导弹舵机PID-MRAC复合控制仿真研究

Simulation Research on PID-MRAC Control of Missile Electric-Servo-Actuator

PID控制具有结构简单、稳定性能好、可靠性高等优点。提出了一种基于Liapunov稳定性理论、采用传统PID控制和模型参考自适应控制(Model Reference Adaptive Control,MRAC)相结合的导弹电动舵机复合控制方法,利用模型参考自适应控制作为内环控制回路使舵机的动态特性尽量逼近参考模型的动态特性,整个系统的外环控制采用PID控制来提高系统的动态性能和消除舵机负载等因素带来的稳态误差。利用Matlab/Simulink对该方法进行建模仿真。仿真结果表明:该方法能够有效地克服导弹飞行过程中舵机系统参数变化对系统性能的影响,具有较强的鲁棒性。

PID control has a lot of advantages, such as simple structure, excellent stability, high reliability, etc. A new kind of self adaptive control method of missile electric - servo - actuator, which is based on the Liapunov stability theory and characterized by the combination of traditional PID control and model reference adaptive control （MRAC）, is discussed and simulated in this paper. The MRAC is used as the inner control circuit so that the dynamic characteristic of the servo actuator can exactly follow that of the reference model, and the PID control is used as the outer control circuit to improve the dynamic characteristic of system and eliminate steady error. Simulation results indicate that this method can effectively eliminate the influence of parameter change on the total missile system performance.