宇航学报 ›› 2014, Vol. 35 ›› Issue (7): 818-826.doi: 10.3873/j.issn.1000-1328.2014.07.011

• 制导、导航与控制 • 上一篇    下一篇

考虑自动驾驶仪动态特性的含攻击角约束的反演递推制导律

刁兆师,单家元   

  1. 北京理工大学宇航学院飞行器动力学与控制教育部重点实验室,北京 100081
  • 收稿日期:2013-04-23 修回日期:2013-06-07 出版日期:2014-07-15 发布日期:2014-07-25
  • 基金资助:

    国家自然科学基金(61203064)

Back Stepping Guidance Law with Autopilot Lag for Attack Angle Constrained Trajectories

DIAO Zhao shi,  SHAN Jia yuan   

  1. Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education,Scholl of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China
  • Received:2013-04-23 Revised:2013-06-07 Online:2014-07-15 Published:2014-07-25

摘要:

针对制导武器需要攻击角度控制的要求及自动驾驶仪动态特性对制导效果的不利影响,提出了考虑自动驾驶仪动态特性补偿、具有末端攻击角约束的反演递推制导律。首先结合反馈线性化技术,利用本文推广的积分反演定理设计了二阶子系统的虚拟控制律;然后进一步应用反演递推方法推导了考虑自动驾驶仪动态特性的含攻击角约束的制导律,并通过李雅普诺夫稳定性理论详细地证明了该制导律对于视线角和视线角速率的指数收敛特性。在实例应用仿真中,给出了该制导律的具体实现方法,比较了该制导律与其他制导律的制导性能,检验了该制导律对不同作战任务的制导效果。仿真结果表明,该制导律具有良好的性能和工程应用推广价值。

关键词: 制导律, 攻击角约束, 自动驾驶仪动态特性, 反演递推控制

Abstract:

Aiming at the requirement for the attack angle near impact required to be controlled for some guided weapons and the unfavorable effects of the lag of autopilot on guidance accuracy, a novel terminal back stepping guidance law with attack angle constraint is proposed in consideration of the lag of autopilot. Firstly, a virtual control law is designed for the second order subsystem by applying the generalized integrator back stepping theorem presented in this paper in connection with the feedback linearization technique. Furthermore, the guidance law with attack angle constraint for the case of the lag of autopilot is derived by utilizing the back stepping method again, and the exponentially convergent characteristics of the proposed guidance law with respect to both line of sight angle and angular rate is detailedly proved by using Lyapunov stability theory. In simulation of an application example, the specific approach to implementing the proposed guidance law is addressed, the guidance performance of this law is compared with other laws, and the guidance effect of it in different operation tasks is tested. Simulation results demonstrate that the proposed algorithm provides the good performance and possesses the great application promotion value in engineering.

Key words: Guidance law, Attack angle constraint, Autopilot dynamics, Back stepping control

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