基于降阶ESO的微小型空地导弹改进LQR滚转控制

摘要： 由于投弹包络范围大及复杂多变的飞行环境，模型存在高度不确定性、外界阵风干扰以及弹体内部强扰动等，使得导弹滚转姿态具有一定控制难度；另一方面，对于弹翼展弦比小的轴对称微小型空地导弹来说，其结构特性的原因使得基于二回路经典控制论下的滚转姿态得到的控制品质较差，且鲁棒性及抗干扰能力弱.因此提出采用降阶ESO估计内外强干扰及不确定性等复合干扰并进行实时前馈补偿，在简化标称模型基础上利用最优控制思想即带有积分项的LQR稳定区间法来设计控制器，实现无静差稳定跟踪响应的复合控制方法，以此来提高弹体滚转姿态的动态特性、鲁棒性及抗干扰能力，并进一步证明其闭环稳定性，由仿真得出此复合控制方法优越性的结论.

Improved LQR Roll Control of Miniature Guided Missile Based on Reduce Order ESO

Abstract：Considering large projectile envelope and complex flight environment, the model exists high uncertainty, external wind and internal disturbance, which increase difficulties of rolling attitude control. Furthermore, axisymmetric miniature missile with small aspect ratio structural characteristics lead to weakness in quality of rolling control based on classical control theory, especially in robustness and anti disturbance ability. Thus, the reduced order ESO proposed estimates compound disturbance and then real timely compensate for inputs. Then, the LQR stability design method with the integral term is adopted for controller designing on the basis of simplified nominal model. Last, the essay proves the stability of closed loop system. And the simulation results show that this combined control system designed has more excellent characteristics than PID controller.