数字式导弹稳定控制系统分析设计与仿真研究
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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。
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.
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。
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.
引文
[1]钱杏芳,林瑞雄,赵亚男.导弹飞行力学[M].北京:北京理工大学出版社,2000
[2]Nesline,EW,and Nabbefeld,N.C.Design Autopilots for Homing Missiles AGARD conference,1979:1-14
[3]Arrow A.An Analusis of Aerodynamic Requirements for Coordinated Bank-To-Turn Autopilots.NASA-CR-3644,1982
[4]Kovach M J,Stevens Y R,Arrow A A.A Bank-To-Turn Autopilot Design for an Advanced Air-to-Air Interceptor.Proceeding AIAA G.N.&C.Conference,Monterey,1987(8)
[5]陈佳实.导弹制导和控制系统的分析与设计[M].北京:宇航出版社,1989
[6]陈世年.控制系统设计[M].北京:宇航出版社,1996
[7]Bossi J A,Laugehough M A.Multivariable Autopolot Design for a Bank-to-Turn Missile,Proceeding of the American Control Conference,1988:567-572P
[8]Williams,D.E.,B.Friedland,and A.N.Madiwale,Modern Control Theory Design of Autopilots for Bank-To-Tum Missiles',J.of Guidance,Control,and Dynamics,vol.10,no.4,July-August 1987
[9]赵汉元,陈克俊.再入机动飞行器数学仿真研究[J].宇航学报.1997,01
[10]赵长安,王子才.鲁棒控制系统[M].哈尔滨:哈尔滨工业大学出版社,1991
[11]郑建华.鲁棒控制理论及在BTT导弹中的应用[J].哈尔滨工业大学.1996:87-100页
[12]姚琼荟,黄继起,吴汉松.变结构控制系统[M].重庆:重庆大学出版社,1997
[13]胡跃明.变结构控制[M].北京:科学出版社,2003
[14]胡云安,顾文锦.变结构控制在导弹控制系统设计中的应用[J].战术导弹控制技术.1990(2)
[15]刘根旺,许化龙.数字式导弹姿态控制系统的变结构控制[J].导弹与航天 运载技术.2006,02
[16]刘兴堂.应用自适应控制[M].西安:西北工业大学出版社,2003
[17]李言俊,张科.自适应控制理论及应用[M].西安:西北工业大学出版社,2005
[18]Doyle J C.Stein G Robustness with obserbers[J].IEEE Trans Automatic Control,1979,24(4):607-611P
[19]林德福,孙宝彩,祁载康.BTT导弹自动驾驶仪LQG/LQR积分控制设计[J].系统仿真学报.2007,02
[20]Franklin,G.F and J.D Powell,Digital Control of Dynamic Systems,Addison-Wesley.980,Ch.6 and appendix
[21]王子才,赵长安.最优控制[M].哈尔滨:哈尔滨工业大学出版社,1989
[22]R.T.Reichert.Application of H∞ Control to Missile Autopilot Design[C].Proc.o f the AIAA Guidance,Navigation and Control Conference.1989:1065-1072P
[23]姚成法.BTT导弹鲁棒自动驾驶仪设计[D].西北工业大学硕士论文.2007,03
[24]张友安,胡云安,苏身榜.BTT导弹控制系统鲁棒动态逆设计[J].宇航学报.2002,23(2)
[25]Aiay Thukral and Mario Innocenti,Controls Design Challenge:A Variable Structure Aproch Journal of Guidance,Control,and Dynamics,vol.17,no.5,September-October 1994
[26]周军,周凤歧.基于变结构控制理论BTT导弹自动驾驶仪三通道独立设计[J].宇航学报.1994 5(2)
[27]C.K.Lin,et al.Adaptive Fuzzy Control of Bank-to-Turn Missiles[C].Proc.of the Industrial Electronics,Control,and Instrumentation,Taiwan.1996:596-601P
[28]王正杰,李霁红,张天桥.利用通用白适应控制结构设计导弹自动驾驶仪[J].兵工学报.2002,03
[29]杨军,周凤岐.奇异摄动理论在倾斜转弯导弹自动驾驶仪设计中的应用[J].兵工学报.1996,17
[30]康长赓.某型导弹模型参考自适应控制系统设计[J].弹箭与制导学报.2000,03
[31]王炀.战术导弹数字式自适应系统研究[D].航天二院硕士论文.1995
[32]王飞,万少松,韩朝超.基于某导弹稳定回路的自适应自动驾驶仪的设计与应用[J].弹箭与制导学报.2006,S4
[33]李炯,黄树彩,王建勋.导弹自动驾驶仪自适应控制设计与仿真[J].战术导弹技术.2002,05
[34]赵振宇.模糊理论和神经网络的基础与运用[M].北京:清华大学出版社,1996
[35]李士勇.模糊控制神经网络智能控制[M].哈尔滨:哈尔滨工业大学出版社,1998
[36]楼顺天.基于神经网络的非线性系统自适应控制及其应用[D].西北工业大学博士学位论文.1999
[37]C.K,Lin,et al.Adaptive Fuzzy Control of Bank-To-Turn Missiles[C].Proc.of the Industrial Electronics,Control,and Instrumentation,Taiwan.1996:596-601P
[38]崔杰.BTT导弹自适应神经网络自动驾驶仪设计[D].哈尔滨工业大学学位论文.2006
[39]刘兴堂.导弹制导控制系统分析、设计与仿真[M].西安:西北工业大学出版社,2006
[40]李云,刘兴堂,杨遵.某型防空导弹自适应自动驾驶仪设计[J].弹箭与制导学报.2006,02
[41]祝晓才.基于MATLAB的自适应飞行控制系统参数整定[J].航空兵器.2001,02
[42]吕淑萍,李文秀.数字控制系统[M].哈尔滨:哈尔滨工程大学出版社,2001
[43]黄道平.MATBAB与控制系统的数字仿真及CAD[M].北京:化学工业出版社,2004,10
[2]Nesline,EW,and Nabbefeld,N.C.Design Autopilots for Homing Missiles AGARD conference,1979:1-14
[3]Arrow A.An Analusis of Aerodynamic Requirements for Coordinated Bank-To-Turn Autopilots.NASA-CR-3644,1982
[4]Kovach M J,Stevens Y R,Arrow A A.A Bank-To-Turn Autopilot Design for an Advanced Air-to-Air Interceptor.Proceeding AIAA G.N.&C.Conference,Monterey,1987(8)
[5]陈佳实.导弹制导和控制系统的分析与设计[M].北京:宇航出版社,1989
[6]陈世年.控制系统设计[M].北京:宇航出版社,1996
[7]Bossi J A,Laugehough M A.Multivariable Autopolot Design for a Bank-to-Turn Missile,Proceeding of the American Control Conference,1988:567-572P
[8]Williams,D.E.,B.Friedland,and A.N.Madiwale,Modern Control Theory Design of Autopilots for Bank-To-Tum Missiles',J.of Guidance,Control,and Dynamics,vol.10,no.4,July-August 1987
[9]赵汉元,陈克俊.再入机动飞行器数学仿真研究[J].宇航学报.1997,01
[10]赵长安,王子才.鲁棒控制系统[M].哈尔滨:哈尔滨工业大学出版社,1991
[11]郑建华.鲁棒控制理论及在BTT导弹中的应用[J].哈尔滨工业大学.1996:87-100页
[12]姚琼荟,黄继起,吴汉松.变结构控制系统[M].重庆:重庆大学出版社,1997
[13]胡跃明.变结构控制[M].北京:科学出版社,2003
[14]胡云安,顾文锦.变结构控制在导弹控制系统设计中的应用[J].战术导弹控制技术.1990(2)
[15]刘根旺,许化龙.数字式导弹姿态控制系统的变结构控制[J].导弹与航天 运载技术.2006,02
[16]刘兴堂.应用自适应控制[M].西安:西北工业大学出版社,2003
[17]李言俊,张科.自适应控制理论及应用[M].西安:西北工业大学出版社,2005
[18]Doyle J C.Stein G Robustness with obserbers[J].IEEE Trans Automatic Control,1979,24(4):607-611P
[19]林德福,孙宝彩,祁载康.BTT导弹自动驾驶仪LQG/LQR积分控制设计[J].系统仿真学报.2007,02
[20]Franklin,G.F and J.D Powell,Digital Control of Dynamic Systems,Addison-Wesley.980,Ch.6 and appendix
[21]王子才,赵长安.最优控制[M].哈尔滨:哈尔滨工业大学出版社,1989
[22]R.T.Reichert.Application of H∞ Control to Missile Autopilot Design[C].Proc.o f the AIAA Guidance,Navigation and Control Conference.1989:1065-1072P
[23]姚成法.BTT导弹鲁棒自动驾驶仪设计[D].西北工业大学硕士论文.2007,03
[24]张友安,胡云安,苏身榜.BTT导弹控制系统鲁棒动态逆设计[J].宇航学报.2002,23(2)
[25]Aiay Thukral and Mario Innocenti,Controls Design Challenge:A Variable Structure Aproch Journal of Guidance,Control,and Dynamics,vol.17,no.5,September-October 1994
[26]周军,周凤歧.基于变结构控制理论BTT导弹自动驾驶仪三通道独立设计[J].宇航学报.1994 5(2)
[27]C.K.Lin,et al.Adaptive Fuzzy Control of Bank-to-Turn Missiles[C].Proc.of the Industrial Electronics,Control,and Instrumentation,Taiwan.1996:596-601P
[28]王正杰,李霁红,张天桥.利用通用白适应控制结构设计导弹自动驾驶仪[J].兵工学报.2002,03
[29]杨军,周凤岐.奇异摄动理论在倾斜转弯导弹自动驾驶仪设计中的应用[J].兵工学报.1996,17
[30]康长赓.某型导弹模型参考自适应控制系统设计[J].弹箭与制导学报.2000,03
[31]王炀.战术导弹数字式自适应系统研究[D].航天二院硕士论文.1995
[32]王飞,万少松,韩朝超.基于某导弹稳定回路的自适应自动驾驶仪的设计与应用[J].弹箭与制导学报.2006,S4
[33]李炯,黄树彩,王建勋.导弹自动驾驶仪自适应控制设计与仿真[J].战术导弹技术.2002,05
[34]赵振宇.模糊理论和神经网络的基础与运用[M].北京:清华大学出版社,1996
[35]李士勇.模糊控制神经网络智能控制[M].哈尔滨:哈尔滨工业大学出版社,1998
[36]楼顺天.基于神经网络的非线性系统自适应控制及其应用[D].西北工业大学博士学位论文.1999
[37]C.K,Lin,et al.Adaptive Fuzzy Control of Bank-To-Turn Missiles[C].Proc.of the Industrial Electronics,Control,and Instrumentation,Taiwan.1996:596-601P
[38]崔杰.BTT导弹自适应神经网络自动驾驶仪设计[D].哈尔滨工业大学学位论文.2006
[39]刘兴堂.导弹制导控制系统分析、设计与仿真[M].西安:西北工业大学出版社,2006
[40]李云,刘兴堂,杨遵.某型防空导弹自适应自动驾驶仪设计[J].弹箭与制导学报.2006,02
[41]祝晓才.基于MATLAB的自适应飞行控制系统参数整定[J].航空兵器.2001,02
[42]吕淑萍,李文秀.数字控制系统[M].哈尔滨:哈尔滨工程大学出版社,2001
[43]黄道平.MATBAB与控制系统的数字仿真及CAD[M].北京:化学工业出版社,2004,10