大攻角条件下制导弹滚转稳定控制方法

doi:10.12382/bgxb.2022.0853

摘要/Abstract

摘要：

制导弹跨域飞行过程中,伴随着大攻角下的涡流非对称以及跨音速气动转捩,这些干扰将引起控制失稳,进一步增大脱靶量。针对以上问题,考虑气动模型强非线性、强参数不确定性及强外界干扰,建立制导弹滚转通道动力学模型,进而提出一种基于滑模观测器与非奇异终端滑模的滚转姿态组合控制方法。以此为基础框架,结合微分跟踪器设计一种反步控制方法,以补偿执行机构动力学。利用Lyapunov稳定性理论证明了闭环系统稳定性及有限时间收敛特性。通过仿真实验验证了所设计控制方法的优越性及普适性。

关键词: 制导弹, 滚转稳定控制, 滑模观测器, 非奇异终端滑模, 执行机构动力学, 反步控制

Abstract:

Eddy current asymmetry and transonic aerodynamic transition usually occure at a large angle-of-attack during the cross-domain flight process of guided missile, which may cause control instability and further increase miss distance. To solve the problems above, a missile roll channel dyanamics model is established, in which the strong nonlinearity of aerodynamic model, strong parameter uncertainty and strong external disturbance, and then an “observer+controller” composite control framework is proposed. This roll stabilization control framework contains a novel sliding mode disturbance observer and nonsingular terminal sliding mode. Based on this framework, a backstepping controller is proposed to compensate actuator dynamics. The stability and finite-time convergence properties of closed-loop system are verified through Lyapunov theory. Finally,the numerically simulated results demonstrate the superiority and universality of the proposed control method.

Key words: guided missile, roll stabilization control, sliding mode observer, nonsingular terminal sliding mode, actuator dynamics, backstepping control

中图分类号:

V249.1

王雨辰, 王伟, 李宁, 朱泽军, 石忠佼. 大攻角条件下制导弹滚转稳定控制方法[J]. 兵工学报, 2024, 45(3): 774-788.

WANG Yuchen, WANG Wei, LI Ning, ZHU Zejun, SHI Zhongjiao. A Control Method for Roll Stabilization of Guided Missile with Large Angle of Attack[J]. Acta Armamentarii, 2024, 45(3): 774-788.

图/表 11

图1 弹道曲线

Fig.1 Trajectories of missile

图2 气动参数变化曲线

Fig.2 Variation curves of aerodynamics parameters

图3 系统式(3)的阶跃响应曲线

Fig.3 Step response curves of system (3)

图4 系统式(4)的阶跃响应曲线

Fig.4 Step response curve of system (4)

表1 参数取值

Table 1 Values of parameters

参数	c_1d	c_2d	α_1d	α_2d	η_d	k_d	r₁	r₂	r₃	r₄	ρ	ω_a	ζ_a	k₂₁	k₂₂	k₃₁	k₃₂
取值	2	2	0.5	3	0.1	400	15	0.2	100	10	0.3	5	200	5	100	5	100

图5 理想执行机构动力学的控制器仿真

Fig.5 Simulated results of controller with considering ideal actuator dynamics

图6 不考虑执行机构动力学的滚转稳定控制方法

Fig.6 Roll stabilization control method without considering actuator dynamics

图7 考虑2阶执行机构动力学的控制器仿真

Fig.7 Simulated results of controller with considering second-order actuator dynamics

图8 反步控制器跟踪效果

Fig.8 Tracking effect of the proposed backstepping controller

图9 不同转弯方案滚转角控制

Fig.9 Simulated results under different BTT control strategies

图10 对比仿真

Fig.10 Comparison results of two controllers

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