【作者】 王超；

【导师】 于秀萍；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2009， 硕士

【摘要】 传统的导弹稳定控制系统通常采用固定增益和反馈控制相结合的设计方法,即采用PID控制。随着科技的飞速发展,要求战术导弹能够适应复杂的飞行环境同时具有高度的机动能力,由于飞行高度、速度和气象条件等的变化,其动态特性也随之变化,造成弹体参数变化十分剧烈,此时采用传统PID控制难以满足要求。针对传统控制方法的不足,提出了一种基于自适应理论的导弹稳定回路控制方法。课题主要研究内容如下:1.在分析导弹运动学与动力学的基础上,推导了弹体纵向平面内的运动方程和传递函数,确定了稳定控制回路模型。并利用传统PID控制规律对导弹阻尼回路和稳定回路进行了设计与仿真分析。2.概述了自适应控制理论的基本概念及其一般设计方法。针对导弹控制系统的变参数特点,采用在经典控制系统的基础上引入自适应控制器的方法,应用模型参考自适应理论中的波波夫超稳定理论,根据被控对象的输入输出,设计了自适应控制器,使由控制器和被控对象组成的可调系统的传递函数与参考模型的传递函数相匹配。3.数字化是导弹控制发展的趋势,为实现自适应控制在数字计算机中的应用,推导出了离散时间模型参考自适应规律,构建了数字式导弹稳定回路自适应控制模型。4.对所设计的自适应控制系统进行了数字仿真实验,仿真结果表明,通过模型参考自适应控制来设计的导弹稳定回路,对参考模型有很好的跟踪能力,在不同气动点都能适应导弹动力学特性的变化,获得满意的控制效果。将自适应控制理论用于导弹稳定控制系统的设计中,能较好的弥补经典控制理论在解决弹体参数变化剧烈时遇到的不足,且方法设计简单,易于数字实现,对实际的设计工作有一定的参考意义。更多还原

【Abstract】 The traditonal design method of missile is combine fixed quantity and feed back control technology, in other word, PID control. With science and technology rapidly developing, the missile needs to have the capability of adapting to the complex fly conditions and high-maneuver, Because the dynamics characteristics of missile would change along with the movement of the flight altitude, speed and weather condition, missile papameters changing abruptly in flight process. The classical kind of PID control is difficult to the desirability of the control object, therefore a new theory of adaptive control for design of controller is used. The central contents in this thesis include:1. On the foundation of the kinematics and dynamics analysis, movement equation and transfer function of the missile body in pitch plane are developed, and the model of stabilization loop is formulated. Then the stabilization loop are designed and simulated by traditional PID control method.2. The main ideas of theory of adaptive control are summarized. Because the model in this paper is a system with variable parameters , the adaptive controller is introduced on the basis of the classical control system, A autopilot for a kind of missile is designed by the theory of model reference adaptive control. And design of adaptive control law is made by the Popov hyperstability theory. According to the missile’s input and output, make adjustable systematic delivery function and reference model delivery function being composed of controller and controlled member mate completely.3. Along with the development of computer, digitalization is a new research direction of the automatic pilot. The algorithm of discrete model reference adaptive control system was inferred for its use by digital computer. The model of digital adaptive control of missile stabilization loop was establized.4. Those controller mentioned was simulated and results were got, the result showed that the plant could trace reference model very well with the use of designed controller. And adaptive control meets the specification of the system at different charactical points.Applying adaptive control to the design of stabilization loop control system on missile, the problems of uncertain parameters in classical control theory could be solved and has simple structure, and that is possible to missile more digitalized. The conclusions of the thesis have real significance.更多还原