旋转弹舵机控制滞后及延迟补偿时间分析
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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.
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.
引文
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[20]CHEN L F,LI L,YAO X X,et al.A study on actuator’s control hysteresis and corresponding countermeasures of spinning missile[C]∥Proc.of the 5th International Conference on Mechatronics and Control Engineering,2016:118-125.
[21]BI Y C,YAO X X,SONG X D.Influence of revolving angle measure precision and actuator performance on control force[J].Applied Mechanics and Materials,2013,389:765-769.
[22]XIANG C,BU X Z,YANG B.Three different attitude measurements of spinning projectile based on magnetic sensors[J].Measurement,2014,47(1):331-340.
[23]LUQ L,GAO X D,WANG X M,et al.The research on realtime calculation of projectile's roll angle based on geomagnetic detection[J].Journal of Projectiles,Rockets,Missiles and Guidance,2011,31(3):30-31.
[24]WANG Z,GAO F Q,GAO M,et al.Roll angular velocity real-time tracking algorithm based on geomagnetic information with frequency-locked loop[C]∥Proc.of the International Conference on Civil,Materials and Environmental Sciences,2015:263-267.
[25]CAO H S,DU Y,WANG J H,et al.Detection technology of roll attitude based on geomagnetic signals and inertial trajectory study[J].Advanced Materials Research,2012,468-471:885-890.
[26]王旭刚,王中原.弹体滚速和舵机时间常数对炮弹制导精度的影响[J].南京理工大学学报(自然科学版),2011,35(2):182-186.WANG X G,WANG Z Y.Effect of roll angular velocity and actuator time constanton guidance precision of guided projectile[J].Journal of Nanjing University of Science and Technology,2011,35(2):182-186.
[27]YAO X X,LIN F.Frequency response computation and error analyses[J].Journal of Beijing Institute of Technology,1999,8(4):381-385.
[2]PHILIPPE W,SPILIOS T,YANNICK M.Flight dynamics properties of 155mm spin-stabilized projectiles analyzed in different body frames[C]∥Proc.of the Atmospheric Flight Mechanics Conference,2010:AIAA-2010-7640.
[3]LI K Y,YANG S X,ZHAO L Y.Stability of spinning missiles with an acceleration autopilot[J].Journal of Guidance,Control and Dynamics,2011,34(1):278-283.
[4]YAN X Y,YANG S X,XIONG F F.Stability limits of spinning missile with attitude autopilot[J].Journal of Guidance,Control and Dynamics,2012,35(3):774-786.
[5]宋韬,林德福,魏志军,等.滚转导弹过载驾驶仪控制耦合解耦算法研究[J].兵工学报,2014,35(4):454-460.SONG T,LIN D F,WEI Z J,et al.Research on decoupling algorithm for control coupling of a spinning missile autopilot[J].Acta Armamentarii,2014,34(4):454-460.
[6]Richard L.Analysis of control and guidance of rolling missile with a single plane of control fins[C]∥Proc.of the AIAA Guidance,Navigation,and Control Conference,2010:AIAA-2000-37028.
[7]ZHANG W,XIA L Y,FU H C.Analytical decoupling control of a generic hypersonic vehicle based on internal model control[C]∥Proc.of the IEEE 36th Chinese Control Conference,2017:6163-6168.
[8]DUAN Z S,HUANG L,YANG J Y,et al.On decoupled or coupled control of bank-to-turn missiles[J].Science China Information Sciences,2015,58(3):1-13.
[9]FAN Y H,WU X F,XU H Y,et al.Design of lateral control system for a hypersonic cruise missile[C]∥Proc.of the 21st AIAA International Space Planes and Hypersonics Technologies Conference,2017:AIAA-2017-2111.
[10]JOON H Y,SEONG H S,JIN W H,et al.Singular perturbationlike approach to compensation of actuator dynamics effect in missile control[J].IEEE Trans.on Aerospace and Electronic Systems,2014,50(4):2417-2439.
[11]ZHANG K F,RAO D W,ZHU J B,et al.Real-time online compensation the nonlinearities and uncertainties in missile servo control system[C]∥Proc.of the 27th IEEE Chinese Control and Decision Conference,2015:1333-1338.
[12]陈罗婧,刘莉,于剑桥.双通道控制旋转导弹自动驾驶仪解耦控制研究[J].北京理工大学学报,2008,28(1):11-14CHEN L J,LIU L,YU J Q.Transform and coupling analysis of double-channel control rolling missile autopilot loop[J].Transactions of Beijing Institute of Technology,2008,28(1):11-14.
[13]毕艳超,姚晓先,宋晓东,等.双通道控制旋转导弹的舵机控制研究[J].弹箭与制导学报,2014,34(2):25-28.BI Y C,YAO X X,SONG X D,et al.The research on actuator control used for double-channel control of rolling missile[J].Journal of Projectiles,Rockets,Missiles and Guidance,2014,34(2):25-28.
[14]于剑桥,林凡,方正.自激振荡线性化舵机延迟补偿时间处理方法研究[J].兵工学报,2009,30(5):652-656.YU J Q,LIN F,FANG Z.Research on the method to deal with delay compensation time of self-oscillation linear actuator[J].Acta Armamentarii,2009,30(5):652-656.
[15]GARMELL P.Guided weapon control systems[M].London:London Royal Military College of Science,2003.
[16]MO B,GAO E Y,YANG S X.Research on spin rocket doublechannel proportional control characteristics[C]∥Proc.of the IEEE International Conference on Innovative Computing,Information and Control,2007.
[17]FORTWSCUE P W.Pitch/Yaw coupling due to roll of an axisymmetric missile with autopilot[J].Aeronautical Quarterly,1989,33(2):124-139.
[18]PHILIPPE W,FRIEDRICH L,DENIS B,et al.Wind tunnel tests and open-loop trajectory simulations for a 155mm canards guided spin stabilized projectile[C]∥Proc.of the AIAA Atmospheric Flight Mechanics Conference,2008:AIAA-2008-6881.
[19]PHILIPPE W.Stability analysis for canard guided dual-spin stabilized projectiles[C]∥Proc.of the AIAA Atmospheric Flight Mechanics Conference,2009:AIAA-2009-5843.
[20]CHEN L F,LI L,YAO X X,et al.A study on actuator’s control hysteresis and corresponding countermeasures of spinning missile[C]∥Proc.of the 5th International Conference on Mechatronics and Control Engineering,2016:118-125.
[21]BI Y C,YAO X X,SONG X D.Influence of revolving angle measure precision and actuator performance on control force[J].Applied Mechanics and Materials,2013,389:765-769.
[22]XIANG C,BU X Z,YANG B.Three different attitude measurements of spinning projectile based on magnetic sensors[J].Measurement,2014,47(1):331-340.
[23]LUQ L,GAO X D,WANG X M,et al.The research on realtime calculation of projectile's roll angle based on geomagnetic detection[J].Journal of Projectiles,Rockets,Missiles and Guidance,2011,31(3):30-31.
[24]WANG Z,GAO F Q,GAO M,et al.Roll angular velocity real-time tracking algorithm based on geomagnetic information with frequency-locked loop[C]∥Proc.of the International Conference on Civil,Materials and Environmental Sciences,2015:263-267.
[25]CAO H S,DU Y,WANG J H,et al.Detection technology of roll attitude based on geomagnetic signals and inertial trajectory study[J].Advanced Materials Research,2012,468-471:885-890.
[26]王旭刚,王中原.弹体滚速和舵机时间常数对炮弹制导精度的影响[J].南京理工大学学报(自然科学版),2011,35(2):182-186.WANG X G,WANG Z Y.Effect of roll angular velocity and actuator time constanton guidance precision of guided projectile[J].Journal of Nanjing University of Science and Technology,2011,35(2):182-186.
[27]YAO X X,LIN F.Frequency response computation and error analyses[J].Journal of Beijing Institute of Technology,1999,8(4):381-385.