摘要
建立了滑块机构下高旋弹的姿态方程,采用逆系统方法对非线性模型进行了解耦控制研究,得到了完整的状态方程,分析了基于逆系统理论解耦的可行性,推导出状态反馈后的a阶伪线性系统和内环控制算法,而后用极点配置原理设计了外环PID(Proportional Integral Derivative)控制律,形成了完整的闭环控制结构,最后的仿真表明:滑块机构和逆系统方法对高旋弹的姿态控制是有效的,且PID控制律的引入使得此方法更易于工程实现。
The attitude model of high-rolling ball is found under inner moving-mass framework,a decoupling control approach based on dynamic inverse system theory has been developed for the nonlinear system,then feasibility of decoupling control based on dynamic inversion theory is discussed,α-th pseudo linear model and the dynamic decoupling control arithmetic is deduced,the further system synthesized by pole assignment theory to get PID（Proportional Integral Derivative） parameters is presented,so obtained the integrated closed-loop structure,the simulation results have showed that moving-mass framework and inverse system method is effective for attitude control of high-rolling ball and it is easy to engineering by PID controller.
出处
《火力与指挥控制》
CSCD
北大核心
2011年第7期190-194,199,共6页
Fire Control & Command Control
关键词
高旋弹
滑块机构
逆系统方法
解耦控制
伪线性系统
PID控制器
high-rolling ball
moving-mass framework
inverse system theory
decoupling control
pseudo linear system
PID controller
