Design Of Control System For Guided Bomb And Research On Control Allocation In Stuck Fault Mode

Guided bomb is a precision-guided weapon developed and widely used by many countries.Today’s practical application of guided bombs needs to ensure accuracy on the one hand and reduce cost on the other hand.High precision and low cost guided bomb is one of the important development trends.In order to achieve high precision,the control system needs strong robustness.If the stability control can be achieved by using only three pieces of the four pieces of aerodynamic control rudder surface of the projectile,the rudder facing the corresponding steering engine that does not participate in the control process can be cancelled,which can significantly reduce the cost of the guided bomb.In this context,from the point of view of practical engineering application,this paper mainly studies the classical control method and the adrc method of guided bomb,as well as the control command allocation problem of the rudder stuck fault mode.Firstly,a 6DOF mathematical model is established to describe the space motion state of guided bombs.Based on the hypothesis of small perturbation linearization,the linear perturbation motion equations are deduced,and the control model of three-channel decoupling is given.A standard trajectory is designed based on dynamic model and basic population parameters.Secondly,based on classical control theory,PID controller is designed for three channels respectively.The height is taken as the dispatching parameter to select the characteristic points on the standard trajectory.6DOF simulation and monte carlo target shooting are carried out in the way of gain sequencing.Then,in view of the single point of PID control parameters global robustness is poor,and gain sequencing cannot lack of stability is proved in theory,at the same time considering the guided bomb flying the whole internal parameters perturbation and external disturbance uncertainty is large,using the immunity control(ADRC),a three-channel controller,Angle loop and angular velocity loop adopts ADRC control,overload ring using PI control;The stability of closed-loop system is proved by Lyapunov method.The design of three-channel control parameters at characteristic points,single point simulation,6DOF simulation and monte carlo target shooting show that ADRC has stronger robustness and anti-disturbance capability than classical control.Finally,to solve the problem by using three pneumatic manoeuvring to control the rudder control allocation problem,based on pseudo-inverse method to calculate the amount is small but failed to consider the actuator position constraint,and the fixed point iteration method to add restrictions to optimize process characteristics,puts forward the pseudo-inverse method to calculate the result as the iterative initial value,and then through the fixed point iteration optimization control of rudder surface distribution of hybrid control method;Based on this method,6DOF simulation of control allocation in fault mode is carried out.The results show that the control instructions can be accurately assigned to the three steering rudder surfaces to achieve the stability control of the guided bomb.In conclusion,the research content of this paper can provide useful reference for the application of adrc in the control of guided bombs and the relevant direction of missile fault tolerant control,and provide research ideas for the low-cost transformation of existing guided bombs.