Research On Active Disturbance Rejection And Decoupling Control And Guidance Of Spinning Missiles

Spinning missiles can reduce the influence of asymmetry factors,and save a pair of antennas and rudders,thus guided weapons and reentry warheads are generally in rolling motion.With the development of guidance precision and hardware,dual-actuator control scheme is increasingly used in spinning missiles.In face of new situation of attack-defense counterwork,spinning missiles are expected to protect body from laser weapons and enhance penetration capability by spiral trajectory and conduce to the use of impulse thrust.Thus,spinning missiles are still developing actively.But spinning are inevitably accompanied by magnus effect,gyroscopic effect and control coupling,furthermore these coupling effects reduce the range of autopilot stability domain and impact the stabilization of cone motion,eventually leading to response error.In conclusion,decoupling method should be applied to controller.With consideration of flight environment,the speed and altitude of spinning missiles vary in a large range,and aerodynamic characteristics under high angles of attack become more complicated.In conclusion,aerodynamic is with characteristics of nonlinearity and sharp variation.So,the controller should be designed with characteristic of robustness and anti-interference.Therefore,the research work is listed as follows:The nonlinear and coupling dynamic model is established and analyzed in quasi-body as well as body coordinate system.Simulations are given that rudder signal is transformed from quasi-body coordinate to body coordinate,which demonstrates the method of control of single or double channel spinning missiles.An attitude controller and an acceleration tracking controller are designed based on active disturbance rejection control(ADRC)technique,then the model is decoupled as second order integrator system.Those parts ignored can be tolerated by the anti-interference controller when model is transformed to adapt to ADRC.Further than that,this thesis considers that canard wings will contribute to lift which cannot be ignored in this model,so this thesis uses command signal compensation and doesn’t use its differential as feedback,rudders are saved from vibration in this way.Finally,simulation results are given under condition of parameter perturbation and disturbance that prove the controller performs well.A decoupling controller is also designed based on RBF neural network and dynamic inversion.This thesis proves model of short-period motion is invertible,so RBF neural network are used to approximate its invertible model,then they are combined as pseudo-linear system,with this the decoupling work is done.On this basis,this thesis uses NLSFF as a controller.In order to enhance ability of anti-interference,this thesis add extra compensation for error from inversion to the controller,which is testified to be reasonable and effective.Acceleration in line of sight coordinate system and quasi-body coordinate system is proximate,thus,guidance equation and control equation can be connected as integrated guidance and control model.Then this thesis completes the decoupling design based on ADRC,this thesis redefines state variables in order to avoid influence of error from ESO and discusses the effect of precision coefficients of NLSFF on control variables,and the controller are thought to perform better with different coefficients in different sections of guidance.