宇航学报 ›› 2017, Vol. 38 ›› Issue (10): 1068-1078.doi: 10.3873/j.issn.1000-1328.2017.10.007

• 制导、导航、控制与电子 • 上一篇    下一篇

基于自抗扰控制的弹头制导与控制一体化设计

赵坤,曹登庆,黄文虎   

  1. 哈尔滨工业大学航天学院,哈尔滨 150001
  • 收稿日期:2017-06-15 修回日期:2017-08-24 出版日期:2017-10-15 发布日期:2017-10-25
  • 基金资助:

    国家重点实验室开放基金(HIT.KLOF.2016.071)

Integrated Guidance and Control Design for Reentry Warhead Based on ADRC

ZHAO Kun, CAO Deng qing, HUANG Wen hu   

  1. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China
  • Received:2017-06-15 Revised:2017-08-24 Online:2017-10-15 Published:2017-10-25

摘要:

针对弹头再入过程中存在的强耦合、快时变以及气动参数摄动引起的不确定性等问题,采用自抗扰控制(ADRC)技术设计了再入弹头制导与控制一体化系统。首先建立了含不确定性参数、外界随机扰动以及通道耦合因素的,具有级联形式的制导与控制一体化动力学系统。然后根据级联系统的自抗扰控制方法对系统控制器进行分层设计,各层控制器之间彼此关联构成一体化控制系统。自抗扰控制器内嵌的扩张状态观测器(ESO)可对子系统各通道内的综合不确定性进行实时观测,并在误差反馈控制量中予以动态补偿,从而实现了各通道间的解耦控制。计算结果表明:设计的一体化控制系统能够适应各种复杂飞行环境下的导引需求,控制系统具有良好的动态特性和很强的鲁棒性。

关键词: 再入弹头, 制导控制一体化, 自抗扰控制(ADRC), 扩张状态观测器(ESO), BTT飞行器, 不确定性

Abstract:

An integrated guidance and control system is designed based on the active disturbance rejection control (ADRC) method, which is aimed at the problems of strong coupling, fast time-varying, and uncertainty caused by aerodynamic parameter perturbation during the reentry of a warhead. Firstly, the integrated dynamics system of guidance and control with cascading form is established, which includes the parameter uncertainties and external random disturbances as well as channel coupling factors. Then, the controller of the system is hierarchically designed according to the ADRC method of the cascade system, and the controllers of each layer are associated with each other to form an integrated control system. The extended state observer (ESO) embedded in ADRC is employed to realize the real-time observation of the integrated uncertainties in each channel of the subsystem, and the results are used to compensate dynamically in the error feedback control quantity to achieve the decoupling control among the channels. The simulation results indicate that the designed integrated control system can adapt to the guidance requirements of various complex flight environments, and the control system has good dynamic characteristics and strong robustness.

Key words: Reentry warhead, Integrated guidance and control, Active disturbance rejection control (ADRC), Extended state observer (ESO), BTT vehicle, Uncertainty

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