周勇　甘新年　胡光波　郑振

摘 要： 研究了智能鱼雷控制系统多通道控制算法的实现和设计问题。为使自适应控制理论在鱼雷制导控制系统中实现最佳控制效果和性能，设计了并联参考模型自适应鱼雷制导控制系统。自适应控制理论能准确实时调整控制加权系数，实现系统自身性能与外界信息的匹配和沟通，达到最佳性能，并有效应用于智能鱼雷的控制平台中。提出了一种基于自适应控制理论的鱼雷制导控制多通道加权算法，根据自适应多通道加权控制律，确定误差补偿器，使系统的稳态误差限定在较小范围内；推导出控制系统的状态方程，选取等效控制律参考模型设计自适应控制算法，并完成控制系统的硬件电路设计。实验结果表明，该控制系统性能稳定，控制品质和精度较高，能有效应用于鱼雷制导控制设计中。

关键词： 鱼雷制导； 自适应控制系统； 多通道控制算法； 误差补偿器

中图分类号： TN911.7?34； TP273 文献标识码： A 文章编号： 1004?373X（2014）19?0014?04

Design of multi?channel control weight algorithm for torpedo control and guidance system

ZHOU Yong， GAN Xin?nian， HU Guang?bo， ZHENG Zhen

（Unit 91640 of PLA， Zhanjiang 524064， China）

Abstract： The multi?channel control algorithm for the intelligent torpedo control system is researched. A torpedo adaptive guidance control system of the parallel reference model was designed for reaching the optimal control effect and performance of the electrical control system based on the adaptive control theory. By means of the adaptive control theory， the precision and real?time adjustment of control weighting coefficient can be achieved， the matching and communication of the self performance and the out information can be implemented， and optimal performance can be realized. The adaptive control theory can be applied to the intelligent torpedo control system. A multi?channel weighting algorithm for torpedo guidance and control based on adaptive control theory is proposed. The error compensator is determined according to the multi?channel weighting control rule to make the stable error of the system to be limited in a small range. The state equation was derived. and the adaptive control algorithm was obtained according to the equivalent control law reference model. The hardware circuit design of the control system was completed. The experimental results show that the performance of the control system is stable， control quality and precision is high， and it can be applied to the torpedo guidance and control effectively.

Keywords： torpedo guidance； adaptive control system； multi channel control algorithm； error compersator

0 引 言

鱼雷制导控制系统主要由感知系统、驱动和执行系统及控制中心单元等子系统组成[1]。其中感知系统是指由感知元件组成的获取外界信息的感知器件，即传感器。它犹如人类的手足耳目，通过感知器件实现外界有用信息的输入，供中枢神经系统即控制中心单元处理，为控制执行单元提供执行指导。传感器将感知的物理信号，如声、光、电、磁场、红外、重力、加速度、距离等，通过换能转化为供系统处理的原始输入信号。……