| Small Smart Bomb is a MIMO system with the characteristics of nonlinear, coupling and parametric uncertainty. Related discussion and research of Bank-To-Turn Controller have been done on the background of SSB and with the theory foundation of backstepping. The main research work can be summarized in the aspects as follows:First of all, based on the given SSB mathematical model, the BTT controller has been designed with the theory of backstepping; the continuous controlling system simulation and the discrete controlling system simulation have been carried out on the platform of MATLAB respectively; the characteristics of uncertainty, robust, coupling and dynamic response of the system have been analyzed in detail. The results of experiments have shown that the designed continuous controller and discrete controller can both complete the control task of the SSB system preferably.Second, C program of SSB control system including missile body and controller has been developed and designed on the platform of VC++in the personal computer. At the same time, simulation confirmation experiments about the characteristics of robust, coupling, uncertainty and time domain performance have been done. As a result, the designed backstepping controller with C program can still control the SSB systems.At last, in order to put the designed BTT controller into practice, a lot of steps have been made as follows:the hardware platform of digital controller has been designed; the experiment of digital controller hardware has been done; the performance of the pure digital controlling system in the environment of the similar project application has been inspected.Based on SSB object, the design method of backstepping BTT controller has been researched; the design of controller software and controller hardware has been explored and studied thoroughly; the certain theory foundation and practical experience have been provided for the project of backstepping BTT controller. |
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