考虑齿隙的多约束导引控制一体化设计方法  

Integrated guidance and control design method with multiple constraints and backlash

作　　者：姜尚 魏波 梁伟阁[2] 孙东彦[1] 李进军[1] 马野 JIANG Shang;WEI Bo;LIANG Weige;SUN Dongyan;LI Jinjun;MA Ye(Department of Missile and Naval Gun, Dalian Naval Academy, Dalian 116018, China;Institute of Weapons Engineering, Naval University of Engineering, Wuhan 430033, China)

机构地区：[1]海军大连舰艇学院导弹与舰炮系,辽宁大连116018 [2]海军工程大学兵器工程学院,湖北武汉430033

出　　处：《系统工程与电子技术》2022年第4期1318-1328,共11页Systems Engineering and Electronics

基　　金：海军大连舰艇学院科研发展基金(DJYKYKT2020-010)资助课题。

摘　　要：在舰炮制导炮弹进行远程对岸火力支援的末段,考虑舵机齿隙、限定攻击角以及测量视线角速率受限,提出了一种基于动态面滑模与扩张状态观测器的多约束导引控制一体化设计方法。构建了制导炮弹的导引控制一体化的严反馈串级模型,将舵机视为更符合实际的含齿隙双惯量子系统。针对视线角速率和风等未知干扰,设计扩张状态观测器对其实施迅速而准确的估计。设计具备自适应指数趋近律的非奇异终端滑模,致使视线角速率与视线角跟踪误差在有限时间内零化。在高阶串级系统中合理运用动态面滑模,有效改善微分膨胀问题。运用Lyapunov理论证明了系统一致最终有界性以及重要状态的有限时间收敛性。通过对比仿真实验,在所提方法的调控下,含有舵机齿隙的制导炮弹在打击固定与蛇形机动目标时,均具有良好的制导性能。At the end of long-range shore fire support by naval gun guided projectile,an integrated guidance and control design method with multiple constraints based on dynamic surface sliding mode and extended states observer is proposed,considering the canard backlash,impact angle constraint and limitation of measurement line of sight(LOS)angle rate.The strict feedback cascade model of integrated guidance and control for guided projectile is constructed,and the canard is regarded as more practical dual inertial quantum system with backlash.For unknown disturbances such as LOS angle rate and wind,an extended state observer is designed to estimate them quickly and accurately.A nonsingular terminal sliding mode with adaptive exponential reaching law is designed to make the LOS angle rate and LOS angle tracking error zero in finite time.In order to improve the differential expansion problem effectively,dynamic surface sliding mode is used in high-order cascade system.The system uniform and ultimate bounded and finite time convergence of important states are proved through Lyapunov theory.Through comparative simulation experiments,under control of the proposed method,the guided projectile with actuator backlash possess good guidance performance when attacking fixed and snake maneuvering targets.

关 键 词：制导炮弹 导引控制一体化 多约束 齿隙 动态面滑模 

分 类 号：TJ413.6[兵器科学与技术—火炮、自动武器与弹药工程]