宇航学报 ›› 2022, Vol. 43 ›› Issue (4): 454-464.doi: 10.3873/j.issn.1000-1328.2022.04.007

• 制导、导航、控制与电子 • 上一篇    下一篇

导弹敏捷转弯段的新型非奇异终端滑模控制

赵新运,于剑桥   

  1. 北京理工大学宇航学院,北京 100081
  • 收稿日期:2021-06-16 修回日期:2021-09-11 出版日期:2022-04-15 发布日期:2022-04-15

Novel Non singular Terminal Sliding Mode Control for Missile’s Agile Turn

ZHAO Xin yun, YU Jian qiao   

  1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China
  • Received:2021-06-16 Revised:2021-09-11 Online:2022-04-15 Published:2022-04-15

摘要: 针对具有快时变性、不确定性、强非线性和系统初始状态远离平衡点等特点的敏捷导弹的直接力/气动力复合控制律设计问题,提出了一种新型非奇异终端滑模控制方法。为缩短到达平衡态的时间,设计了一种组合非奇异终端滑模面,提高了系统状态在滑模面上的收敛速度,设计了改进的变系数双幂次趋近律,提高了系统状态到达滑模面的速度,并利用扩张状态观测器实时估计系统内外扰动,消除了观测误差对系统造成的干扰,抑制了抖振。最后,证明了所提方法的有限时间收敛特性,通过仿真对比校验了所提方法的有效性。

关键词: 导弹, 敏捷转弯, 滑模控制, 扩张状态观测器, 有限时间收敛

Abstract: A novel non singular terminal sliding mode control method is proposed to solve the problem how to design the reaction jet and aerodynamic compound control law for agile missiles with fast time variability, uncertainty, strong nonlinearity and the initial state of the system far away from the equilibrium point. In order to shorten the time to reach the equilibrium state, a combined non singular terminal sliding mode surface is designed to improve the convergence speed when the system states are on the sliding mode surface, and an improved double power reaching law is designed to improve the speed when the system states are reaching the sliding mode surface. The extended state observer is used to estimate the internal and external disturbances of the system in real time, which eliminates the disturbance caused by the observation error and suppresses the chattering. Finally, the finite time convergence property of the proposed method is proved, and the effectiveness of the proposed method is verified by simulation comparison.

Key words: Missile, Agile turn, Sliding mode control, Extended state observer, Finite time convergence

中图分类号: