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由于分数阶PID继承了传统PID的优点,并且具有更好的控制品质及更强的鲁棒性,因此针对导弹飞行过程中变参数、受环境干扰及快速稳定的特点,设计了鲁棒分数阶PID自动驾驶仪。基于最优Oustaloup数字算法建立框图式分数阶控制系统模型,结合IAE时域性能指标寻优及鲁棒性能量度,综合考虑时域性能及频域性能来整定分数阶PID控制器参数。仿真结果表明,分数阶PID自动驾驶仪在弹道系统参数变化及外干扰影响的情况下,均能获得很好的控制效果,满足导弹姿态控制的快速性要求并具有强鲁棒性和抗干扰性。
Because fractional-order PID inherits the advantages of traditional PID and has better control quality and stronger robustness, a robust fractional order is designed for variable parameters of the missile during flight, due to environmental interference and rapid stability PID autopilot. Based on the optimal Oustaloup digital algorithm, a block diagram fractional order control system model is established. Combining with IAE time domain performance optimization and robust performance measurement, the parameters of fractional PID controller are set considering time domain performance and frequency domain performance. The simulation results show that the fractional-order PID autopilot can achieve good control effects under the condition of ballistic system parameters changes and external disturbances, meet the requirements of rapidity of missile attitude control and have strong robustness and anti-interference .