基于动态逆和能量原则的导弹直接力-气动力复合控制

Blended Aero and Reaction Jet Missile Controller Based on Adaptive Dynamic Inverse and Optimal Energy Distributive Logic

为了解决导弹直接力=气动力复合系统参数严重不确定和多操纵机构的耦合问题，提出了一种复合控制器的设计方案．采用动态逆方法设计了系统的基本控制律，利用信用度分配机制和模糊思想来提高小脑模型控制器（CMAC）神经网络的收敛性以补偿动态逆建模误差．在机构耦合问题处理上，采用能量最优原则构造了一种能量函数对直接力-气动力进行分配，降低了侧喷消耗和气动力舵偏角，使系统过渡过程平稳．最后，给定15km的高度，系统的马赫数在0．8～3．0内变化．数字仿真表明，控制器实现了指令信号的快速跟踪，而且直接力无冲击，舵偏角小，因此复合控制器的鲁棒性强，直接力-气动力的解耦效果良好．

To solve serious uncertainty in parameters and multi-actuator coupling in blended aero and reaction jet system, a composite controller method was proposed. The basic control law of system was developed by nonlinear dynamic inversion, and inversion errors due to uncertain model were compensated by an improved cerebellar model articulation control （CMAC） neural network based on credit assignment principle and fuzzy rules. Furthermore, energy optimization method was adopted to deal with the coupling of multiple actuators, where a kind of energy function was constructed to distribute the aero and reaction jet load to lead to a smooth system transition with low energy cost for both actuators. Under the condition of 15 km altitude and 0. 8-3.0 Mach rate, the numerical simulation shows that the blended controller tracks desired signals quickly in small fin angles without impulsion in reaction jet load.