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传统导弹的PID控制律设计仅考虑了幅值裕度、相位裕度等指标,无法满足多变量鲁棒性指标要求。文中提出了一种基于约束粒子群优化的导弹控制器设计方法,该方法以H_∞鲁棒性指标作为目标函数,自动优化得到控制参数。同时,对现有的粒子群算法进行了改进,采用映射函数法将约束优化问题转化为非约束优化问题。以样例导弹为对象设计了H_∞-PID控制器并与罚函数法进行了比较,结果表明文中算法各项性能优于经典罚函数法。
The traditional PID control law design only considers the indicators such as amplitude margin and phase margin, which can not meet the requirements of multivariable robustness index. In this paper, a design method of missile controller based on constrained particle swarm optimization is proposed. This method takes the H_∞ robustness index as the objective function and automatically optimizes the control parameters. At the same time, the existing particle swarm optimization is improved, and the mapping function method is used to transform the constrained optimization problem into the non-constrained optimization problem. The prototype H_∞-PID controller is designed and compared with the penalty function method. The results show that the performance of the proposed algorithm is superior to the classical penalty function method.