导弹制导与控制一体化三通道解耦设计方法
收稿日期: 2014-01-24
修回日期: 2014-04-25
网络出版日期: 2014-04-30
基金资助
国家自然科学基金(11202024);航空科学基金(2012ZA720002)
Integrated Missile Guidance and Control Three-channel Decoupling Design Method
Received date: 2014-01-24
Revised date: 2014-04-25
Online published: 2014-04-30
Supported by
National Natural Science Foundation of China (11202024); Aeronautical Science Foundation of China (2012ZA720002)
针对导弹俯冲打击地面目标的问题,基于扩张状态观测器(ESO)和反步滑模设计思想,提出一种导弹制导与控制一体化三通道解耦设计方法.充分考虑制导与控制系统之间以及控制系统三通道间的耦合关系,建立了制导与控制一体化三通道耦合模型.通过ESO对导弹运动六自由度(6DOF)系统内各通道间的动态耦合项和不确定性进行实时观测和动态补偿,实现通道间的主动解耦,从而设计了基于ESO的导弹制导与控制一体化三通道解耦控制律.同时,为了解决在使用ESO对高阶非线性系统进行状态观测时引起的"运算膨胀"问题,通过设计自适应控制律对ESO观测误差进行补偿.基于李雅普诺夫稳定性准则证明了闭环系统所有状态最终一致有界.并与制导与控制一体化三通道独立设计方法和传统的制导与控制系统设计方法进行对比仿真,结果验证了基于ESO的导弹制导与控制一体化三通道解耦设计方法的有效性和优越性.
张尧 , 郭杰 , 唐胜景 , 马悦悦 . 导弹制导与控制一体化三通道解耦设计方法[J]. 航空学报, 2014 , 35(12) : 3438 -3450 . DOI: 10.7527/S1000-6893.2014.0078
Based on extended state observer (ESO) and backstepping-sliding mode design method, a novel integrated guidance and control three-channel decoupling design approach is proposed for the problem that a homing missile attacks ground target during diving phase. The fully integrated guidance and control model is established by combining guidance and control system in addition to considering interaction between three channels in control system. ESOs are adopted to estimate and compensate dynamic coupling terms and uncertainties currently in six degrees of freedom (6DOF) system, which realizes the active decoupling between each channel in the system, thereby generating three-channel decoupling control law for integrated missile guidance and control based on ESO. Meanwhile, in order to solve the problem that high order nonlinear system can cause "computation explosion" according to using ESO to measure state values, the adaptive control law is employed to afford redress for observation error in ESO. It is demonstrated that all states in the closed loop system are ultimately bounded on account of Lyapunov stability theorem. Compared with three-channel independent design method for integrated system and traditional guidance and control system design method, the simulation results verify the advantages and practicalities of the integrated guidance and control decoupling design algorithm based on ESO.
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