and integral. The velocity and the time are treated as scheduled parameters during the sustaining phase while the velocity is treated as scheduled parameter during the power-free phase. The controller parameters are calculated by the linear controller synthesis method, while the local robust stability is analyzed through the structure singular value. Finally, the controller analysis is presented via simulation. The analysis shows that the autopilot is robust to the parameter perturbation caused by the change of thrust, flight states, etc.