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复合抗干扰导弹系统自动驾驶仪设计方法研究
中文摘要

导弹系统的纵向控制模型具有强非线性的特点,而且受到未知干扰以及参数摄动等影响,如何设计具有抗干扰能力的自动驾驶仪是导弹制导与控制系统的重要问题。本文基于干扰估计和补偿、滑模控制及自适应控制等理论方法,开展导弹系统自动驾驶仪方法研究。论文的主要工作及创新点如下: 1.针对具有多干扰的导弹系统自动驾驶仪设计问题,提出了一种导弹系统复合分层抗干扰控制自动驾驶仪设计方法。首先,设计了一种非线性干扰观测器,并分析了干扰估计误差系统的稳定性;其次,为了抑制有界干扰,衰减干扰估计误差,设计了一种滑模反馈控制律,保证了闭环系统的性能。 2.提出了一种具有实时性的导弹系统复合抗干扰自动驾驶仪设计方法。为了获得更好的实时性能,基于干扰观测器和有限时间积分滑模控制策略设计了一种自动驾驶仪;在此基础上,为了避免外部干扰上界选取带来的保守性影响,针对参数慑动设计了自适应复合抗干扰自动驾驶仪。 3.研究了带有不匹配干扰的导弹系统复合抗干扰自动驾驶仪设计问题。首先,设计有限时间干扰观测器来估计系统的不匹配干扰;其次,基于干扰估计值和传统的滑模面,构造了一个新的滑模面,并利用构造的滑模面设计了复合连续抗干扰自动驾驶仪,可保证系统输出跟踪能力。 4.针对含有外部干扰、参数摄动等不确定因素作用下的导弹系统,提出了一种含有攻角约束的复合抗干扰自动驾驶仪设计方法。基于非线性干扰观测器和动态滑膜面控制技术为导弹系统设计了复合抗干扰自动驾驶仪,并基于Lyapunov函数理论分析了闭环系统的稳定性,并保证系统状态最终一致有界。 对以上所提出的方法进行仿真验证,结果表明了所提方法的有效性。 关键词:导弹系统;自动驾驶仪;干扰观测器;滑模控制;自适应控制;动态面控制;复合抗干扰控制

英文摘要

The longitudinal model of missile system is nonlinear, and it is subject to unknown disturbance and parameters uncertainties, etc., which will reduce the guidance accuracy.. Based on the the disturbance estimation theory, sliding mode control method and adaptive control technique, and other theoretical methods, this thesis will investigate autopilot design for missile systems. The main contents of this paper are as follows: 1.The problem of autopilot design for missile systems with multiple disturbances is considered. Combining sliding mode control method, adaptive control scheme, and nonlinear disturbance observer technique, a composite hierarchical anti-disturbance control (CHADC) autopilot is presented. First, a nonlinear disturbance observer is designed to estimate harmonic disturbances, and the stability of disturbance estimation error system is analyzed. Second, in order to attenuate and reject bounded disturbances and disturbance estimation error, a sliding mode control scheme is employed to design feedback control law, which can guarantee the closed-loop system have good performance. However, the scheme need the upper bounded of the bounded disturbances. Third, an adaptive sliding mode control method is given, where the upper bounded of disturbances is obtained by adaptive control technique. 2.A composite anti-disturbance autopilot design for missile systems is proposed based on finite time integral sliding mode control scheme and nonlinear disturbance observer technique. After a nonlinear disturbance observer is developed to estimate the external disturbances with partial known information, a finite time integral sliding mode control strategy is employed to design feedback controller. Then, an improved adaptive composite anti-disturbance autopilot is given to avoid the inaccuracy of the upper bound of external disturbances. 3.The problem of autopilot design for missile systems with mismatched disturbances is considered via a sliding mode control method and finite time disturbance observer. Firstly, a finite time disturbance observer is designed to estimate the mismatched disturbances. Secondly, based on disturbance estimation values and traditional sliding mode surface, a novel sliding mode surface is constructed. Thirdly, a composite continuous anti-disturbance autopilot is developed, which can guarantee system output converge to reference signal. 4.For missile systems with external disturbances and parametric uncertainties, the problem of composite anti-disturbance autopilot design is considered with angle constraint. First, a nonlinear disturbance observer is designed for the missile systems. Second, using dynamic surface control technique, a composite anti-disturbance autopilot is developed for missile systems. Third, the stability analysis is given by Lyapunov function theory and the uniform ultimate boundedness is obtained for the closed-loop system signals. Simulation and verification of the proposed methods are presented to demonstrate the effectiveness of the proposed methods. Keywords: Missile systems; Autopilot; disturbance observer; sliding mode control; adaptive control; dynamic surface control; Compound anti-disturbance control

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