宇航学报

宇航学报 ›› 2019, Vol. 40 ›› Issue (8): 937-947.doi: 10.3873/j.issn.1000-1328.2019.08.010

• 制导、导航、控制与电子 • 上一篇    下一篇

三维攻击角度约束部分制导控制一体化设计

赖超，王卫红，周本春，周星合，林大鹏   

  1. 1. 北京航空航天大学自动化科学与电气工程学院，北京 100191；2. 中国舰船研究院，北京 100101
  • 收稿日期:2018-07-25 修回日期:2018-10-14 出版日期:2019-08-15 发布日期:2019-08-25

Three Dimensional Partial Integrated Guidance and Control with Impact Angle Constraints

LAI Chao, WANG Wei hong, ZHOU Ben chun, ZHOU Xing he, LIN Da peng   

  1. 1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China; 2.China Ship Research and Development Academy, Beijing 100101, China
  • Received:2018-07-25 Revised:2018-10-14 Online:2019-08-15 Published:2019-08-25

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摘要：

针对侧滑转弯(STT)导弹带有攻击角度约束的机动目标拦截问题，提出一种基于自适应终端滑模动态面控制的三维部分制导控制一体化(PIGC)设计方法。首先，建立了针对机动目标拦截的侧滑转弯导弹三维部分制导控制一体化设计模型，且不需要导弹速度微分体轴系分量信息。然后，使用终端滑模控制理论构建误差向量与虚拟控制量，达成精确拦截与攻击角度约束的控制目的；引入有限时间非线性收敛扩张状态观测器(ESO)来在线估计系统不确定性；设计自适应算子与自适应更新律对观测器的估计误差进行补偿，以提高方法的鲁棒性。最后，三维空间拦截仿真校验了方法在提高拦截精度与增强角度约束收敛性能的有效性。

关键词: 部分制导控制一体化(PIGC), 攻击角度约束, 动态面控制(DSC), 滑模控制(SMC), 扩张状态观测器(ESO), 自适应控制

Abstract:

To implement the interception of a maneuvering target for a skid-to-turn (STT) missile, a three-dimensional partial integrated guidance and control (PIGC) with impact angle constraints is developed based on the adaptive terminal sliding mode dynamic surface control. Firstly, the PIGC model with strict-feedback form of an STT missile is established without the information of the missile velocity derivatives vector along the body frame. Then, the PIGC design is proposed based on the dynamic surface control procedure for the design model. Based on terminal sliding mode theory, the error vector of the method is constructed as the terminal sliding surface and used in the design of the virtual control law to guarantee the precise interception with the impact angle constraints. The nonlinear extended state observers (ESO) with finite time convergence are introduced to estimate the uncertainties in system. Additionally, the adaptive operators are designed to compensate the estimate errors of ESO to increase the robustness against uncertainties. Fiually, simulation results demonstrate the effectiveness of the proposed method.

Key words:  Partial integrated guidance and control (PIGC), Impact angle constraint, Dynamic surface control (DSC), Sliding mode control (SMC), Extended state observer (ESO), Adaptive control

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