Autopilot Design For Static Unstable Rolling Missiles With Double-channel Actuator

The research object is static unstable rolling missiles with double-channel actuator in this thesis.Rolling missiles can decrease the thrust eccentricity of rocket engine,pneumatic asymmetry and mass eccentricity on the influence of ballistic spread.With double-channel actuator can increase control effiency.With static unstable can boost the maneuverability of missile.This raises high requirements for the performance of the missile control system,which is mainly studied in this thesis.The detail content as follows:Firstly,the development and upgraded program of rolling missiles including air defence missiles,anti-tanker missiles and guided weapon abroad was briefed in the paper.The statuses and research of control technologies of rolling missile was summarized.Secondly,the trajectory mathematic model of rolling missile was built,the state space equation was derived with method of linearization of small disturbance,the transfer function matrix was derived.The discrimination of the static stability of the missile is introduced,and the stability of the rolling missile is analyzed by the zero pole diagram.Then,the coupling effect of the rolling missile,including aerodynamic coupling,inertial coupling and control coupling,is analyzed,and the dynamic stability of the rolling missile under the effect of gyro effect and Magnus effect is studied.Aiming at the control coupling effect,feedforward compensation method,advanced installation angle method and front feedback compensation method are adopted to couple the coupling.In addition,in order to control the static unstable rolling missile and improve the dynamic characteristics of the missile,two loop and three loop autopilot were designed.On the basis of decoupling control coupling and ignoring inertial coupling and aerodynamic coupling,the analytical method and pole placement method are used to design the single channel two loop and three loop autopilot respectively.The dual loop integrated design of the two loop autopilot was carried out by pole placement method.The simulation results show that the integrated design of the autopilot has stronger ability to suppress coupling.In addition,to the single channel two loop and three loop autopilot,the response of the acceleration and the rudder under the different static stability,the variation trend of the design parameters with the frequency are analyzed respectively,and the stability boundary of the projectile is analyzed.Finally,the whole trajectory is simulated,and the designed autopilot control law is written into the DSP,and the simulation is carried out with the simulator,and the preliminary verification of the project is carried out.