考虑自动驾驶仪动态特性的多约束中制导律
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摘要
针对多约束条件下的中末制导交班问题,提出一种考虑自动驾驶仪动态特性的滑模中制导律。首先,建立了考虑自动驾驶仪一阶动态特性的弹目运动模型,根据该模型设计非奇异终端滑模面,并采用自适应滑模趋近律设计有限时间收敛的中制导律。其次,采用扩张状态观测器估计目标机动信息,并将估计值应用于非奇异滑模中制导律中。最后,基于有限时间理论分析了中制导律的有限时间收敛特性。数值仿真结果验证了所提中制导律的鲁棒性强,引起的交班误差小。
A sliding mode midcourse guidance law considering the missile's dynamics of autopilot is proposed for the transition problem from midcourse guidance to terminal guidance with multiple constraints.Firstly,a motion model between missile and target is established on the basis of the first-order missile dynamics.According to this model,a nonsingular terminal sliding mode surface is designed,and the adaptive sliding mode reaching law is used to design a finite time convergent midcourse guidance law.Secondly,the extended state observer is employed to estimate the maneuvering information of the target,and the estimated value is applied to the nonsingular sliding mode midcourse guidance law.Finally,based on the finite time theory,the finite time convergence characteristics of the midcourse guidance law are analyzed.Numerical simulation results show that the proposed midcourse guidance law has strong robustness and small handover error.
A sliding mode midcourse guidance law considering the missile's dynamics of autopilot is proposed for the transition problem from midcourse guidance to terminal guidance with multiple constraints.Firstly,a motion model between missile and target is established on the basis of the first-order missile dynamics.According to this model,a nonsingular terminal sliding mode surface is designed,and the adaptive sliding mode reaching law is used to design a finite time convergent midcourse guidance law.Secondly,the extended state observer is employed to estimate the maneuvering information of the target,and the estimated value is applied to the nonsingular sliding mode midcourse guidance law.Finally,based on the finite time theory,the finite time convergence characteristics of the midcourse guidance law are analyzed.Numerical simulation results show that the proposed midcourse guidance law has strong robustness and small handover error.
引文
[1]李庆春,张文生,韩刚.终端约束条件下末端制导律研究综述[J].控制理论与应用,2016,33(1):1-12.LI Q C,ZHANG W S,HAN G.Review of terminal guidance law with terminal constraints[J].Control Theory and Applications,2016,33(1):1-12.
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[13]孟克子,周荻.多约束条件下的最优中制导律设计[J].系统工程与电子技术,2016,38(1):116-122.MENG K Z,ZHOU D.Design of optimal midcourse guidance law with multiple constraints[J].Systems Engineering and Electronics,2016,38(1):116-122.
[14]吕寿坤,周荻,孟克子,等.视线角约束自适应滑模中制导律[J].系统工程与电子技术,2018,40(4):855-859.LS K,ZHOU D,MENG K Z,et al.Adaptive sliding mode midcourse guidance law with constraint on LOS angle[J].Systems Engineering and Electronics,2018,40(4):855-859.
[15]HUANG Y,HAN J Q.Analysis and design for the second order nonlinear continuous extended states observer[J].Chinese Science Bulletin,2000,45(21):1938-1944.
[16]HAN J Q.From pid to active disturbance rejection control[J].IEEE Trans.on Industrial Electronics,2009,56(3):900-906.
[17]王宇航,姚郁,马克茂.二阶扩张状态观测器的误差估计[J].吉林大学学报(工学版),2010,40(1):143-147.WANG Y H,YAO Y,MA K M.Error estimation of second order extended state observer[J].Journal of Jilin University(Engineering and Technology Edition),2010,40(1):143-147.
[18]YU S H,YU X H,STONIER R.Continuous finite-time control for robotic manipulators with terminal sliding mode[C]∥Proc.of the 6th IEEE International Conference of Information Fusion,2003:1433-1440.
[19]丁世宏,李世华.有限时间控制问题综述[J].控制与决策,2011,26(2):161-169.DING S H,LI S H.A survey for finite-time control problems[J].Control and Decision,2011,26(2):161-169.
[20]KUMAR S R,RAO S,GHOSE D.Sliding-mode guidance and control for all-aspect interceptors with terminal angle constraints[J].Journal of Guidance Control and Dynamics,2012,35(4):1230-1246.
[2]CHO D,KIM H J,TAHK M J.Nonsingular sliding mode guidance for impact time control[J].Journal of Guidance Control and Dynamics,2016,39(1):61-68.
[3]WANG J,ZHANG R.Terminal guidance for a hypersonic vehicle with impact time control[J].Journal of Guidance Control and Dynamics,2018,41(8):1-9.
[4]CHEN X,WANG J.Nonsingular sliding-mode control for fieldof-view constrained impact time guidance[J].Journal of Guidance Control and Dynamics,2018,41(3):735-741.
[5]LEE C H,SEO M G.New insights into guidance laws with terminal angle constraints[J].Journal of Guidance Control and Dynamics,2018,41(8):1832-1837.
[6]WANG X,WANG J.Partial integrated guidance and control for missiles with three-dimensional impact angle constr-aints[J].Journal of Guidance Control and Dynamics,2014,37(2):644-657.
[7]孙胜,张华明,周荻.考虑自动驾驶仪动特性的终端角度约束滑模导引律[J].宇航学报,2013,34(1):69-78.SUN S,ZHANG H M,ZHOU D.Sliding mode guidance law with autopilot lag for terminal angle constrainted trajectories[J].Journal of Astronautics,2013,34(1):69-78.
[8]王超伦,宋保华,常超.考虑弹体动态特性的非奇异有限时间制导律[J].国防科技大学学报,2018,40(2):22-27.WANG C L,SONG B H,CHANG C.Nonsingular finite-time guidance law with missile dynamic[J].Journal of National University of Defense Technology,2018,40(2):22-27.
[9]LIVERMORE R,SHIMA T.Deviated pure-pursuit-based optimal guidance law for imposing intercept time and angle[J].Journal of Guidance Control and Dynamics,2018,41(8):1807-1814.
[10]HU Q,HAN T,XIN M.New impact time and angle guidance strategy via virtual target approach[J].Journal of Guidance Control and Dynamics,2018,41(8):1-11.
[11]TAUB I,SHIMA T.Intercept angle missile guidance under time varying acceleration bounds[C]∥Proc.of the AIAA Guidance,Navigation,and Control Conference,2013:686-699.
[12]MENON P K A,BRIGGS M.Near-optimal midcourse guidance for air-to-air missiles[J].Journal of Guidance Control and Dynamics,1990,13(4):596-602.
[13]孟克子,周荻.多约束条件下的最优中制导律设计[J].系统工程与电子技术,2016,38(1):116-122.MENG K Z,ZHOU D.Design of optimal midcourse guidance law with multiple constraints[J].Systems Engineering and Electronics,2016,38(1):116-122.
[14]吕寿坤,周荻,孟克子,等.视线角约束自适应滑模中制导律[J].系统工程与电子技术,2018,40(4):855-859.LS K,ZHOU D,MENG K Z,et al.Adaptive sliding mode midcourse guidance law with constraint on LOS angle[J].Systems Engineering and Electronics,2018,40(4):855-859.
[15]HUANG Y,HAN J Q.Analysis and design for the second order nonlinear continuous extended states observer[J].Chinese Science Bulletin,2000,45(21):1938-1944.
[16]HAN J Q.From pid to active disturbance rejection control[J].IEEE Trans.on Industrial Electronics,2009,56(3):900-906.
[17]王宇航,姚郁,马克茂.二阶扩张状态观测器的误差估计[J].吉林大学学报(工学版),2010,40(1):143-147.WANG Y H,YAO Y,MA K M.Error estimation of second order extended state observer[J].Journal of Jilin University(Engineering and Technology Edition),2010,40(1):143-147.
[18]YU S H,YU X H,STONIER R.Continuous finite-time control for robotic manipulators with terminal sliding mode[C]∥Proc.of the 6th IEEE International Conference of Information Fusion,2003:1433-1440.
[19]丁世宏,李世华.有限时间控制问题综述[J].控制与决策,2011,26(2):161-169.DING S H,LI S H.A survey for finite-time control problems[J].Control and Decision,2011,26(2):161-169.
[20]KUMAR S R,RAO S,GHOSE D.Sliding-mode guidance and control for all-aspect interceptors with terminal angle constraints[J].Journal of Guidance Control and Dynamics,2012,35(4):1230-1246.