基于模糊PID的重型无人作战系统车炮协同控制

Vehicle-Gun Cooperative Control of Heavy Unmanned Combat System Based on Fuzzy PID

摘要

针对重型无人作战系统在复杂战场环境下的轨迹跟踪及火炮稳瞄问题,提出一种基于模糊PID策略的车炮协同控制方法。综合考虑重型无人作战系统的上装载荷动力学特性和车辆转向系统非线性传递关系,采用拉格朗日方程,建立包含不确定性的系统车炮耦合受控状态空间方程;构建动对动作战模型,基于敌我实时位置矢量解算,以敌方位置为输入,以敌我距离为约束,实时解算我方车炮调控角度,保障车炮之间的精确协同运动;为解决战场环境复杂未知的不确定性和系统自身高非线性,设计模糊规则在线修正的PID控制器,通过动态调整控制参数,确保系统的鲁棒性和稳定性。仿真计算结果表明:所提模糊PID协同控制方法通过动态补偿系统不确定性,相较于传统PID控制显著提升了复杂扰动下的控制精度与鲁棒性,有效实现车炮协同运动。该方法为重型无人作战系统轨迹跟踪及精准稳瞄提供了一体化方案,其协同框架可为高机动无人作战平台的车炮协同控制提供理论支持与工程参考。

Abstract

Aiming at the trajectory tracking and gun stabilization of heavy unmanned combat systems in complex battlefield environments,a vehicle-gun cooperative-control method based on fuzzy PID strategy was proposed. Considering the dynamic characteristics of the upper load and the nonlinear transfer relationship of vehicle steering system,the Lagrange equation was used to establish the controlled state-space equation of vehicle-gun coupling,incorporating system uncertainties. A dynamic combat model was constructed. Using real-time enemy position vectors,the enemy position was taken as the input,and the enemy distance was taken as the constraint to solve the control angles for the vehicle-gun system in real time,ensuring accurate coordinated motion. To address the complex unknown uncertainties of battlefield environment and the high nonlinearity of system,a fuzzy rule-based online adaptive PID controller was designed,dynamically adjusting control parameters to ensure system robustness and stability. Simulation results show that,compared with traditional PID control,the proposed method significantly improves control accuracy and robustness under complex disturbances control through dynamic compensation of system uncertainties,effectively achieving cooperative vehicle-gun motion. This method provides an integrated solution for trajectory tracking and precise stabilization-aiming of heavy unmanned combat systems,and its cooperative framework provides theoretical support and offers an engineering implementation pathway for cooperative control of high-mobility unmanned combat platforms.

关键词

重型无人作战系统 / 模糊PID控制 / 轨迹跟踪 / 火炮稳瞄 / 车炮协同

Key words

heavy unmanned combat system / fuzzy PID control / trajectory tracking / gun stabilized aiming / vehicle-gun coordination

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基金资助

国家自然科学基金青年基金(52405114)

中国博士后面上基金(GZB20240979)

江苏省卓越博士后资助计划(2024ZB064)

中国博士后资助计划(2024M764226)

先进越野系统技术全国重点实验室开放基金课题资助(AF20240029)