跨域小口径制导火箭滚转增益较高,传统的PID控制,抗干扰能力较差,表现为滚转角响应较长时间内脱离滚转指令而滚转舵偏又很小。针对上述问题,提出了一种基于线性扩展状态观测器的鲁棒滚转角控制方法。通过线性扩展状态观测器,对被控对象的建模误差、内部和外部扰动进行实时估计并动态补偿,补偿后的被控对象转换为串联积分环节。综合考虑舵机二阶动力学模型和线性扩展状态观测器的迟滞效应进行频域设计,在扰动补偿回路中增加校正网络,提高稳定裕度。数值仿真表明,该方法可有效抑制滚转扰动力矩的影响,进而提高滚转控制的鲁棒性。

Due to the high gain of the roll transfer function of the multi-domain small-caliber guided rocket, the classic PID control method has poor anti-induced rolling moment capability, which is manifested by the fact that the roll angle responds to a long time away from the roll command and the roll rudder deflection angle is small. To solve this problem, a robust roll angle control method based on linear extended state observer (LESO) is proposed. Through the LESO, the modeling error, internal and external disturbances of the controlled object are estimated in real time and dynamically compensated, so that the controlled object is converted into a series integrator. Considering the effect of the second-order model of the actuator and the lag of the LESO, the frequency domain design is carried out, and a correction network is added to the disturbance compensation loop to improve the stability margin. Numerical simulation shows that the proposed method can effectively suppress the influence of roll disturbance moments and improve the robustness of roll autopilot.