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Robust roll autopilot design to reduce couplings of a tactical missile

机译：强大的侧倾自动驾驶仪设计，减少了战术导弹的耦合

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The purpose of this work is to decrease coupling effects of a tactical missile by designing a robust autopilot for its roll channel. In tactical STT missiles due to control strategy, in order to execute acceleration commands, roll angular velocity should be kept close to zero. Generally, in the design of autopilot for many of tactical missiles the inter influences of channels is neglected. However, three channels of the missile impact each other in different ways including kinematic, inertia and aerodynamic couplings. Aerodynamic coupling is a dominant in roll channel dynamics appearing as induced and control cross coupling roll moments. In this paper first the coupling terms are modeled considering literature. Next, the system is linearized as input-output using models of induced and control cross coupling roll moments. Also, for increasing robustness of the autopilot against modeling errors, uncertainties, and external disturbances, an uncertainty and disturbance estimation (UDE) controller is used. To evaluate the performance of the designed controller, the results were compared with three controlling methods namely a PD controller based on simple dynamics model, a PD controller based on modified dynamics model and a robust controller based on the extended state observer (ESO). Flight simulation results revealed that if the approximate relationship of induced and control cross coupling roll moments are appropriately modeled, UDE control performance outperforms other methods and couplings between pitch and yaw channels are significantly decreased. (C) 2016 Elsevier Masson SAS. All rights reserved.
机译：这项工作的目的是通过为滚转通道设计一个坚固的自动驾驶仪来减少战术导弹的耦合作用。在战术STT导弹中，由于控制策略的原因，为了执行加速命令，侧倾角速度应保持接近零。通常，在许多战术导弹的自动驾驶仪设计中，忽略了通道之间的相互影响。但是，导弹的三个通道以不同的方式互相影响，包括运动，惯性和空气动力耦合。空气动力学耦合在侧倾通道动力学中占主导地位，动态动力学出现在感应和控制交叉耦合侧倾力矩中。本文首先考虑文献对耦合项进行建模。接下来，使用感应和控制交叉耦合侧倾力矩模型将系统线性化为输入-输出。同样，为了提高自动驾驶仪抵抗建模误差，不确定性和外部干扰的鲁棒性，使用了不确定性和干扰估计（UDE）控制器。为了评估所设计控制器的性能，将结果与三种控制方法进行了比较，即基于简单动力学模型的PD控制器，基于改进动力学模型的PD控制器和基于扩展状态观察器（ESO）的鲁棒控制器。飞行模拟结果表明，如果适当地模拟了诱导和控制交叉耦合侧倾力矩的近似关系，则UDE控制性能将优于其他方法，并且俯仰和偏航通道之间的耦合将大大降低。 （C）2016 Elsevier Masson SAS。版权所有。

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