Research On Control Technologies For Self-spinning Missiles With Double-channel Actuator

Based on the need of the short-range air defense missiles and other self-spinningmissiles, this paper is devoted to control technologies of them for the support of nationalsimilar missiles.Firstly, the development and upgraded program of self-spinning missiles including airdefense missiles, anti-tanker missiles and guided weapon abroad was briefed in the paper.The statuses and research results of control technologies of self-spinning missile, optimalcontrol theory and adaptive control theory currently were summarized.Transfer function matrix of self-spinning missile was derived on the basis of pitch andyaw integrated model. Generation mechanism of Magnus effect and dynamics of rollingchannel was analyzed as foundation of control system design. The principle andcharacteristics of three common actuators were introduced, and the advantage of thedouble-channel control was presented comparison to others.The characteristics and influence on stability of aerodynamic and inertia coupling wasanalyzed，and transfer function matrix of proportional actuator’s dynamics was derived innon-spinning frame. The control coupling and frequency domain characteristic waspresented, and then the conclusions for engineering application were achieved. Then twodynamic decoupling methods were adopted, which can explain the effectiveness ofincrement installation for decoupling in engineering. In addition, control coupling inducedby pulse width modulation mode was studied with spectrum analysis, and constraintconditions among roll rate, missile natural frequency and control frequency were given.Under assumption of SISO system without coupling effects, classical damping loop,two-loop autopilot and three-loop autopilot was designed respectively. According to thestability condition of damping loop, bandwidth of actuator was the main factor of thestability. The damping loop effect on poles and zeros distribution was discussed. Autopilotsdesigned respectively by pole assignment of SISO system and MIMO system wascontrasted, it shows that there was a positive correlation between bandwidth of autopilotand decoupling ability, moreover, design of MIMO had a better decoupling. A three-loopautopilot was designed for SISO system, which was proved to eliminate coupled motion of the system completely.Using LQR theory, controller for SISO system and MIMO system was designedrespectively, which had a similar structure with three-loop autopilot. Input-multipleuncertainty and unmodel high frequency kinetics was introduced as unstructureduncertainties, and then using the small gain theorem, robustness analysis of optimal controlsolution was established by singular value analysis. What’s more, due to unavailablemeasurement of fin deflection angles and rates, LQG/LTR controller was design to ensurecontrol system robustness and realizability.Aiming at uncertainties of aerodynamics, adaptive control systems with differentstructures were designed with the usage of local parameters optimization MIT method.While adaptive gain or input was large enough, the adaptive system may be unstable.Therefore, with Lyapunov method, two-loop adaptive control system was designed forself-spinning MIMO system, the behavior of which was specified by the SISO referencemodel, and decoupling ability of which was demonstrated. However, there was highfrequency oscillation in coupling motion. Based on uncertain model with error integrals asone of states, adaptive controller was designed by Lyapunov method. To improverobustness, adaptive control system was modified in this paper, which can restrain highfrequency oscillation and track command accurately.According to the characteristic of laser guided self-spinning weapon, a general schemeof hardware-in-the-loop (HILS) was proposed, and a simulation model in the terminalguidance phase was founded. Then, another model of HILS was developed with seeker totrack a certain laser spot on curtain, with combination of Newton iteration method andweighted least square algorithm, the error parameters were solved and geometric model wascorrected accurately. Precession scheme of seeker’s tracking loop was derived with HermiteMethod and the corresponding validation test via HILS was developed to provide a supportof laser seeker’s design and implementation.