一种采用AW补偿器的非线性PID控制器及其在飞航导弹控制中的应用

韩京清等曾利用非线性跟踪-微分器和非线性组合方式改进经典PID调节器,以提高其适应性和鲁棒性.然而,在飞航导弹的控制系统中,舵系统存在硬饱和(舵偏角限制)和软饱和(舵转动速率限制)效应,控制受限问题十分突出.降低了非线性PID控制器(NLPID)的性能.本文采用Anti-Windup补偿器改进非线性PID控制器,并将这种改进的NLPID控制器应用于飞航导弹的控制系统中,取得了良好的控制效果.对特征点的仿真,以及全弹道仿真都验证了其控制性能,结果显示该控制器可以广泛应用于各类飞行控制系统.

A New NLPID Controller Based on Anti-windup Compensator and its Application to Winged Missile Control

Nonlinear tracking-differentiator and nonlinear combination were used to improve classical PID controller reported in order to ephance its adaptability and robustness. However, in winged missile control system, hard constraints and soft constraints were hard to avoid and hurtful to the control system. An anti-windup compensator was used to improve the nonlinear PID controller (NLPID) and the improved NLPID controller was applied towinged missile control system. The use of nonlinear PID controller releases us from complicated work of making gain scheduling table. Characteristic point simulation and full trajectory simulation show validity of the anti-windup NLPID controller.