导弹协同作战四维制导与控制一体化设计方法  

4Dintegrated guidance and control law for missiles cooperative engagement

作　　者：王晓芳[1] 郑艺裕[1,2] 林海[1] 

机构地区：[1]北京理工大学宇航学院,北京100081 [2]哈尔滨工业大学深空探测基础研究中心,黑龙江哈尔滨150001

出　　处：《系统工程与电子技术》2015年第4期874-881,共8页Systems Engineering and Electronics

基　　金：国家自然科学基金(11202024)资助课题

摘　　要：为了使导弹能够在指定的时间跟踪理想轨迹到达指定点,从而满足多导弹协同突防和攻击的要求,提出一种鲁棒四维精确制导控制一体化设计方法。将导弹6自由度非线性模型进行简化,得到导弹四维精确制导与控制一体化设计模型。利用导弹质心与姿态运动固有的时标分离特性,设计了具有内外两回路结构的鲁棒控制器。将建模误差、参数摄动及外部干扰视作连续有界扰动,外回路基于自适应滑模控制理论设计了控制器,从而产生推力、攻角和侧滑角指令;内回路将扰动观测器技术和动态面控制理论相结合,得到了能够控制导弹准确跟踪外回路指令的执行机构偏转角。基于李雅普诺夫稳定性理论,严格证明了内外回路的稳定性,并分析了控制精度与控制器参数之间的关系。最后,将控制方法应用于导弹6自由度非线性数值仿真模型,仿真结果验证了所设计的四维鲁棒精确制导控制方法的有效性。To make sure that missiles can track the desired trajectory to arrive at the designated position at the designated time, through which missiles can realize cooperative penetration and attack, a 4D robust integra- ted guidance and control law is proposed. The integrated guidance and control model of missile is gotten through reasonable simplification of the 6 degree-of-freedom missile nonlinear model. According to time-scale separation between the translational and rotational dynamics of missile, the model is divided into outer-loop model and inner-loop model, and a robust integrated guidance and control law with two-loop structure is designed. The modelling error, parameter perturbation and external disturbance are regarded as continuous and bounded dis- turbance, and then an adaptive sliding mode controller for outer loop is designed so as to get the commands of thrust, attack angle and sideslip angle. Disturbance observer technique and dynamic surface control theory are combined to design the inner loop controller to get the actuator deflection angle, which can make missiles track the commands from outer loop well. The stability of outer loop and inner loop is proved using Lyapunov stability theory thoroughly, and the relationship between the control accuracy and controller parameters is analyzed. Fi- nally, simulations are conducted on the 6 degree-of-freedom nonlinear model of missile and results demonstrate the effectiveness of the 4D robust integrated guidance and control law.

关 键 词：四维制导与控制一体化 自适应滑模控制 动态面控制 扰动观测器 

分 类 号：V448.133[航空宇航科学与技术—飞行器设计]