摘 要

在戰(zhàn)術(shù)導(dǎo)彈的飛行過程中，彈體的參數(shù)實(shí)時(shí)發(fā)生變化，嚴(yán)重地影響了控制性能。經(jīng)典控制理論不能完全消除參數(shù)變化對(duì)系統(tǒng)的影響。本課題用自校正控制理論對(duì)導(dǎo)彈系統(tǒng)進(jìn)行設(shè)計(jì)，可以實(shí)時(shí)的對(duì)系統(tǒng)參數(shù)進(jìn)行辨識(shí)，使系統(tǒng)處于良好運(yùn)行狀態(tài)下。

本設(shè)計(jì)的被控對(duì)象為戰(zhàn)術(shù)導(dǎo)彈的自動(dòng)駕駛儀回路。首先對(duì)被控對(duì)象進(jìn)行分析，得出其簡(jiǎn)化的數(shù)學(xué)模型。加入噪聲干擾后經(jīng)過離散化得到其差分方程，為二階的受控自回歸滑動(dòng)平均模型。確定模型之后，用自校正控制理論對(duì)其進(jìn)行設(shè)計(jì)。主要方法是：對(duì)被控對(duì)象輸入一組隨機(jī)序列，測(cè)量輸入輸出情況，將結(jié)果送入?yún)?shù)遞推估計(jì)器進(jìn)行處理，辨識(shí)被控對(duì)象參數(shù)。這里，參數(shù)遞推估計(jì)器所用的方法是帶遺忘因子的遞推增廣最小二乘辨識(shí)；辨識(shí)出的參數(shù)作為輸入量送入?yún)?shù)計(jì)算器進(jìn)行控制器參數(shù)設(shè)計(jì)，而由參數(shù)計(jì)算器得出的控制器參數(shù)送入控制器。此時(shí)控制器參數(shù)計(jì)算器所采用的是最小方差間接自校正理論；最后通過可變參數(shù)控制器來完成對(duì)系統(tǒng)的調(diào)節(jié)。本設(shè)計(jì)的最后應(yīng)用Matlab進(jìn)行仿真和對(duì)比，來完成整個(gè)戰(zhàn)術(shù)導(dǎo)彈的自校正控制系統(tǒng)的設(shè)計(jì)。

本課題多處應(yīng)用Matlab軟件編程。對(duì)丟番圖方程的求解、系統(tǒng)參數(shù)的辨識(shí)，以及系統(tǒng)仿真都有很大的幫助。

關(guān)鍵詞：導(dǎo)彈自動(dòng)駕駛儀回路；系統(tǒng)辨識(shí)；最小二乘法；自校正控制

Abstract

During the whole flying course of the tactical missile, the parameters of missile changed,which can affect the control performance. Traditional control theory can not eliminate the effects which is brought by the change of paramaters.It takes the self-tuning control to desire the system of missile in this subject. Real-time parameters of the system can be identificated and make the system running in good condition by this. 

The controlled object of this desire is the tactical missile autopilot loop. First, the simplified mathematical model can be established through the analysis of the controlled object. Then difference equation is second order of the controlled auto-regressive moving average model by discretization after noise interference added. The self-tuning control theory can be used after it,the specific method is that: the input and output are measured when the random series input. Then deliver the outcome to recursive estimator of parameters to identify the controlled object parameters. Here, the estimator is based on forgetting factor recursive extended least square. The parameters identified as input is posted in parameter calculator to calculator the controller parameters as the controller input. The controller parameter calculator is based on the indirect minimum variance self-tuning control theory. The system is regluated by the variable parameter controller.The whole self-tuning control system of tactical missile can be accomplished through the system simulate and contrast at last.

Matlab software are used much in the topic to programming.It is much aid of solution the Diophantine equation,identification of system parameters and system simulation.

Key words: the tactical missile autopilot loop; system identification; method of least squares; self-tuning control

目 錄

第一章 概述 1

1.1 課題研究的背景及目的意義 1

1.2 自動(dòng)駕駛儀回路的發(fā)展及國內(nèi)外現(xiàn)狀 1

1.3 本文設(shè)計(jì)思路 2

第二章 相關(guān)知識(shí)介紹 3

2.1 參數(shù)辨識(shí) 3

2.1.1 系統(tǒng)辨識(shí)簡(jiǎn)介 3

2.1.2 參數(shù)模型類 3

2.1.3 系統(tǒng)辨識(shí)的基本原理 4

2.1.4 帶遺忘因子的遞推增廣最小二乘法 5

2.2 自校正算法 7

2.2.1 自校正控制簡(jiǎn)介 7

2.2.2 單步求解丟番圖(Diophantine)方程 8

2.2.3 最小方差間接自校正控制 9

第三章 戰(zhàn)術(shù)導(dǎo)彈的模型建立 12

3.1 戰(zhàn)術(shù)導(dǎo)彈模型建立 12

3.2 戰(zhàn)術(shù)導(dǎo)彈模型的差分方程 13

第四章 戰(zhàn)術(shù)導(dǎo)彈的自校正控制系統(tǒng)設(shè)計(jì)與仿真 15

4.1 戰(zhàn)術(shù)導(dǎo)彈的自校正控制系統(tǒng)設(shè)計(jì) 15

4.1.1 被控對(duì)象參數(shù)辨識(shí) 15

4.1.2 選擇控制方案 15

4.1.3 對(duì)象參數(shù)計(jì)算 16

4.2 戰(zhàn)術(shù)導(dǎo)彈的自校正控制系統(tǒng)仿真 16

結(jié) 論 20

參考文獻(xiàn) 21

謝 辭 22