自适应模糊PID在导弹快速转弯中的研究

摘要

PID在非线性不强的系统中应用广泛,但由于控制参数固定不变,难以满足战术导弹等具有强非线性和运动状态快速变化的飞行器.针对导弹快速转弯过程中运动状态的快速变化,通过在线获取导弹输入姿态角偏差和偏差变化率,以单交叉高斯加权的方法确定了输入输出量的论域及量化等级,并与传统PID构成了自适应模糊PID控制器;通过调整校正量增益因子,适应不同范围的姿态角偏差和偏差变化率,实时在线校正PID控制参数.仿真结果显示,所设计的控制器能够根据导弹姿态角偏差的变化实时调整控制参数,在响应速度、稳态精度等方面均优于传统PID,具有较强的鲁棒性,适应快速转弯过程中运动状态的强非线性变化.%PID(proportional integral derivative) is widely used in nonlinear system.However,as PID control parameters are fixed,it is difficult to meet the rapid change of tactical missile with strong nonlinearity and motion state.According to the fast motion state change of missile during the quick turn ing,the attitude angle deviation and deviation change rate are obtained online.The domain of input and output is determined with the method of single Gauss weighting.The adaptive fuzzy PID controller is formed with the traditional PID.The different ranges of attitude angle deviation and deviation change rate can be adapted by adjusting the correction gain factor.The PID control parameters are calibrated in real time.The simulation results show that the designed controller can adjust the control parameters in real time according to the variation of missile attitude angle deviation.It is better than traditional PID in re sponse speed,steady-state accuracy and other aspects with strong robustness.