双旋弹俯仰/偏航通道误差积分增广自适应控制

Error integral augmented model reference adaptive control for pitch/yaw system of dual-spin projectile

双旋弹的飞行空域大、时变参数多、俯仰/偏航通道之间耦合严重,为其俯仰/偏航通道控制系统设计带来了许多挑战。针对双旋弹俯仰/偏航通道的非线性控制问题,建立了双旋弹七自由度动力学方程,并基于弹丸线性化理论,得到双旋弹俯仰/偏航通道的近似线性描述。利用过载跟踪误差的积分对系统进行增广,并根据得到的增广系统的结构特点,设计了自适应控制律及参数自适应律。通过构建李雅普诺夫函数证明了增广系统的稳定性。仿真结果表明,利用误差积分增广方法设计的双旋弹俯仰/偏航通道模型参考自适应控制器,在系统具有不确定性和随机扰动时,可以保持与参考模型接近的控制性能和解耦性能。研究结果为解决双旋弹俯仰/偏航通道运动中的复杂非线性问题提供了理论依据和参考方法。

Due to the characteristics of large flight airspace,multiple time-varying parameters,and serious coupling between pitch/yaw channel,which has brought many challenges for the design of pitch/yaw channel control system of dual-spin projectile.Aiming at the nonlinear control problem of the pitch/yaw channel of the dual-spin projectile,the seven-degree-of-freedom dynamic equation of the dual-spin projectile is established.Based on the projectile linearization theory,the approximate linear description of the pitch/yaw channel of the dual-spin projectile is obtained.The integral of overload tracking error is used to augment the system,and the adaptive control law and parameter adaptive law are designed according to the structural characteristics of the obtained augmented system.The stability of the augmented system is proved by constructing Lyapunov function.The simulation results show that the model reference adaptive controller for the pitch/yaw channel of the dual-spin projectile designed by the error integral augmentation method can maintain the control performance and decoupling performance close to the reference model when the system has uncertainties and random disturbances.The research results provide a theoretical basis and reference method for solving the complex nonlinear problems in the pitch/yaw channel motion of dual-spin projectile.