基于四元数的垂直发射导弹数学建模及控制策略研究  

Modeling and Control Strategy Design of Vertically Launching Missiles Based on Quaternion

作　　者：王齐双 刘钧圣 谭天汉 李永生 常冠男 WANG Qishuang;LIU Junsheng;TAN Tianhan;LI Yongsheng;CHANG Guannan(Xi’an Modern Control Technology Research Institute,Xi’an 710065,China)

机构地区：[1]西安现代控制技术研究所,西安710065

出　　处：《弹箭与制导学报》2021年第1期40-43,47,共5页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：采用传统欧拉角的方式描述导弹运动时,垂直发射导弹会存在奇异点的情况。基于四元数建立了垂直发射导弹的空间运动数学模型,实现了导弹发射后俯仰、偏航、滚转三通道控制器设计,并对不同的转弯策略进行了研究。最后采用先转后滚策略进行了弹道仿真,验证了建模和控制器设计的正确性,可适用于垂直发射导弹的设计与研究。Singular points exist when using the traditional Euler Angles to describe vertical-launching missile’s movement.This article,therefore,builds a quaternion-based mathematics model to analyze the spatial movement of vertical-launching missiles,realizing the design of pitching,yawing,and rolling function of the triple-channel controller.It also discusses various turn strategies and verifies the validity of the mathematic model and the design of tripper-channel controller with the rolling-after-turning strategy in ballistic trajectory simulation.

关 键 词：垂直发射 四元数 姿态控制 转弯策略 建模仿真 

分 类 号：TJ76[兵器科学与技术—武器系统与运用工程] TJ765.4