Research On Rudder Roll Control System Of A Trajectory Correction Projectile With Decoupled Canards

The concept of trajectory correction projectile with decoupled canards(TCPDC)is an approach for the low-cost guidance level-up of artillery projectiles,becoming a research hotspot.However,the application of rudder roll control is accompanied with complicated modeling problems,such as dual-spin coupling,nonlinearity and asymmetric configuration,and the shortage of measurement information from low-cost sensors.Based on the numerical simulation and experimental tests,research on the dynamic roll modeling,and the accurate roll positioning and controlling of rudder,is investigated.A dynamic model was established based on numerical simulation and experiments to predict the dynamic roll attitude characteristics of rudder.According to quasi-static aerodynamic model verified by wind tunnel test and Lu Gre friction model established by ground test,the dynamic model under coupling conditions as well as the roll characteristics and design requirements of electromagnetic actuator is established.Based on the ground dynamic test,the electromagnetic torque database of the designed electromagnetic actuator is obtained,where the control capability is verified and the dynamic response characteristics are obtained.With Laplace transform,the dynamic response model including the dynamic response model is established.The prediction error of the system dynamics model is within 1%,and that of the control dynamics model is within 1.5%.A three-loop system based on parallel processors is established to realize real-time measurement and control.An indirect model based on the roll attitude of the projectile and the rudder relative to the projectile body is proposed The measurement and error model based on Hall sensor is established,while an engineering solution method and error model of projectile roll attitude based on satellite/geomagnetic combination is studied,and the error influence laws of various factors are obtained.A roll control and trajectory correction system based on parallel processors is established.The roll attitude detection and control are completed on the ground hardware-in-the-loop test platform,where the feasibility of the measurement and control system is verified.The optimization algorithm for high precision roll attitude measurement was studied.A de-noising method based on wavelet analysis is studied.Geomagnetic sequence is processed according to wavelet function determined off-line and wavelet decomposition and reconstruction levels determined on-line adaptively.A roll attitude estimation algorithm based on moving horizon estimation and unscented Kalman filter algorithm is.proposed.Under high dynamic conditions,the linear approximation model of the rudder relative to missile body was used to improve the measurement results.The experiments to verify the optimization algorithms are completed respectively.In order to realize fast,high precision and robust control,Firstly,a direct model predictive control method based on output feedback extended state observer is proposed.The system disturbance is estimated by the observer and integrated into the controller design in the form of feed-forward compensation.The nonlinear parameters are linearized within updating intervals,and the integral traversal operation is converted into low-order solving problems.The results show that the method can quickly and accurately estimate the state and disturbance,having the characteristics of high precision and fast response.In addition,a robust adaptive control method based on differentiable Lu Gre friction model is proposed.By adaptively estimating the upper bound of un-modeled disturbances,a robust feedback term for disturbance compensation is designed.Through adaptive estimation of model parameters on-line,an adaptive control law with friction compensation is designed to reduce the sensitivity to parameter uncertainties and time-varying disturbances.The results show that the method can accurately estimate and compensate parameters and disturbances,having high control accuracy,good stability and strong robustness.Finally,in order to verify the effectiveness of the rudder roll dynamic model and the roll attitude detection and control method,the verification flight test is completed.The roll dynamic parameters of rudder under the test conditions are calculated in comparison with the measured results,where the reliability of the rudder roll model is verified.The optimized measurement shows that the roll attitude optimization algorithm has better stability and accuracy.The predictive control algorithm of rudder rotational speed based on the extended state observer and the robust adaptive control algorithm based on the improved Lu Gre friction model are simulated and studied.The comparison results show that the predictive control algorithm of rudder rotational speed based on the extended state observer has the fastest control response and the best control effect,and the robust adaptive control algorithm based on the improved Lu Gre friction model has higher stability and precision.The performance of the designed roll control system is verified by the trajectory correction accuracy and the droppoint distribution of the conducted flight test.