考虑自动驾驶仪动态特性与攻击角约束的模糊自适应动态面末制导律
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摘要
在大口径舰炮制导炮弹打击近岸机动目标的末制导段,考虑自动驾驶仪二阶动态特性与攻击角约束,基于模糊自适应逼近与动态面控制提出一种末制导律。构建二维弹目相对运动模型,运用扩张状态观测器估计目标加速度。为零化视线角的跟踪误差与视线角速率,采用自适应指数趋近律设计非奇异终端动态面滑模,设计模糊自适应系统逼近变结构项,削弱自动驾驶仪的控制指令抖振。通过Lyapunov第二法证明了闭环系统中视线角的跟踪误差与视线角速率均一致最终有界。仿真实验表明:该制导律使制导炮弹在打击具有不同加速度形式的目标时,均具备较好的末制导性能。
In the terminal guidance section of large caliber naval gun guided projectile(GP)while striking near shore maneuver targets,a terminal guidance law based on fuzzy adaptive approximation and dynamic surface control is proposed considering two order dynamic characteristics of autopilot and impact angle constraints.The relative motion model of GP and the target in two dimension is constructed,and the extended state observer is used to estimate acceleration of the target.Aiming at zeroing the tracking error about the line of the sight angle and angular velocity,the nonsingular terminal dynamic surface sliding mode is designed adopting the adaptive exponential reaching law.The fuzzy adaptive system is applied to approach variable structure term and weaken chattering of autopilot control instruction.The tracking error about the line of the sight angle and the angular velocity in the closed loop system are both uniformly bounded,which is proved by the Lyapunov second method.Simulation experiments show this terminal guidance law helps GP possess good terminal guidance performance while striking targets with different acceleration forms.
In the terminal guidance section of large caliber naval gun guided projectile(GP)while striking near shore maneuver targets,a terminal guidance law based on fuzzy adaptive approximation and dynamic surface control is proposed considering two order dynamic characteristics of autopilot and impact angle constraints.The relative motion model of GP and the target in two dimension is constructed,and the extended state observer is used to estimate acceleration of the target.Aiming at zeroing the tracking error about the line of the sight angle and angular velocity,the nonsingular terminal dynamic surface sliding mode is designed adopting the adaptive exponential reaching law.The fuzzy adaptive system is applied to approach variable structure term and weaken chattering of autopilot control instruction.The tracking error about the line of the sight angle and the angular velocity in the closed loop system are both uniformly bounded,which is proved by the Lyapunov second method.Simulation experiments show this terminal guidance law helps GP possess good terminal guidance performance while striking targets with different acceleration forms.
引文
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[23]邹昕光,周荻,杜润乐,等.大气层外主动防御三维自适应滑模制导律[J].系统工程与电子技术,2015,37(2):365-371.ZOU X G,ZHOU D,DU R L,et al.Active defense exo-atmospheric adaptive sliding mode guidance law in three dimensions[J].Systems Engineering and Electronics,2015,37(2):365-371.
[24]HOU Z W,LIU L,WANG Y J,et al.Terminal impact angle constraint guidance with dual sliding surfaces and model-free target acceleration estimator[J].IEEE Trans.on Control Systems Technology,2017,25(1):85-100.
[25]韩京清.自抗扰控制技术—估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008.HAN J Q.Active disturbance rejection control technique—the technique for estimating and compensating the uncertainties[M].Beijing:National Defense Industry Press,2008.
[26]ZHU Z,XU D,LIU J M,et al.Missile guidance law based on extended state observer[J].IEEE Trans.on Industrial Electronics,2013,60(12):5882-5891.
[27]雷虎民,王华吉,周觐,等.基于扩张观测器的三维动态面导引律[J].系统工程与电子技术,2017,39(1):139-148.LEI H M,WANG H J,ZHOU J,et al.Three-dimensional dynamic surface guidance law based on extended state observer[J].Systems Engineering and Electronics,2017,39(1):139-148.
[28]陶洪峰,胡寿松,李志宇.一类非线性系统的自适应模糊滑模定位控制[J].系统工程与电子技术,2010,32(2):362-366.TAO H F,HU S S,LI Z Y.Positioning control for a class of nonlinear systems based on adaptive fuzzy sliding mode[J].Systems Engineering and Electronics,2010,32(2):362-366.
[2]WANG D M,DAI W R,ZHANG Y T.Study status and development trends of information ammunition[J].Acta Armamentarh,2010,31(4):144-148.
[3]CHO H,RYOO C K,TSOURDOS A,et al.Optimal impact angle control guidance law based on linearization about collision triangle[J].Journal of Guidance Control&Dynamics,2014,37(3):958-964.
[4]YAMASAKI T,BALAKRISHNAN S N,TAKANO H.Geometrical approach-based defense-missile intercept guidance for aircraft protection against missile attacks[J].Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering,2012,226(8):1014-1028.
[5]SEO M G,LEE C H,TAHK M J.New design methodology for impact angle control guidance for various missile and target motions[J].IEEE Trans.on Control Systems Technology,2018,26(6):2190-2197.
[6]孟克子,周荻.多约束条件下的最优中制导律设计[J].系统工程与电子技术,2016,38(1):116-122.MENG K Z,ZHOU D.Design of optimal midcourse guidance law with multiple constraints[J].Systems Engineering and Electronics,2016,38(1):116-122.
[7]RAO S,GHOSE D.Terminal impact angle constrained guidance law using variable structure systems theory[J].IEEE Trans.on Control Systems Technology,2013,21(6):2350-2359.
[8]周慧波,宋申民,刘海坤.具有攻击角约束的非奇异终端滑模导引律设计[J].中国惯性技术学报,2014,22(5):606-612.ZHOU H B,SONG S M,LIU H K.Nonsingular terminal sliding mode guidance law with impact angle constraint[J].Journal of Chinese Inertial Technology,2014,22(5):606-612.
[9]张小件,刘明雍,李洋.基于反演滑模和扩张观测器的带角度约束制导律设计[J].系统工程与电子技术,2017,39(6):1311-1316.ZHANG X J,LIU M Y,LI Y.Backstepping sliding mode control and extended state observer based guidance law design with impact angles[J].Systems Engineering and Electronics,2017,39(6):1311-1316.
[10]LI Q C,ZHANG W S,HAN G,et al.Fuzzy sliding mode control guidance law with terminal impact angle and acceleration constraints[J].Journal of Systems Engineering and Electronics,2016,27(3):664-679.
[11]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 S F,WANG W H,LIU X D,et al.Impact angle guidance law considering missile’s dynamics of autopilot[J].Control and Design,2015,30(4):585-592.
[12]ZARCHAN P.Tactical and strategic missile guidance[M].6th ed.Lexington:American Institute of Aeronautics and Astronautics,2012.
[13]王广帅,林德福,范世鹏,等.一种适用于红外制导弹药的偏置比例导引律[J].系统工程与电子技术,2016,38(10):2346-2352.WANG G S,LIN D F,FAN S P,et al.Biased proportional navigation applicable for infrared guidance munitions[J].Systems Engineering and Electronics,2016,38(10):2346-2352.
[14]ZHANG Y,MA G X,LIU A L.Guidance law with impact time and impact angle constraints[J].Chinese Journal of Aeronautics,2013,26(4):960-966.
[15]张尧,郭杰,唐胜景,等.机动目标拦截含攻击角约束的新型滑模制导律[J].兵工学报,2015,36(8):1443-1457.ZHANG Y,GUO J,TANG S J,et al.A novel sliding mode guidance law with impact angle constraint for maneuvering target interception[J].Acta Armamentarii,2015,36(8):1443-1457.
[16]商巍,唐胜景,郭杰,等.考虑自动驾驶仪特性的自适应模糊动态面滑模制导律设计[J].兵工学报,2015,36(4):660-667.SHANG W,TANG S J,GUO J,et al.Design of adaptive fuzzy dynamic surface sliding-mode guidance law considering autopilot lag[J].Acta Armamentarii,2015,36(4):660-667.
[17]KIM M,GRIDER K V.Terminal guidance for impact attitude angle constrained fight trajectories[J].IEEE Trans.on Aerospace&Electronic Systems,1973,AES-9(6):852-859.
[18]叶继坤,雷虎民,赵岩,等.基于二阶滑模控制的微分几何制导律[J].系统工程与电子技术,2017,39(4):837-845.YE J K,LEI H M,ZHAO Y,et al.Differential geometric guidance law based on second-order sliding control[J].Systems Engineering and Electronics,2017,39(4):837-845.
[19]KUMAR S R,RAO S,GHOSE D.Nonsingular terminal sliding mode guidance with impact angle constraints[J].Journal of Guidance Control&Dynamics,2014,37(4):1114-1130.
[20]YAMASAKI T,BALAKRISHNAN S N,TAKANO H,et al.Second order sliding mode-based intercept guidance with uncertainty and disturbance compensation[J].AIAA Guidance,Navigation and Control,2013,39(5):1-17.
[21]HE S M,LIN D F,WANG J.Robust terminal angle constraint guidance law with autopilot lag for intercepting maneuvering targets[J].Nonlinear Dynamics,2015,81(1/2):881-892.
[22]杨靖,王旭刚,王中原,等.考虑自动驾驶仪动态特性和攻击角约束的鲁棒末制导律[J].兵工学报,2017,38(5):900-909.YANG J,WANG X G,WANG Z Y,et al.Robust terminal guidance law with autopilot lag and impact angle constraints[J].Acta Armamentarii,2017,38(5):900-909.
[23]邹昕光,周荻,杜润乐,等.大气层外主动防御三维自适应滑模制导律[J].系统工程与电子技术,2015,37(2):365-371.ZOU X G,ZHOU D,DU R L,et al.Active defense exo-atmospheric adaptive sliding mode guidance law in three dimensions[J].Systems Engineering and Electronics,2015,37(2):365-371.
[24]HOU Z W,LIU L,WANG Y J,et al.Terminal impact angle constraint guidance with dual sliding surfaces and model-free target acceleration estimator[J].IEEE Trans.on Control Systems Technology,2017,25(1):85-100.
[25]韩京清.自抗扰控制技术—估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008.HAN J Q.Active disturbance rejection control technique—the technique for estimating and compensating the uncertainties[M].Beijing:National Defense Industry Press,2008.
[26]ZHU Z,XU D,LIU J M,et al.Missile guidance law based on extended state observer[J].IEEE Trans.on Industrial Electronics,2013,60(12):5882-5891.
[27]雷虎民,王华吉,周觐,等.基于扩张观测器的三维动态面导引律[J].系统工程与电子技术,2017,39(1):139-148.LEI H M,WANG H J,ZHOU J,et al.Three-dimensional dynamic surface guidance law based on extended state observer[J].Systems Engineering and Electronics,2017,39(1):139-148.
[28]陶洪峰,胡寿松,李志宇.一类非线性系统的自适应模糊滑模定位控制[J].系统工程与电子技术,2010,32(2):362-366.TAO H F,HU S S,LI Z Y.Positioning control for a class of nonlinear systems based on adaptive fuzzy sliding mode[J].Systems Engineering and Electronics,2010,32(2):362-366.