基于非线性动态逆方法的TF/TA控制器设计

为了增强巡航导弹的低空突防能力，应用非线性动态逆原理设计了具有纵向和侧向解耦能力的TF／TA控制器。这种方法利用了反馈线性化理论，研究通过非线性反馈或动态补偿的方法，将非线性系统变换为线性系统(伪线性系统)，然后再按线性系统理论完成系统的各种控制目标设计。由于巡航导弹模型的复杂非线性，本文提出了一种简化方法。针对其各状态变量的时间响应特性不同，采取了分阶控制的方法，将TF／TA控制器分解为内环、中环和外环三层分别设计，这样大大简化了控制器设计的复杂性。最后以某巡航弹为例进行了全系统仿真，仿真结果表明，用非线性动态逆方法设计的TF／TA控制器具有良好的纵侧向解耦能力和快速响应能力。导弹能够准确地跟踪地形轮廓飞行，而且可以有效地绕过地形中的相对高处，并且系统对参数摄动具有一定的鲁棒性。

Design of a TF/TA controller for cruise missile using nonlinear dynamic inversion

In order to enhance penetrability of cruise missile in low altitude,a decoupled TF/TA controller was designed using nonlinear inverse dynamics.This method applies feedback linearization theory.A pseudo-linear system can be attained from the original nonlinear system by means of linearization-via-feedback and dynamic redeem.Then we can design the system controller based on linear theory.Because the cruise missile model is complex nonlinear,this paper provides a simplified method.For the time response characteristics of the state variables,the order reduction method has been adopted.Thus,the complexity of controller design is simplified greatly.We divide the controller into three layers,that is,the inner loop,middle loop and outer loop.Finally,we simulate the whole system.Simulation results show that the TF/TA controller is not only capable of decoupling and rapid response,but also of robustness.The missile can follow the terrain configuration and avoid the relative high obstruction.