考虑驾驶仪动态性能的指令滤波反演制导律

刘佳琪; 王伟; 林德福; 林时尧

doi:10.7527/S1000-6893.2020.24123

航空学报 >

2020 , Vol. 41 >Issue 12: 324123 - 324123

DOI: https://doi.org/10.7527/S1000-6893.2020.24123

电子电气工程与控制

考虑驾驶仪动态性能的指令滤波反演制导律

刘佳琪 ,
王伟 ,
林德福 ,
林时尧

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1. 北京理工大学宇航学院, 北京 100081;
2. 无人机自主控制技术北京重点实验室, 北京 100081

收稿日期: 2020-04-21

修回日期: 2020-07-20

网络出版日期: 2020-09-04

基金资助

国家自然科学基金（U1613225）

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Command filtered backstepping guidance law considering autopilot dynamics

LIU Jiaqi ,
WANG Wei ,
LIN Defu ,
LIN Shiyao

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1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China;
2. Beijing Key Laboratory of UAV Autonomous Control Technology, Beijing 100081, China

Received date: 2020-04-21

Revised date: 2020-07-20

Online published: 2020-09-04

Supported by

National Natural Science Foundation of China (U1613225)

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摘要

针对攻击机动目标的制导问题，设计了一种考虑自动驾驶仪性能、输入项约束的指令滤波反演制导律。首先，基于三维空间内弹目相对运动模型，采用反演递推方式设计制导律。针对传统反演控制存在的"微分膨胀"问题，引入指令滤波器对虚拟量进行过滤计算。考虑硬件计算能力的约束，引入自动驾驶仪二阶动力学模型减少控制过程延迟，并利用饱和函数和低通滤波器对输入项进行约束。此外，针对机动目标设计了一种扩张状态观测器来获取其加速度。通过Lyapunov理论证明了所设计闭环制导系统的稳定性。通过仿真实验验证了该制导律相有效性及优越性。

关键词： 三维空间; 指令滤波反演; 微分膨胀; 自动驾驶仪; 输入饱和; 扩张状态观测器

本文引用格式

刘佳琪 , 王伟 , 林德福 , 林时尧 . 考虑驾驶仪动态性能的指令滤波反演制导律[J]. 航空学报, 2020 , 41(12) : 324123 -324123 . DOI: 10.7527/S1000-6893.2020.24123

Abstract

A command filtered backstepping guidance law considering autopilot dynamic characteristics and input constraints is designed for the guidance problem in attacking maneuvering targets. First, based on the relative motion model of missiles and targets in three-dimensional space, the guidance law is designed by back-stepping method. A command filter is introduced to filter the virtual quantity to solve the problem of "differential expansion" in the traditional back-stepping control. Considering the constraints of hardware computing power, we adopt the second order dynamics model of the autopilot to reduce the delay of actual control process, with the input constrained by the saturation function and the low pass filter. We further design an extended state observer to estimate the acceleration of maneuvering targets. Based on the Lyapunov stability theory, the stability of the designed closed loop guidance system is tested. The effectiveness and superiority of the guidance law are verified by simulation.

Key words： three-dimensional space; command filter back-stepping; differential expansion; autopilot; input saturation; extended state observer

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