针对扰动环境下的导弹飞行控制问题提出一种基于H∞最优化与层次结构动态逆(HSDI)的鲁棒非线性控制方法。设计层次结构动态逆控制器时将层次结构优化为3层,并按照时标分离的思想调整了各层次的状态变量,使得控制器更为简洁。在此基础上,将层次结构动态逆控制器与导弹6自由度(DOF)非线性模型联合作为H∞控制的广义被控对象,通过引入二自由度H∞最优化理论并重构广义被控对象的状态变量设计了H∞鲁棒控制器。闭环系统的奇异值分析和对某型有翼导弹进行的6自由度飞行仿真表明,所设计的飞行控制器具有良好的指令跟踪和抗干扰能力。
A nonlinear flight controller design using H∞ optimization and hierarchy-structured dynamic inversion(HSDI)is proposed for a winged missile with disturbance considered. The structure of HSDI is reduced to three layers according to their time-scales and variables are recategorized to simplify the HSDI controller design. Then, the HSDI controller and the nonlinear 6 degrees-of-freedom(DOF)dynamic model of the researched missile are used to compose the generalized plant. More-over, the state variables of plant are rearranged. And a 2 DOF H∞ control structure is also introduced to enhance robustness performance. The analysis of close-loop system singular values and nonlinear 6 DOF flight simulation results presented in the paper demonstrate the good tracking performance and disturbance rejection of the designed flight controller.
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