一种非线性优化控制方法及其在鱼雷控制中的应用

提出了一种带优化修正函数的非线性ＰＩＤ控制器设计方法，通过对控制器参数离线寻优，并对修正函数在线优化调整，可用它设计出性能优良且易于工程实现的控制器，然后用地为某型鱼雷非线性系统设计了弹道深义控制器并在各种人水条件下进行了仿真研究，仿真表明，所设计的鱼雷非线笥弹道深度控制系统具有良好的动、静态特性，且对鱼雷人水条件的变化具有较强的适应性。

A Nonlinear PID Control Method with Optimal Correction Function and Its Application in Torpedo Trajectory Control System

A design method on nonlinear PID controller with optimal correction function is presented. By choosing parameters off-line and optimizing correction function on line, an excellent controller can be designed which is liable to realize in engineering. Using this method, a nonlinear PID control system is designed for a torpedo with serious nonlinearity, and simulation studies are conducted under different initial conditions. The results show that the designed nonlinear torpedo trajectory control system not only possesses better dynamic and static properties, but also has strong adaptability to the changes of initial conditions.