宇航学报

宇航学报 ›› 2022, Vol. 43 ›› Issue (6): 743-750.doi: 10.3873/j.issn.1000-1328.2022.06.005

• 制导、导航、控制与电子 • 上一篇    下一篇

导弹滑模抗干扰自动驾驶仪设计

熊佳富，李君龙，张锐，刘雨昂，冉茂鹏   

  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. 北京电子工程总体研究所，北京 100854
  • 收稿日期:2021-09-17 修回日期:2022-01-09 出版日期:2022-06-15 发布日期:2022-06-15
  • 基金资助:
    国家自然科学基金（61873295，61833016）

Sliding mode based Anti disturbance Autopilot Design for Missiles

XIONG Jiafu, LI Junlong, ZHANG Rui, LIU Yu’ang, RAN Maopeng   

  1. 1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China;2. Beijing Institute of Electronic System Engineering, Beijing 100854, China
  • Received:2021-09-17 Revised:2022-01-09 Online:2022-06-15 Published:2022-06-15

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摘要： 针对拦截弹的抗干扰控制问题，设计了一种基于扩张状态观测器和快速滑模控制的三通道自动驾驶仪。首先建立考虑有界未知不确定性和外界干扰的拦截弹系统模型，构建扩张状态观测器对有界未知不确定性和外界干扰进行估计；在此基础上，根据自动驾驶仪系统特性，设计了一种快速滑模控制算法使得系统在受到有界未知不确定性和外界干扰的情况下仍然能精准快速跟踪指令信号，并基于李雅普诺夫函数证明了其稳定性。仿真结果验证了所设计控制算法的有效性。

关键词: 自动驾驶仪, 扩张状态观测器, 滑模控制, 快速趋近律

Abstract: Aiming at the problem of anti interference control of the interceptor missile, a three channel autopilot combining extended state observer and fast sliding mode control is proposed. Firstly, the interceptor system model considering bounded unknown uncertainty and external disturbances is established, and the extended state observer (ESO) is designed to estimate the uncertainty and disturbances. According to the output of the ESO and autopilot system characteristics, a fast sliding mode control algorithm is designed to enable the system to track the reference signal accurately and quickly under the disturbances. Based on the Lyapunov function, the stability of the proposed autopilot is proved. The numerical simulation results verify the effectiveness of the proposed control algorithm.

Key words: Autopilot, Extended state observer, Sliding mode control, Fast approaching law

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