导弹控制系统的双积分反演PID控制

The Double Integral Back-Stepping PID Control of Missile Control System

考虑空气动力系数的不确定性与线性化后产生的模型不确定性,引入了一类双积分控制律,同时保留PID控制的优点,设计了一类自适应反演PID控制器。尤其是Lyapunov函数的巧妙构造,不仅表明了积分控制规律对提高系统鲁棒性的贡献,而且将PID控制与Lyapunov函数方法有机地结合起来。该设计不仅具有预期的鲁棒性,而且有效地回避了反演中的微分爆炸问题。最后举例进行仿真研究,仿真结果表明了该方法的有效性。

Considering the uncertain of the pneumatic parameters and model linearization of missile,a kind of double integral item was used to design an adaptive backstepping PID controller which reserved the advantages of PID control method.What is wroth pointing out was that a Lyapunov function was constructed skillfully so the PID controller method was integrated with Lyapunov method perfectly and the robustness of the system was improved greatly because of the integral control law’s contribution.Good robustness was achieved by the use of adaptive method,and the differential bomb problem in backstepping method was avoided.Finally,the stability of the system was proved by constructing a Lyapunov function.Numerical simulation was done to give examples,and the effectiveness of the proposed method was testified finally.