基于对数型障碍Lyapunov函数的俯仰驾驶仪设计  

Robust Pitch Autopilot Design Based on Logarithmic Barrier Lyapunov Method

作　　者：王伟[1,2] 杨婧[1,2] 林时尧 王宏 王少龙 Wang Wei;Yang Jing;Lin Shiyao;Wang Hong;Wang Shaolong(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China;China-UAE Belt and Road Joint Laboratory on Intelligent Unmanned System,Beijing Institute of Technology,Beijing 100081,China;Ordnance Science and Research Academy of China,Beijing 100089,China;Northwest Industries Group Company Ltd.,Xi’an 710043,China)

机构地区：[1]北京理工大学宇航学院,北京100081 [2]北京理工大学中国-阿联酋智能无人系统“一带一路”联合实验室,北京100081 [3]中国兵器科学研究院,北京100089 [4]西北工业集团有限公司,西安710043

出　　处：《航空兵器》2024年第2期106-113,共8页Aero Weaponry

基　　金：国家自然科学基金项目(52272358,62103052)。

摘　　要：相控阵雷达制导拦截弹在拦截高速大机动目标时,弹体气动参数剧烈非线性变化影响控制系统对大攻角的响应效果,应设计考虑攻角指令跟踪误差约束的鲁棒自动驾驶仪控制律。基于双幂次趋近律和对数型障碍李雅普诺夫函数设计了鲁棒非线性自动驾驶仪控制律,可将攻角指令的跟踪误差快速收敛于约束范围内。通过降阶扩张状态观测器对系统中存在的气动参数不确定性和系统外部扰动进行在线估计和补偿。稳定性分析和数值仿真表明,攻角可在1 s内达到稳态且攻角响应的稳态误差<10-4°,所提出的自动驾驶仪控制律具有较强的鲁棒性,能够准确稳定地跟踪攻角指令,控制导弹产生所需过载进而精准拦截目标。When the phased array radar-guided missile intercepts a high speed target with large maneuvering,the aerodynamic parameters of the missile body vary dramatically and become nonlinear,which affects the response of the control system to the large angle-of-attack,the robust autopilot control law should be designed considering the tracking error constraint of the angle-of-attack command.A robust nonlinear autopilot control law is designed based on the double power reaching law and logarithmic barrier Lyapunov function can make the tracking error of the angle-of-attack command converge to the constraint range rapidly.The aerodynamic parameter uncertainty and external disturbance of the system are estimated and compensated online by using the reduced order extended state observer.Stability analysis and numerical simulation show the angle-of-attack can reach a steady state within 1 second and the steady-state error of the angle-of-attack response<10-4°.The proposed autopilot control law has strong robustness,can accurately and stably track the command of angle of attack,control the missile produces the required overload accurately to intercept the target.

关 键 词：障碍李雅普诺夫函数 双幂次趋近律 鲁棒非线性自动驾驶仪 扩张状态观测器 

分 类 号：TJ760[兵器科学与技术—武器系统与运用工程] V448.133[航空宇航科学与技术—飞行器设计]