中文摘要：

针对直接力／气动力复合控制导弹的设计问题，提出了一种基于自抗扰控制技术的自动驾驶仪设计方法。首先分析了复合控制系统的特点和控制问题，建立了三通道的复合控制模型。然后针对俯仰通道和偏航通道提出了一种三环设计方法，内环和中环应用自抗扰控制器设计，主要考虑自抗扰控制器对对象参数变化和外部扰动的不敏感特性，外环采用PI控制器设计。最后针对滚转通道提出了一种双环设计方法，内环和外环均采用自抗扰控制器设计。仿真结果表明，所提出的控制方案对过载指令具有较好的跟踪效果，且控制器具有很强的鲁棒性，适用于直接力／气动力复合控制导弹的控制系统设计。

英文摘要：

The autopilot design method based on auto disturbance-rejection controller technique is proposed for the missile with lateral thrust and aerodynamics blended. At first, the characteristics and the main control problem for blended system are analyzed, further the three channel blended control model is established. Then, three close loops design method is proposed for the pitching channel and yawing channel of the blended control system. The inner-loop and medium-loop are designed by auto disturbance-rejection controller, which is insensitive to the variation of the plant parameters and external disturbance. The external-loop is designed by PI controller. Finally, the two close loops design method is proposed for the rolling channel, and the inner-loop and external-loop are both designed by auto disturbance-rejection controller. The simu- lation results show that the proposed scheme can track overload command with high precision and fast response speed, and the controller has excellent robustness performance, so it is applicable to design the autopilot of lateral thrust and aerodynamics blended missile.