基于轨迹线性化和自适应模糊系统的导弹自动驾驶仪设计

Design for autopilot of missile based on trajectory linearization and adaptive fuzzy system

基于轨迹线性化方法和自适应模糊系统理论,设计了一种新的鲁棒自适应导弹自动驾驶仪。根据时标分离原则,将导弹非线性模型划分为快、慢2个回路。利用快速跟踪微分器提取快变量的微分信号,在此基础上使用轨迹线性化方法设计快回路控制器,实现了快回路的非线性解耦,抑制了扰动;使用自适应模糊控制理论设计慢回路控制器,抵消了系统总不确定性和外界干扰对系统性能的影响。在最小逼近误差界未知的情况下,通过在线自适应调节的方法获得其估计值并利用此值设计了自适应鲁棒补偿项,克服了系统逼近误差的影响。仿真结果表明,该自动驾驶仪具有快速的跟踪能力和良好的鲁棒性。

A novel robust adaptive missile autopilot based on trajectory linearization and adaptive fuzzy system theory was de signed in this paper.The nonlinear missile model was divided into fast and slow loop based on timescale separation principle;The differential signal of states was acquired through the tracking differentiator and the fast loop controller was designed to realize the nonlinear decoupling and reject the disturbances based on the trajectory linearization method.In order to eliminate the effects of the uncertainties and disturbances on the control system performance, the slow loop controller was designed through the adaptive fuzzy system theory.And an adaptive robust control law was added to overcome the approximation errors which was estimated by a method of online adaptive regulate, though the upper bound was unknown.Simulation results show that the autopilot possesses fast tracking a bilitv and enough robustness.