鱼雷深度弹道的自适应反演鲁棒控制

Robust Adaptive Backstepping Control for Depth Ballistics of Torpedo

为研究鱼雷深度弹道的非线性控制方法,在深度非线性模型中,以鱼雷姿态角速度作为升降速度的虚拟控制量,得到新的输入输出动态和稳定的零动态.改写输入输出动态为严反馈形式,针对模型中各级未知参数向量,分别设计自适应调节律.引入非线性阻尼项消除不确定性,使跟踪误差收敛到零的小邻域内.仿真表明,各级预设参数自适应调整,鱼雷的深度弹道控制性能良好.给出的自适应反演鲁棒控制律能够处理模型不确定性和各级未知参数,深度非线性分层控制策略体现了鱼雷的非线性特征.

To study the nonlinear control method of torpedo depth ballistics, with pitch rate being regarded as virtual controller of heave velocity in the torpedo nonlinear model, a new input-output dynamic and stable zero dynamic were obtained. Transforming the input-output dynamic into the strict feedback nonlinear form, the adaptive laws in each layer of the model were given respectively. The nonlinear damp technology was used to eliminate uncertainties, and the tracking error can be converged to a small bounded neighborhood of zero. The simulation results show that preestablished parameters are adjusted and the torpedo depth is well controlled, unknown parameters and uncertainties are handled in the presented adaptive backstepping laws, and the nonlinear characteristics of torpedo are embodied in the layered model.