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弹箭与制导学报 >

2025 , Vol. 45 >Issue 2: 193 - 198

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2025.02.009

基于增量非线性动态逆的导弹液压起竖系统控制

  • 马嘉华 , 1 ,
  • 王锦源 1 ,
  • 姚志凯 1, 2 ,
  • 邓文翔 1 ,
  • 姚建勇 1 ,
  • 周正寿 3 ,
  • 周忠华 4 ,
  • 哈良 4 ,
  • 朱威霖 , 1
展开
  • 1 南京理工大学机械工程学院, 江苏 南京 210094
  • 2 南京邮电大学自动化学院/人工智能学院, 江苏 南京 210023
  • 3 江苏恒立液压股份有限公司, 江苏 常州 213164
  • 4 江苏恒立液压科技有限公司, 江苏 常州 213164
朱威霖(1995—), 男, 博士。E-mail:

马嘉华(1999—), 男, 博士研究生。E-mail:

收稿日期: 2025-03-06

  网络出版日期: 2025-05-15

基金资助

国家自然科学基金(52275062)

国家自然科学基金区域联合基金(U24A20112)

江苏省优秀青年基金(BK20230096)

江苏省科技成果转化专项资金项目(BA2023039)

收起

Control of Missile Hydraulic Erection System Based on Incremental Nonlinear Dynamic Inversion

  • MA Jiahua , 1 ,
  • WANG Jinyuan 1 ,
  • YAO Zhikai 1, 2 ,
  • DENG Wenxiang 1 ,
  • YAO Jianyong 1 ,
  • ZHOU Zhengshou 3 ,
  • ZHOU Zhonghua 4 ,
  • HA Liang 4 ,
  • ZHU Weilin , 1
Expand
  • 1 School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, Jiangsu, China
  • 2 College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, Jiangsu, China
  • 3 Jiangsu Hengli Hydraulic Co., Ltd., Changzhou 213164, Jiangsu, China
  • 4 Jiangsu Hengli Hydraulic Technology Co., Ltd., Changzhou 213164, Jiangsu, China

Received date: 2025-03-06

  Online published: 2025-05-15

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摘要

针对导弹液压起竖系统非线性动力学建模困难, 且存在机械与液压动态不确定性的现实问题, 提出一种增量非线性动态逆控制方法。该方法弱化了对复杂液压非线性模型的依赖, 具备良好的鲁棒性, 且控制器设计简洁高效、结构清晰。首先建立阀控缸驱动下的系统动力学模型, 并通过反步法构造液压通道的虚拟控制律;随后利用一阶泰勒展开对液压非线性动态进行解耦, 设计增量非线性动态逆控制器跟踪虚拟控制律, 实现导弹起竖轨迹的精确控制。通过Lyapunov方法证明了对比仿真闭环系统的稳定性及所提控制器的有效性。

关键词： 增量非线性动态逆控制; 导弹液压起竖系统; 阀控缸系统; 液压非线性动态

本文引用格式

马嘉华 , 王锦源 , 姚志凯 , 邓文翔 , 姚建勇 , 周正寿 , 周忠华 , 哈良 , 朱威霖 . 基于增量非线性动态逆的导弹液压起竖系统控制[J]. 弹箭与制导学报, 2025 , 45(2) : 193 -198 . DOI: 10.15892/j.cnki.djzdxb.2025.02.009

Abstract

To address the practical challenges of nonlinear dynamic modeling in missile hydraulic erection systems, as well as the presence of mechanical and hydraulic dynamic uncertainties, this study proposes an incremental nonlinear dynamic inversion (INDI) control method. The proposed approach reduces the reliance on complex nonlinear hydraulic models, offers strong robustness, and enables a concise and efficient controller design with a clear structure. First, a dynamic model of the valve-controlled cylinder-driven system is established, and a virtual control law for the hydraulic channel is constructed using the backstepping method. Then, a first-order Taylor expansion is applied to decouple the nonlinear hydraulic dynamics, based on which an INDI controller is designed to track the virtual control law and achieve accurate missile erection trajectory tracking. The stability of the closed-loop system is proven using the Lyapunov theory. Comparative simulations provide further evidence supporting the effectiveness of the proposed controller.

Key words： incremental nonlinear dynamic inversion control; missile hydraulic erection system; valve-controlled cylinder system; hydraulic nonlinear dynamics

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