带攻击角约束的自适应STA有限时间滑模导引律
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摘要
针对拦截机动目标的过程中考虑攻击角度约束的制导问题,为了达到最佳的杀伤效果,提出了一种考虑导弹自动驾驶仪动态特性的带攻击角度约束的自适应STA有限时间滑模导引律。首先建立了考虑导弹自动驾驶仪动态特性和攻击角约束的三维耦合制导模型;由于目标机动未知,对传统STA算法进行改进,确保系统含有不确定项时在有限时间收敛,在此基础上,结合自适应控制理论,设计了带攻击角约束的自适应STA有限时间滑模导引律。基于类二次型Lyapunov函数,对系统进行了有限时间收敛稳定性证明。通过与真比例导引律数字仿真结果对比分析,所设计导引律能够制导导弹精确命中目标,弹目视线倾角和偏角在有限时间高精度收敛至期望值,满足攻击角度约束要求,具有强鲁棒性和有效性,制导性能优于真比例导引律。
In order to achieve the best killing effect in the process of intercepting maneuvering targets,an adaptive STA finitetime sliding mode guidance law with attack angle constraints was proposed to consider the dynamic characteristics of the missile autopilot.Firstly,a three-dimensional coupling guidance model considering the dynamic characteristics of the missile autopilot and the attack angle constraint was established.Because the target maneuver was unknown,the traditional STA algorithm was improved to ensure that the system converges in a finite time when there were uncertainties.On this basis,Adaptive theory has been used to design an adaptive STA finite-time sliding mode guidance law with attack angle constraints.Based on the quadratic Lyapunov function,the finite time convergence stability of the system has been proved.By comparing with the simulation results of real proportional guidance law,the guidance law designed can guide the missile accurately to the target.The visual line inclination and declination converge to the expected value with high precision in a limited time,satisfying the requirements of the attack angle constraint.Also it has strong robustness and effectiveness,so that the guidance performance is superior to the true proportional guidance law.
In order to achieve the best killing effect in the process of intercepting maneuvering targets,an adaptive STA finitetime sliding mode guidance law with attack angle constraints was proposed to consider the dynamic characteristics of the missile autopilot.Firstly,a three-dimensional coupling guidance model considering the dynamic characteristics of the missile autopilot and the attack angle constraint was established.Because the target maneuver was unknown,the traditional STA algorithm was improved to ensure that the system converges in a finite time when there were uncertainties.On this basis,Adaptive theory has been used to design an adaptive STA finite-time sliding mode guidance law with attack angle constraints.Based on the quadratic Lyapunov function,the finite time convergence stability of the system has been proved.By comparing with the simulation results of real proportional guidance law,the guidance law designed can guide the missile accurately to the target.The visual line inclination and declination converge to the expected value with high precision in a limited time,satisfying the requirements of the attack angle constraint.Also it has strong robustness and effectiveness,so that the guidance performance is superior to the true proportional guidance law.
引文
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[14]王华吉,雷虎民,张旭,等.带扩张观测器的三维有限时间收敛导引律[J].国防科技大学学报,2017,39(6):88-97.WANG Huaji,LEI Humin,ZHANG Xu et al.Three-dimensional finite time convergence guidance law with extended stste observer[J].Journal of National University of Defense Technology,2017,39(6):88-97.
[15]曲萍萍,周荻.考虑导弹自动驾驶仪二阶动态特性的导引律[J].系统工程与电子技术,2011,33(10):2263-2267.QU P P,ZHOU D.Guidance law incorporating second-order dynamics of missile autopilots[J].Systems Engineering and Electronics,2011,33(10):2263-2267.
[16]Shkolnikov Y,Shkolnikov L,Levant A.Guidance and control of missile interceptor using second-order sliding modes[J].IEEE Transaction on Aerospace and Electronic Systems,2009,45(1):110-124.
[17]张尧,郭杰,唐胜景.基于扩张状态观测器的导弹滑模制导律[J].北京航空航天大学学报,2015,41(2):342-350.ZHANG Y,GUO J,TANG S J.Missile sliding mode guidance law based on extended state observer[J].Journal of Beijing University of Aerospace and Astronautics,2015,41(2):342-350.
[18]张运喜.有限时间收敛滑模制导律研究[D].天津:南开大学,2013.
[2]李庆春,张文生,韩刚.终端约束条件下末制导律研究综述[J].控制理论与应用,2016,33(1):1-12.LI Qingchun,ZHANG Wensheng,HAN Gang.Review of terminal guidance law with terminal constraints[J].Control Theory&Applications,2016,33(1):1-12.
[3]熊少锋,王卫红,刘晓东,等.考虑导弹自动驾驶仪动态特性的带攻击角度约束制导律[J].控制与决策,2015,30(4):585-592.XIONG Shaofeng,WANG Weihong,LIU Xiaodong,et al.Impact angle guidance law considering missile's dynamics of autopilot[J].Control and Decision,2015,30(4):585-592.
[4]Kim M,Grider K V.Terminal guidance for lmpact attitude angle constrained flight trajectories[J].IEEE Transactions on Aerospace and Electronic Systems,1973,9(6):852-859.
[5]熊少锋,王卫红,王森.带攻击角度约束的非奇异快速终端滑模制导律[J].控制理论与应用,2014,31(3):269-278.XIONG S F,WANG W H,WANG S.Nonsingular fast terminal sliding-mode guidance with intercept angle constraint[J].Control Theory and Applications,2014,31(3):269-278.
[6]赵斌,周军,卢晓东,等.考虑终端角度约束的自适应积分滑模制导律[J].控制与决策,2017,32(11):1966-1972.ZHAO B,ZHOU J,LU X D,et al.Adaptive integral sliding mode guidance law considering impact angle constraint[J].Control and Decision,2017,32(11):1966-1972.
[7]周慧波.基于有限时间和滑模理论的导引律及多导弹协同制导研究[D].哈尔滨:哈尔滨工业大学,2015.
[8]HE Shaoming,WANG Jiang,LIN Defu.Composite guidance laws using higher order sliding mode differentiator and disturbance observer[J].Proceedings of the Institution of Mechanical Engineers,PartG:Journal of Aerospace Engineering,2015,229(13),2397-2415.
[9]HE Shaoming,LIN Defu,WANG Jiang.Robust terminal angle constraint guidance law with autopilot lag for intercepting maneuvering targets[J].Nonlinear Dynamic,2015,81:881-892.
[10]王斌,雷虎民,李炯,等.基于NHDO的机动目标拦截攻击角度约束导引律[J].固体火箭技术,2017,40(4):517-524.WANG Bin,LEI Humin,LI Jiong,et al.NHDO Based impact angle control guidance law for maneuvering target[J].Journal of Solid Rocket Technology,2017,40(4):517-524.
[11]Manchester I R,Savkin A V.Circular navigation guidance law for precision missile/target engagements[J].Journal of Guidance,Control and Dynamic,2006,29(2):314-320.
[12]GU W,YU J,ZHANG R.A three-dimensional missile guidance law with angle constraint based on sliding mode control[C].Proc.of the IEEE International Coference on Control and Automation,2007:299-302.
[13]舒燕军,唐硕.基于自适应反演滑模的末制导律设计[J].飞行力学,2012,30(2):163-166.SHU Y J,TANG S.Guidance law design based on adaptive backstepping sliding mode control[J].Flight Dynamics,2012,30(2):163-166.
[14]王华吉,雷虎民,张旭,等.带扩张观测器的三维有限时间收敛导引律[J].国防科技大学学报,2017,39(6):88-97.WANG Huaji,LEI Humin,ZHANG Xu et al.Three-dimensional finite time convergence guidance law with extended stste observer[J].Journal of National University of Defense Technology,2017,39(6):88-97.
[15]曲萍萍,周荻.考虑导弹自动驾驶仪二阶动态特性的导引律[J].系统工程与电子技术,2011,33(10):2263-2267.QU P P,ZHOU D.Guidance law incorporating second-order dynamics of missile autopilots[J].Systems Engineering and Electronics,2011,33(10):2263-2267.
[16]Shkolnikov Y,Shkolnikov L,Levant A.Guidance and control of missile interceptor using second-order sliding modes[J].IEEE Transaction on Aerospace and Electronic Systems,2009,45(1):110-124.
[17]张尧,郭杰,唐胜景.基于扩张状态观测器的导弹滑模制导律[J].北京航空航天大学学报,2015,41(2):342-350.ZHANG Y,GUO J,TANG S J.Missile sliding mode guidance law based on extended state observer[J].Journal of Beijing University of Aerospace and Astronautics,2015,41(2):342-350.
[18]张运喜.有限时间收敛滑模制导律研究[D].天津:南开大学,2013.