摘要本文主要是研究炮射制导炮弹在控制输入受限时的控制方法，设计出制导炮弹的纵向跟踪驾驶仪，整定出控制系统中的各参数，并对不同控制系统的结构进行对比分析。在深入理解飞行力学及飞行控制的相关知识的前提下，根据牛顿力学基本定律，建立炮射导弹纵向动力学模型，根据相关原理进行模型简化，得到简化的线性纵向动力学模型，在选定参数下基于MATLAB/进行动力学仿真，根据简化的数学模型，基于（比例、积分、微分）控制方法，利用中比例系数KP、微分系数Kd、积分系数KI的调节方法，在控制受限的情况下，通过对中三个参数的调节，设计出合理的自动驾驶仪，使过载跟踪上升时间小于1秒，超调小于10%，跟踪精度小于5%，进行仿真验证，调节中的各参数，得到符合设计指标的控制系统，通过对比可知控制系统能够很好的满足设计要求。然后根据过限削弱抗饱和法，在控制系统中加入输入（舵偏角）限制条件，再调节中的三个参数，仿真得到此时的控制系统超调量几乎为零，跟踪误差很小，且抗干扰能力也很好。最后根据反馈抑制抗饱和方法进行控制系统的改良设计，此时的跟踪精度很高，超调量为零，抗干扰能力也很好。通过对比分析，可知控制方法的控制效果很好，适合实际应用，在控制输入受限的情况下，系统的超调量有效的减小了，跟踪精度也提高了，同时也能防止系统出现饱和的现象，而通过反馈的抑制作用来防止系统饱和，控制系统的结构稍微复杂一点，而且多了一个可调参数Kc，使得系统的性能进一步优化了。84176

毕业论文关键词  制导炮弹  自适应控制  控制受限  自动驾驶仪

毕业设计说明书外文摘要

Title   Guided Projectile limited adaptive control PID control method for flight               

Abstract This paper is to study guided artillery projectile control method when control input is limited ，to design guided projectile longitudinal tracking autopilot, fix the whole control system parameters, and the structure of the different control systems were analyzed。 In-depth understanding and knowledge of flight mechanics of the flight control of the premise, based on (proportional, integral, differential) control method using the scale factor adjustment method, differential coefficient, design a reasonable autopilot, so overload tracking the rise time of less than one second, overshoot less than 10%, the tracking accuracy of less than 5%, the simulation, a regulation of the parameters to obtain compliance with the design specifications control system, the control system can be seen by comparing the well meet the design requirements。 According to weaken over the limit then the anti-saturation method, add input (steering angle) in the control system limits, then adjust the three parameters, the simulated control system at this time is almost zero overshoot, and anti-jamming capability is also very good。 Finally, according to the feedback inhibition of anti-saturation method improved design control system, high precision tracking at this time, zero overshoot, anti-interference ability is also very good。 Through comparative analysis, we can see the effect of the control method of control is very good, in the case of the control input limited overshoot systems effectively reduce the tracking accuracy also increased, but also to prevent the system from saturation phenomenon, and by feedback inhibition to prevent system saturation, the control structure of the system a little more complicated, but also more of a tunable, making the system performance further optimized。

Keywords  Guided Projectile  Adaptive PID Control  Limited control  Autopilot