【作者】 吴天宝； 黄显林； 李海军； 胡海东；

【Author】 Wu Tianbao,Huang Xianlin, Li Haijun,Hu Haidong Harbin Institute of Technology, Harbin 150001, China

【机构】 哈尔滨工业大学控制理论与制导技术研究中心；

【摘要】 本文讨论了一种具有在线误差补偿的非线性动态逆控制器设计方案。非线性动念逆控制方法利用了反馈线性化理论,研究通过非线性反馈或动态补偿的方法,将非线性系统变换为线性系统(伪线性系统),然后再按线性系统理论完成系统的各种控制目标设计。文章首先分析了动态逆控制的基本原理和逆误差产生的原因,接着回顾了自适应逆控制的基本思想和它消除传感器噪声和扰动的方法,然后提出了具有补偿信息,并用于在线补偿动态逆误差的设计方法。最后将该方案用于巡航导弹的飞行控制系统设计中,仿真结果表明,本文设计的系统有很好的跟踪性能,并具有良好的鲁棒性。更多还原

【Abstract】 In this paper, it is discussed how to design an online error compensator for a fight control system by the method of nonlinear dynamic inverse. By the theory of nonlinear dynamic inverse, a pseudo - linear system can be attained from the original nonlinear system by means of linearization-via-feedback and dynamic redeem. Next, the controller can be designed by using linear theories. In this paper, firstly, we deeply analyze the principle of the dynamic inverse control and the cause of the inverse error. Secondly, we review the principle of the self - adaptive inverse control and methods of eliminating the sensor noise and disturbance. Finally, we present the method which not only has compensation messages but also can be used in the online dynamic inverse error compensation. Our method is applied to the flight control system design of the cruise missile. Simulations show that the designed system is robust and has a satisfactory dynamical performance.更多还原