| 摘要: |
| 针对低速巡飞弹倾斜转弯控制系统的非线性、强耦合、不确定的特征，研究了一种基于干扰观测器的自适应反演控制方法。将参数摄动、外界干扰和执行机构的响应偏差分别等效进成系统的匹配干扰和非匹配干扰，并设计在有限时间内估计误差收敛的非线性干扰观测器进行估计。利用反演控制的思想，在虚拟控制量中抵消非匹配干扰，在实际控制量中抵消匹配干扰。利用李雅普诺夫理论设计自适应调节律补偿干扰观测器的估计误差，改进控制系统的瞬态性能。仿真结果表明，干扰观测器估计误差在有限时间内收敛到一定区间，系统能够有效地克服干扰的影响，快速准确地跟踪滚转角、攻角、侧滑角参考指令。 |
| 关键词: 巡飞弹 倾斜转弯 干扰观测器 自适应反演 不确定项 |
| DOI： |
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| 基金项目:“十三五”国家部委预研项目（30107020605） |
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| Disturbance Observer Based Control for Low-Speed Loitering Missile with Unmatched Disturbance |
| LU Qingli,SUN Ruisheng,WANG Na,WEN Yong |
| (School of Energy and Power Engineering，Nanjing University of Science & Technology;School of Energy and Power Engineering，Nanjing University of Science & Technology，Beijing Aerospace UAV System Engineering Research Institute) |
| Abstract: |
| A disturbance observer based adaptive backstepping control method is presented for bank-to-turn(BTT) low-speed loitering missiles with nonlinearity, strong coupling and uncertainty. The parameter perturbation, external disturbances and response error of actuator were equivalent to the matched disturbance and unmatched disturbance of the system, and a nonlinear disturbance observer with the estimation error converges in a finite time were designed to estimate disturbances. Using the idea of backstepping control, compensated unmatched disturbance in virtual control variables, compensated matched disturbance in real control variables. By using Lyapunov theory, an adaptive regulation law is designed to compensate the estimation error of the disturbance observer and improve the transient performance of the control system. The simulation results indicate that the disturbance observer converges to a certain interval in a finite time, the system can effectively overcome the influence of disturbance, and the present control response can track the reference instructions of roll angle, attack angle and sideslip angle quickly and accurately. |
| Key words: Loitering missile Bank-to-turn Disturbance observer Adaptive backstepping control Uncertainty |