位标器干扰力矩的分析与自适应补偿

干扰力矩做为影响导引头隔离度的重要参数，对制导系统产生了重要影响，在快响应制导系统设计中，要求尽可能降低干扰力矩的影响。针对干扰力矩的非线性、非定常特性，位标器稳定平台建模误差以及制导回路约束，提出干扰力矩自适应补偿控制方法。设计思路为:由制导精度分析，得到隔离度的频带约束；通过状态滤波及制导指令中引入非破坏性抖动信号，估计干扰力矩的主导项:滚动摩擦力矩；然后，运用带通滤波、状态反馈方法补偿非期望的干扰力矩。仿真结果表明:在参数摄动条件下，滚动摩擦力矩系数估值精度、快速性满足要求；提出的自适应补偿设计方法更贴近工程实际，能够用于解决寄生耦合影响严重的问题。

Analysis and adaptive compensation of seeker disturbance torque

As an important parameter affecting the isolation of seeker,disturbance torque had an important effect on guidance system, so it was demanded to reduce the disturbance torque's effect on designing of fast guidance system. According to the nonlinear and nonsteady characteristics of the disturbance torque,modeling errors of stabilized platform and guidance-loop constrains, a control method of disturbance torque adaptive compensation was proposed. The design ideas were as follows: band constraints of disturbance rejection rate obtained from guidance precision analysis, and scroll friction(dominant term of the disturbance torque) was estimated by use of state filtering and a nondestructive dither signal addition on guidance command, then, bandpass filtering and state feedback were used to compensate for unwanted disturbance torque effects. The simulation results show that, the estimation accuracy and rapidity of scroll friction coefficient can meet guidance system's demand under the condition of parameter perturbation, and the adaptive compensation method presented can be applied to more realistic case where cross-coupling effects are important.