巡弋飛彈之強健干擾輸入估測器設計

A Robust Disturbance Estimator Design for Cruise Missile

李永隆(Yung-Lung Lee) ； 曾建誠(Chien-Cheng Tseng)

《中正嶺學報》 45卷1期 (2016/05) Pp. 90-98

摘要

本文提出結合H_∞濾波器與最小平方估測器據以建構具備系統干擾輸入估測性能之強建估測器。傳統的卡爾曼濾波器是一種從雜訊中對被觀測系統的狀態進行統計估測的方法，且被廣泛的應用在動態系統之狀態濾波的問題上。但卡爾曼濾波器是對精確已知的系統進行建構，若面對未知的雜訊特性，則無法發揮較好的濾波效能。H_∞濾波器具備確保雜訊影響濾波誤差小於某個性能指標的特性，因此不論外在環境如何改變，雜訊將不會大幅影響整個系統的濾波性能。而遞迴式最小平方估測法則具備演算簡單知參數估測器。據此，本文係結合H_∞濾波器與遞迴式最小平方法設計一個於實務可行的干擾輸入估測器，並針對巡弋飛彈在大氣干擾下飛行時，探討其干擾輸入估測能力與特性，期可應用於提升飛行穩定控制性能。模擬驗證結果顯示，在高雜訊條件下，以H_∞濾波器為基礎之干擾輸入估測器具有較佳之輸入估測性能。

關鍵字

卡爾曼濾波器 ； 干擾估測器 ； 遞迴式輸入估測法 ； H_∞濾波器 ； 巡弋飛彈

並列摘要

A robust disturbance estimator based on H_∞ and least square method is proposed in this work. The Kalman filter is a statistical estimation method for a state of observing system in noise, which is widely used in many of the dynamics system for state estimation. However, Kalman filter is only for an accurate known system, but for the unknown noise, it cannot play a good filtering performance. H_∞ filter is ensure that the noise characteristics of the output is less than a performance gain, regardless of the external environment changes, the noise will not significantly affect the estimation performance. In this work, the design of input estimator which combines H_∞ filter and the recursive least squares method. The estimation performance is discussed in cruise missiles flying at atmospheric disturbance. The simulation results show that in high noise condition, the input estimator based on H_∞ filter has a better disturbance input estimation performance.

並列關鍵字

Kalman Filter ； disturbance estimator ； recursive input estimation method ； H_∞ Filter ； cruise missile