Control Design Of Single Soldier Guided Rocket Shell Based On ESO-Backstepping

Based on the research background of single soldier guided rocket shell,a new aerodynamic layout and dual channel(pitch and roll)control scheme is proposed in this paper,the ESOBackstepping design method in nonlinear control and its application in the design of BTT controller of single soldier guided rocket shell are studied.The main research work and results of this paper are as follows:First,the general plan of the single soldier guided rocket shell is preliminarily stated to meet the requirements of small caliber and small layout.A new aerodynamic layout is proposed,which adopts two sets of control surfaces and a pair of canard rudders to realize the movement in the pitching direction.In order to solve the problem of canard rudder rolling reaction,a steering gear is set at the linkage aileron at the tail of individual guided rocket for rolling control,and no steering gear control is added in the yaw channel.According to the pneumatic layout,a BTT control scheme with dual channel(pitch and roll)control is proposed,which can save resources and simplify the control system.At the same time,combined with the demand analysis of the single soldier guided rocket shell,the hardware design and peripheral equipment selection of the control system are carried out,the circuit design of rocket-borne computer and power amplifier based on DSP is completed,and the software structure of the control system is preliminarily discussed.Secondly,the accurate mathematical model of individual guided rocket is established,and the ESO-Backstepping control algorithm which uses the extended state observer to compensate the Backstepping control is proposed.The robustness,anti-interference and decoupling of the control system are simulated in detail.The performance of ESO-Backstepping control,Backstepping and PID control is compared and analyzed.The research results verify that the ESO-Backstepping control algorithm proposed in this paper has the best control effect.Third,in order to compare the control performance of dual channel(pitch and roll)control(pitch and roll)and three channel(pitch,roll and yaw)control,the ESO-Backstepping control law is added to the yaw channel.The simulation comparison shows that the control performance of the two control schemes are not different,which verifies the effectiveness of the dual channel(pitch and roll)control and the rationality of the aerodynamic layout of the single soldier guided rocket shell.The C program of ESO-Backstepping controller is programmed and designed,and hardware in the loop simulation based on missile borne computer.It is proved that the designed ESO-Backstepping digital control system can complete the control task of the single soldier guided rocket shell system according to the design index.Fourth,based on the ESO-Backstepping controller proposed in this paper,and based on the aerodynamic parameters of the single soldier guided rocket shell,a six-degree-of-freedom simulation of a fixed target and a maneuvering target has been carried out.The simulation results show that the ESO-Backstepping controller can intercept of maneuvering targets.Finally,a simulation platform for the single soldier guided rocket shell is designed to facilitate user communication and show the simulation results of this article.Through simulation analysis and hardware in the loop simulation,this paper proves the reasonable and reliable design of ESO-Backstepping control system and the effectiveness of dual channel(pitch and roll)control scheme from two aspects of theory and engineering application,which provides a strong proof for the rationality of the aerodynamic layout of single soldier guided rocket shell.