宇航学报

宇航学报 ›› 2021, Vol. 42 ›› Issue (9): 1108-1118.doi: 10.3873/j.issn.1000-1328.2021.09.006

• 制导、导航、控制与电子 • 上一篇    下一篇

多约束下的导弹螺旋机动制导控制一体化设计

黄鲁豫，曲鑫，凡永华，王俊波   

  1. 1. 北京电子工程总体研究所，北京 100854；2. 西北工业大学航天学院，西安 710072
  • 收稿日期:2020-08-18 修回日期:2020-10-26 出版日期:2021-09-15 发布日期:2021-09-15

Integrated Guidance and Control Design for Spiral Maneuvering Missile with Multiple Constraints

HUANG Lu yu, QU Xin, FAN Yong hua, WANG Jun bo   

  1. 1. Beijing Institute of Electronic System Engineering, Beijing 100854, China;2. School of Astronautics, Northwestern Polytechnical University, Xi ’an 710072, China
  • Received:2020-08-18 Revised:2020-10-26 Online:2021-09-15 Published:2021-09-15

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摘要： 针对导弹在俯冲机动突防飞行过程中攻角及落地弹道倾角受到约束的问题，基于自抗扰控制(ADRC)及反步滑模控制(SMC)，提出一种多约束条件下的导弹螺旋机动制导控制一体化设计方法。首先，基于典型的螺旋机动突防弹道，同时考虑纵向平面指定落角约束，分通道进行制导控制一体化数学模型推导。然后，使用反步滑模控制进行制导控制一体化算法设计，通过设计补偿器对反步法的中间控制量进行修正实现对攻角的约束，针对系统的有界不确定性以及未知干扰，采用干扰观测器进行估计与补偿，提高系统的鲁棒性。最终使用Lyapunov理论证明了系统稳定。仿真结果表明，本文方法具有较强的鲁棒性，能够保证飞行器在满足攻角约束的条件下，按照典型螺旋机动弹道对目标进行大落角高精度打击。


关键词: 导弹, 制导控制一体化, 螺旋机动, 反步滑模控制, 自抗扰控制

Abstract: Based on active disturbance rejection control (ADRC) and backstepping sliding mode control (SMC), an integrated design method of spiral maneuver guidance and control for missile with limited angle of attack and limited angle of landing is proposed. Firstly, according to the typical spiral maneuver penetration trajectory, and considering the constraint of specified landing angle in the longitudinal plane, the integrated mathematical model of guidance and control is derived in different channels. Then, the backstepping sliding mode control is used to guide the integrated control algorithm design, and the compensator is designed to modify the control variables to realize the constraint on the angle of attack. In addition, the disturbance observer is used to estimate and compensate the bounded uncertainty and unknown disturbance of the system to improve the robustness of the system. Finally, the stability of the system is proved by the Lyapunov theory. The simulation results show that the proposed method has strong robustness, and can ensure that the missile attacks the target with high precision and large landing angle under the condition of satisfying the constraint of attack angle in the spiral maneuver trajectory.


Key words: Missile, Integrated guidance and control, Spiral maneuver, Backstepping sliding mode control, Active disturbance rejection control

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