采用奇异摄动裕度的三回路自动驾驶仪设计
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摘要
针对传统三回路自动驾驶仪在工程应用中对开环穿越频率约束不足的问题,设计了一种使用奇异摄动裕度的三回路自动驾驶仪方法。该方法将奇异摄动裕度信息引入三回路自动驾驶仪中,对自动驾驶仪进行开环穿越频率极点设计和预测校正,使三回路自动驾驶仪能够有效地对开环穿越频率进行约束,不再依赖于控制系统的闭环自振频率,同时计算得到的奇异摄动值可有效地反映控制系统性能。试验结果分析证明,采用奇异摄动裕度的三回路自动驾驶仪克服了传统设计方法的缺点,对产生的干扰能够有效快速地进行抑制,并能通过奇异摄动值准确地反映控制系统工作效果。
A new three-loop autopilot with singular perturbation margin is designed for the problem that the traditional three-loop autopilot can not insufficiently restrain the open-loop crossover frequency in engineering application. The proposed design method is used to introduce the singular perturbation margin information into three-loop autopilot. The densign and predictor-corrector of pole open-loop crossover frequency is made for three-loop autopilot,enabling the three-loop autopilot system to restrain the open-loop crossover frequency effectively without depending on the close-loop auto-oscillation frequency of control system. The calculated singular perturbation margin value can show the performance of control system.The experimental result shows that the three-loop autopilot system with singular perturbation margin can overcome the disadvantages of the traditional three-loop autopilot. The improved autopilot can restrain the interferential information effectively and quickly,and the work efficiency of control system can be shown from singular perturbation value.
A new three-loop autopilot with singular perturbation margin is designed for the problem that the traditional three-loop autopilot can not insufficiently restrain the open-loop crossover frequency in engineering application. The proposed design method is used to introduce the singular perturbation margin information into three-loop autopilot. The densign and predictor-corrector of pole open-loop crossover frequency is made for three-loop autopilot,enabling the three-loop autopilot system to restrain the open-loop crossover frequency effectively without depending on the close-loop auto-oscillation frequency of control system. The calculated singular perturbation margin value can show the performance of control system.The experimental result shows that the three-loop autopilot system with singular perturbation margin can overcome the disadvantages of the traditional three-loop autopilot. The improved autopilot can restrain the interferential information effectively and quickly,and the work efficiency of control system can be shown from singular perturbation value.
引文
[1]杨靖,王旭刚,王中原,等.考虑自动驾驶仪动态特性和攻击角约束的鲁棒末制导律[J].兵工学报,2017,38(5):900-909.YANG Jing,WANG Xu-gang,WANG Zhong-yuan,et al. Robust terminal guidance law with autopilot lag and impact angle constraints[J]. Acta Armamentarii,2017,38(5):900-909.(in Chinese)
[2] Song T,Lin D F,Wang J. Dynamic stability of rolling missiles with angle-of-attack feedback three-loop autopilot considering parasitic effect[J]. Aerospace Science and Technology,2017,71(5):592-602.
[3]张凯,杨锁昌,张宽桥,等.考虑导弹自动驾驶仪动态特性的新型制导律[J].北京航空航天大学学报,2017,43(8):1693-1704.ZHANG Kai,YANG Suo-chang,ZHANG Kuan-qiao,et al. Novel guidance law accounting for dynamics of missile autopilot[J].Journal of Beijing University of Aeronautics and Astronautics,2017,43(8):1693-1704.(in Chinese)
[4]刘昕戈,刘藻珍,单家元.导弹系统的复合分层抗干扰自动驾驶仪设计[J].控制工程,2017,24(3):500-504.LIU Xin-ge,LIU Zao-zhen,SHAN Jia-yuan. Composite hierarchical anti-disturbance autopilot design for missile systems[J]. Control Engineering of China,2017,24(3):500-504.(in Chinese)
[5] Han T,Hu Q L. Robust autopilot design for STT missiles with multiple disturbances using twisting control[J]. Aerospace Science and Technology,2017,70(4):428-434.
[6] Ramesh H,Anshul T,Nandan K S. Design and simulation of autopilot control system for stratospheric airship[J]. IFAC Papers OnLine,2016,49(1):712-717.
[7] Abd-Elatif M A,Qian L J,Bo Y M. Optimization of three-loop missile autopilot gain under crossover frequency constraint[J].Defence Technology,2016,12(1):32-38.
[8]李蒙,石泳,刘莉.基于鲁棒H∞的无人机飞行控制系统设计及实现[J].北京理工大学学报,2016,38(8):807-812.LI Meng,SHI Yong,LIU Li. Development of UAV autopilot based on robust H∞theory[J]. Transactions of Beijing Institute of Technology,2016,38(8):807-812.(in Chinese)
[9] Feng Z X,Guo J G,Zhou J. Robust constrained autopilot control for a generic missile in the presence of state and input constraints[J]. Optik-International Journal for Light and Electron Optics,2017,149(1):49-58.
[10]孟克子,周荻.考虑导弹自动驾驶仪动态特性的H∞导引律[J].兵工学报,2016,37(7):1194-1202.MENG Ke-zi,ZHOU Di. H∞guidance law accounting for dynamics of missile autopilot[J]. Acta Armamentarii, 2016,37(7):1194-1202.(in Chinese)
[11] Lee J. Guidance law to control impact time and angle[J]. IEEE Transaction on Aerospace and Electronic Systems,2007,43(1):301-310.
[12] Siddhardha K. Novel two phase algorithm to design three loop autopilot using parameter plane technique and particle swarm optimization[J]. IFAC PapersOnLine,2016,49(1):830-835.
[13] Lee L,Kim Y,Moon G. Adaptive backstepping autopilot design for missiles of fast time-varying velocity[J]. IFAC PapersOnLine,2016,49(17):474-479.
[14]刁兆师.导弹精确高效末制导与控制若干关键技术研究[D].北京:北京理工大学,2015.DIAO Zhao-shi. Research on high-precision and high-efficiency terminal guidance and control key technologies for missile[D].Beijing:Beijing Institute of Technology,2015.(in Chinese)
[15] Xu B,Yuan Y. Two performance enhanced control of flexiblelink manipulator with system uncertainty and disturbances[J].Science China:Information Sciences,2017,60(5):050202-1-050202-11.
[16] Guo Z Y,Zhou J,Guo J G. Robust autopilot design for bank-toturn missiles using adaptive dual-layer sliding mode control[J].Optik-International Journal for Light and Electron Optics,2017,131:383-398.
[17] Lyu S,Yan X D,Tang T. Prescribed performance interceptor guidance with terminal line of sight angle constraint accounting for missile autopilot lag[J]. Aerospace Science and Technology,2017,69:171-180.
[18]马悦悦.敏捷导弹大攻角高机动飞行控制方法研究[D].北京:北京理工大学,2015.MA Yue-yue. Research on flight control design under high angle of attack maneuvering for agile missiles[D]. Beijing:Beijing Institute of Technology,2015.(in Chinese)
[19]熊少锋,王卫红,刘晓东.考虑导弹自动驾驶仪动态特性的带攻击角度约束制导律[J].控制与决策,2015,30(4):585-592.XIONG Shao-feng,WANG Wei-hong,LIU Xiao-dong. Impact angle guidance law considering missile's dynamics of autopilot[J].Control and Decision,2015,30(4):585-592.(in Chinese)
[20]商巍,唐胜景,郭杰.考虑自动驾驶仪特性的自适应模糊动态面滑模制导律设计[J].兵工学报,2015,36(4):660-667.SHANG Wei,TANG Sheng-jing,GUO Jie. Design of adaptive fuzzy dynamic surface sliding-mode guidance law considering autopilot lag[J]. Acta Armamentarii,2015,36(4):660-667.(in Chinese)
[21] Davad A,Wang H P. Roll-pitch-yaw autopilot design for nonlinear time-varying missile using partial state observer based global fast terminal sliding mode control[J]. Chinese Journal of Aeronautics,2016,29(5):1302-1312.
[22] Kedarisetty S,Vignesh N,Pulak H. Autopilot design for flexible tactical aerospace vehicle using parameter plane technique[J].IFAC Proceedings,2014,47(1):211-218.
[23] Zhou D,Shao C T. Dynamics and autopilot design for endoatmospheric interceptors with dual control systems[J]. Aerospace Science and Technology,2014,13(6):291-300.
[2] Song T,Lin D F,Wang J. Dynamic stability of rolling missiles with angle-of-attack feedback three-loop autopilot considering parasitic effect[J]. Aerospace Science and Technology,2017,71(5):592-602.
[3]张凯,杨锁昌,张宽桥,等.考虑导弹自动驾驶仪动态特性的新型制导律[J].北京航空航天大学学报,2017,43(8):1693-1704.ZHANG Kai,YANG Suo-chang,ZHANG Kuan-qiao,et al. Novel guidance law accounting for dynamics of missile autopilot[J].Journal of Beijing University of Aeronautics and Astronautics,2017,43(8):1693-1704.(in Chinese)
[4]刘昕戈,刘藻珍,单家元.导弹系统的复合分层抗干扰自动驾驶仪设计[J].控制工程,2017,24(3):500-504.LIU Xin-ge,LIU Zao-zhen,SHAN Jia-yuan. Composite hierarchical anti-disturbance autopilot design for missile systems[J]. Control Engineering of China,2017,24(3):500-504.(in Chinese)
[5] Han T,Hu Q L. Robust autopilot design for STT missiles with multiple disturbances using twisting control[J]. Aerospace Science and Technology,2017,70(4):428-434.
[6] Ramesh H,Anshul T,Nandan K S. Design and simulation of autopilot control system for stratospheric airship[J]. IFAC Papers OnLine,2016,49(1):712-717.
[7] Abd-Elatif M A,Qian L J,Bo Y M. Optimization of three-loop missile autopilot gain under crossover frequency constraint[J].Defence Technology,2016,12(1):32-38.
[8]李蒙,石泳,刘莉.基于鲁棒H∞的无人机飞行控制系统设计及实现[J].北京理工大学学报,2016,38(8):807-812.LI Meng,SHI Yong,LIU Li. Development of UAV autopilot based on robust H∞theory[J]. Transactions of Beijing Institute of Technology,2016,38(8):807-812.(in Chinese)
[9] Feng Z X,Guo J G,Zhou J. Robust constrained autopilot control for a generic missile in the presence of state and input constraints[J]. Optik-International Journal for Light and Electron Optics,2017,149(1):49-58.
[10]孟克子,周荻.考虑导弹自动驾驶仪动态特性的H∞导引律[J].兵工学报,2016,37(7):1194-1202.MENG Ke-zi,ZHOU Di. H∞guidance law accounting for dynamics of missile autopilot[J]. Acta Armamentarii, 2016,37(7):1194-1202.(in Chinese)
[11] Lee J. Guidance law to control impact time and angle[J]. IEEE Transaction on Aerospace and Electronic Systems,2007,43(1):301-310.
[12] Siddhardha K. Novel two phase algorithm to design three loop autopilot using parameter plane technique and particle swarm optimization[J]. IFAC PapersOnLine,2016,49(1):830-835.
[13] Lee L,Kim Y,Moon G. Adaptive backstepping autopilot design for missiles of fast time-varying velocity[J]. IFAC PapersOnLine,2016,49(17):474-479.
[14]刁兆师.导弹精确高效末制导与控制若干关键技术研究[D].北京:北京理工大学,2015.DIAO Zhao-shi. Research on high-precision and high-efficiency terminal guidance and control key technologies for missile[D].Beijing:Beijing Institute of Technology,2015.(in Chinese)
[15] Xu B,Yuan Y. Two performance enhanced control of flexiblelink manipulator with system uncertainty and disturbances[J].Science China:Information Sciences,2017,60(5):050202-1-050202-11.
[16] Guo Z Y,Zhou J,Guo J G. Robust autopilot design for bank-toturn missiles using adaptive dual-layer sliding mode control[J].Optik-International Journal for Light and Electron Optics,2017,131:383-398.
[17] Lyu S,Yan X D,Tang T. Prescribed performance interceptor guidance with terminal line of sight angle constraint accounting for missile autopilot lag[J]. Aerospace Science and Technology,2017,69:171-180.
[18]马悦悦.敏捷导弹大攻角高机动飞行控制方法研究[D].北京:北京理工大学,2015.MA Yue-yue. Research on flight control design under high angle of attack maneuvering for agile missiles[D]. Beijing:Beijing Institute of Technology,2015.(in Chinese)
[19]熊少锋,王卫红,刘晓东.考虑导弹自动驾驶仪动态特性的带攻击角度约束制导律[J].控制与决策,2015,30(4):585-592.XIONG Shao-feng,WANG Wei-hong,LIU Xiao-dong. Impact angle guidance law considering missile's dynamics of autopilot[J].Control and Decision,2015,30(4):585-592.(in Chinese)
[20]商巍,唐胜景,郭杰.考虑自动驾驶仪特性的自适应模糊动态面滑模制导律设计[J].兵工学报,2015,36(4):660-667.SHANG Wei,TANG Sheng-jing,GUO Jie. Design of adaptive fuzzy dynamic surface sliding-mode guidance law considering autopilot lag[J]. Acta Armamentarii,2015,36(4):660-667.(in Chinese)
[21] Davad A,Wang H P. Roll-pitch-yaw autopilot design for nonlinear time-varying missile using partial state observer based global fast terminal sliding mode control[J]. Chinese Journal of Aeronautics,2016,29(5):1302-1312.
[22] Kedarisetty S,Vignesh N,Pulak H. Autopilot design for flexible tactical aerospace vehicle using parameter plane technique[J].IFAC Proceedings,2014,47(1):211-218.
[23] Zhou D,Shao C T. Dynamics and autopilot design for endoatmospheric interceptors with dual control systems[J]. Aerospace Science and Technology,2014,13(6):291-300.