基于自适应滑模的侧窗制导控制一体化设计研究
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摘要
针对侧窗导弹末制导问题,提出了一种侧窗探测视场约束条件下的制导控制一体化设计方法。基于弹目相对运动模型分析了侧窗导弹运动规律,建立侧窗导引头探测视场角范围与导弹姿态角的约束关系,采用基于滑模控制理论的反步法设计导弹的制导控制一体化模型,给出了自适应滑模制导律:根据姿态角与侧窗视线角的约束关系,切换选择含约束和不含约束的自适应滑模控制。控制策略为:当弹目视线不满足侧窗探测范围约束时,在控制量中加入自适应俯仰角补偿项,使目标始终处于导弹侧窗视线范围内,解决了侧窗末制导过程中存在的目标跟踪视场角不对称约束问题;当弹目视线满足侧窗探测范围约束时,控制无需引入姿态角约束项,可直接应用自适应滑模控制律。仿真结果表明:在末制导过程中目标始终处在侧窗范围内,且对不同的初始条件有较好的鲁棒性。
An integrated design of guidance and control law under constrain of field-of-view angle(FOA)with side-window was put forward for terminal guidance of side-window missile in this paper.The motion law of the sidewindow missile was analyzed based on relative motion model between missile and target.The constrain of the FOA range and missile attitude angular was established.The integrated guidance and control mode was designed by the back stepping method based on sliding mode theory.The adaptive sliding mode law was given.The switching between the constrain adaptive sliding mode law and non-constrain adaptive sliding mode law was selected according to the constrain relationship of attitude angular and field-of-view angle of side-window.The control strategy was that the adaptive pitch compensation was added into the control to keep the target in the side-window range of the missile at all when the FOA of the missile and target did not meet the constrain of side-window detection range.It solved the problem of the asymmetrical constrain of target tracking FOA in the terminal guidance of side-window,and the adaptive pitch angular compensation did not need to add into the control which could apply the adaptive sliding mode law directly when the FOA of the missile and target met the constrain of side-window detection range.The numerical simulation results showed that the proposed solution could make the target in the side-window range in the terminal guidance,and it had good robustness under different initial conditions.
An integrated design of guidance and control law under constrain of field-of-view angle(FOA)with side-window was put forward for terminal guidance of side-window missile in this paper.The motion law of the sidewindow missile was analyzed based on relative motion model between missile and target.The constrain of the FOA range and missile attitude angular was established.The integrated guidance and control mode was designed by the back stepping method based on sliding mode theory.The adaptive sliding mode law was given.The switching between the constrain adaptive sliding mode law and non-constrain adaptive sliding mode law was selected according to the constrain relationship of attitude angular and field-of-view angle of side-window.The control strategy was that the adaptive pitch compensation was added into the control to keep the target in the side-window range of the missile at all when the FOA of the missile and target did not meet the constrain of side-window detection range.It solved the problem of the asymmetrical constrain of target tracking FOA in the terminal guidance of side-window,and the adaptive pitch angular compensation did not need to add into the control which could apply the adaptive sliding mode law directly when the FOA of the missile and target met the constrain of side-window detection range.The numerical simulation results showed that the proposed solution could make the target in the side-window range in the terminal guidance,and it had good robustness under different initial conditions.
引文
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[2]ZARCHAN P.Tactical and strategic missile guidance[M].St.Louis:American Institute of Aeronautics and Astronautics,2007.
[3]HOLLOWAY J,KRSTIC M.Predictor observers for proportional navigation systems subjected to seeker delay[J].IEEE Transactions on Control Systems Technology,2016,24(6):1-14.
[4]姚郁,郑天宇,贺风华,等.飞行器末制导中的几个热点问题与挑战[J].航空学报,2015,36(8):2696-2716.
[5]SHIMA T,IDAN M,GOLAN O M.Sliding-mode control for integrated missile autopilot guidance[J].Journal of Guidance,Control,and Dynamics,2006,29(2):250-260.
[6]SHARMA M,RICHARDS N D.Adaptive,integrated guidance and control for missile interceptors:AIAA Guidance,Navigation,and Control Conference and Exhibit Providence[C]//Rhode Island:2004.
[7]支强,蔡远利.动能杀伤器侧窗定向机制分析及建模[J].西安交通大学学报,2012,46(1):91-96+113.
[8]徐龙.侧窗探测下末制导段制导控制问题研究[D].哈尔滨:哈尔滨工业大学,2012.
[9]周荻.寻的导弹新型导引规律[M].北京:国防工业出版社,2002.
[10]苗昊春,马清华,陈韵,等.基于滑模控制的导弹制导控制一体化设计[J].弹箭与制导学报,2011,31(3):6-10.
[11]张保群.导弹俯仰通道制导与控制一体化设计[D].哈尔滨:哈尔滨工业大学,2008.