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针对水雷攻击空中目标时出水瞬间数学模型发生突变、速度变化大,引起大范围参数变化问题,提出了突变过程非线性滑模和自适应反演控制方法.将参数自适应调整与变结构控制相结合,设计了弹道状态变化非线性跟踪控制器,此时系统动态由弹道特性参考模型来预测和调节,简化了切换函数设计,克服了模型参数变化的敏感性.通过出水攻击弹道控制系统实验,验证了此方法的适用性.实验和仿真数据表明,所设计的控制系统适用于出水突变过程,并对系统参数摄动和干扰具有较强的鲁棒性.
Aiming at the problem that when the water jet attacks the air target, the mathematical model of the water instantaneously changes suddenly and the velocity changes a lot, which causes the problem of large-scale parameter change. A nonlinear sliding mode and adaptive inversion control method for the mutation process are proposed. The trajectory change nonlinear tracking controller is designed and the system dynamics is predicted and adjusted by the trajectory characteristic reference model, which simplifies the switching function design and overcomes the sensitivity of the model parameter change.By the water outlet attack ballistic control system experiment, The applicability of this method is verified.Experimental and simulation data show that the proposed control system is suitable for the sudden change of water outflow and has strong robustness to system parameter perturbation and disturbance.