【摘要】 针对气动舵/侧向脉冲推力复合控制导弹,设计了复合控制自动驾驶仪,其包含最优控制器和控制分配两部分。应用最优/经典综合控制法设计的最优控制器用于求解虚拟控制量;控制分配模块将虚拟力矩分配到冗余的作动器上。该复合控制器结构简单,跟踪性能好,具有鲁棒性,并能考虑对作动器的实际约束。基于该复合控制自动驾驶仪,发现采用总加速度为反馈时系统的稳定性和跟踪快速性之间的矛盾严重。为解决这一问题,剔除总加速度中的瞬时影响因素,采用攻角产生的加速度作为反馈,仿真结果表明攻角产生的加速度作为反馈时系统具有更好的快速性。最后针对如何得到合理的加速度反馈进行了简要的讨论,结果表明将总加速度通过低通滤波器后再作为反馈,也可以获得良好的跟踪性能。更多还原

【Abstract】 For the missile with blended aero-fin and lateral impulsive thrust, a blended control autopilot is designed, which comprises an optimal controller and a control allocation module. The combined optimal/classical approach is applied to designing the optimal controller to determine the virtual controls, and the control allocation module is used to distribute the desired virtual controls onto the redundant control effectors. The autopilot holds some attractive characteristics, such as simple structure, good tracking performance and robustness; moreover the actual constraints of the control effectors can be taken into account. Based on this blended control autopilot, it is found that the conflict between stability and fast tracking performance is serious when using the total acceleration as feedback. In order to avoid this problem, the transient factors in total acceleration are eliminated, so the acceleration caused only by angle of attack is used as feedback, and obvious improvement is shown. Finally, how to get reasonable acceleration feedback is discussed, and conclusion is presented that after passing the low-pass filter, the total acceleration can also be used as feedback, and satisfied tracking performance can be obtained.更多还原