基于滚动时域优化的旋转弹解耦控制器设计

旋转弹在飞行过程中会受到外界干扰和不确定性的影响，并且存在气动交联、惯性交联和控制交联，为了实现稳定飞行，有必要进行解耦控制器设计。提出了一种基于滚动时域优化（RHO）的解耦控制方法。将旋转弹和舵机系统的动力学模型用状态空间形式描述，基于旋转弹、指令滤波器、积分跟踪误差的状态方程得到一个增广状态方程。采用基于指令滤波器的滚动时域优化方法进行控制量解算，根据系统输出与指令信号之间的差值实时调节控制器增益，实现旋转弹解耦控制。从加速度控制仿真结果可以看出，所设计的控制系统基本不受转速、建模误差和外界干扰的影响，具有较高的鲁棒性。 

Design of decoupling controller for spinning missile based on receding horizon optimization

The spinning missiles are subjected to external disturbances and uncertainties during flight, and there are the aerodynamic cross-linking,inertial cross-linking and control cross-linking.To realize stable flight,it is necessary to design decoupling controller.Therefore, a decoupling control method based on the receding horizon optimization(RHO)was proposed.The kinematic models of the spinning missile and the ser-vo system were expressed in the form of state space,and the augmented equations of state were obtained based on the equations of state of the spinning missile,the command filters and the integral of the tracking error.The control value was calculated using the RHO based on the command filter,and in order to realize the decou-pling control of the spinning missile,the controller gains were adjusted in real time according to the difference between the system output and the command signal.Through the acceleration control simulation results,it can be seen that the designed control system is basically not affected by the spinning rate,the modeling errors and the external disturbances,which has high robustness.