基于滑模观测器的鲁棒变结构一体化导引控制律

doi:10.3969/j.issn.1000-1093.2017.02.006

兵工学报 ›› 2017, Vol. 38 ›› Issue (2): 246-253.doi: 10.3969/j.issn.1000-1093.2017.02.006

基于滑模观测器的鲁棒变结构一体化导引控制律

杨靖，王旭刚，王中原，常思江

(南京理工大学能源与动力工程学院, 江苏南京 210094)

收稿日期:2016-07-08 修回日期:2016-07-08 上线日期:2017-04-01
通讯作者: 王旭刚（1979—），男，副研究员，博士生导师 E-mail:wxgnets@163.com
作者简介:杨靖（1988—），男，博士研究生。E-mail: jingyangnust@163.com
基金资助:
国家自然科学基金项目（11402117）

Sliding-mode-observer-based Robust Variable Structure Control for Integrated Autopilot-guidance

YANG Jing， WANG Xu-gang， WANG Zhong-yuan， CHANG Si-jiang

(School of Energy and Power Engineering, Nanjing University of Science and Technology, Nanjing 210094， Jiangsu, China)

Received:2016-07-08 Revised:2016-07-08 Online:2017-04-01

摘要/Abstract

摘要： 针对测量信息受限的远程制导炮弹精确末制导问题，提出了一种基于滑模观测器的变结构鲁棒控制方法，依据Lyapunov稳定性理论证明了其有效性；应用所提出的方法设计了一种两回路一体化导引控制律。考虑弹体短周期动力学特性及舵回路1阶动力学滞后，视气动参数偏差与目标机动为有界不确定项，建立了两回路导引控制一体化设计模型。外环以零化视线角速率为目标，生成虚拟俯仰角速率指令；内环确保实际俯仰角速率跟踪到外环给出的指令。仿真结果表明，在测量信息受限、存在气动参数偏差和目标机动不确定的条件下，所提出的导引控制一体化设计方法具有高命中精度和良好的过载特性。

关键词: 兵器科学与技术, 远程制导炮弹, 导引控制一体化, 滑模观测器, 变结构控制

Abstract: A novel sliding-mode-observer-based variable structure controller is proposed and proved by Lyapunov’s theorem for integrated guidance and control(IGC) synthesis for extended range guided projectiles (ERGP) in order to realize hit-to-kill interception with limited measurement. Accounting for the short-period dynamics of the ERGPs and first-order lag of the canard servo, the two-loop IGC model is formulated in the presence of the discrepancies from aerodynamic parameters and target maneuver. The outer-loop of the IGC generates the commanded pitch rate to regulate the line-of-sight (LOS) rate to zero in finite time; the inner-loop is designed to track the outer-loop command. Simulation results show the effectiveness of the proposed controller and that the acceleration requirement is reduced. Key

Key words: ordnancescienceandtechnology, extendedrangeguidedprojectile, integratedguidanceandcontrol, slidingmodeobserver, variablestructurecontrol

中图分类号:

TJ413⁺.6

杨靖，王旭刚，王中原，常思江. 基于滑模观测器的鲁棒变结构一体化导引控制律[J]. 兵工学报, 2017, 38(2): 246-253.

YANG Jing， WANG Xu-gang， WANG Zhong-yuan， CHANG Si-jiang. Sliding-mode-observer-based Robust Variable Structure Control for Integrated Autopilot-guidance[J]. Acta Armamentarii, 2017, 38(2): 246-253.

参考文献

［1］杨荣军, 石运国. 制导炮弹离散自适应滑模控制器设计[J]. 弹道学报, 2014, 26(2): 34-38.
YANG Rong-jun, SHI Yun-guo. Design of discrete-time adaptive sliding mode controller for guided projectiles[J]. Journal of Ballistics, 2014, 26(2): 34-38. (in Chinese)
[2］ Strub G, Basset M. Skid-to-turn autopilot design and validation for an experimental guided projectile prototype[C]∥AIAA Guidance, Navigation, and Control Conference. San Diego, California, US: AIAA, 2016.

[3］ Levy M, Shima T, Gutman S. Linear quadratic integrated versus seperrated autopilot-guidance design[J]. Journal of Guidance, Control, and Dynamics, 2013, 36(6): 1722-1730.
[4］ Shima T, Idan M, Golan O. Sliding-mode control for integrated missile autopilot guidance[J]. Journal of Guidance, Control, and Dynamics, 2006, 29(2): 250-260.
[5］ Park G, Kim H, Tahk J. Time-delay control for integrated missile guidance and control[J]. International Journal of Aeronautical and Space Science, 2011, 12(3): 260-265.
[6］ Padhi R, Chawla C, Das G. Partial integrated guidance and control of interceptors for high-Speed ballistic targets[J]. Journal of Guidance, Control, and Dynamics, 2014, 37(1): 149-163
[7］ Wang X, Wang J. Partial integrated guidance and control with impact angle constraints[J]. Journal of Guidance, Control, and Dynamics, 2015, 38(5): 925-936.
[8］ Shtessel Y, Tournes C. Integrated higher-order sliding mode guidance and autopilot for dual-control missiles[J]. Journal of Guidance, Control, and Dynamics, 2009, 32(1): 79-94.
[9］薛文超, 黄朝东, 黄一. 飞行制导控制一体化设计方法综述[J]. 控制理论与应用, 2013, 30(12): 1511-1520.
XUE Wen-chang, HUANG Chao-dong, HUANG Yi. Design methods for the integrated guidance and control system[J]. Control Theory & Applications, 2013, 30(12):1511-1520. (in Chinese)

[10］王洪强, 方洋旺, 伍友利. 基于非奇异Terminal滑模的导弹末制导律研究[J]. 系统工程与电子技术, 2009, 31(6): 1391-1395.
WANG Hong-qiang, FANG Yang-wang, WU You-li. Research on terminal guidance law of missiles based on nonsingular terminal sliding mode[J]. Systems Engineering and Electronics, 2009, 31(6): 1391-1395. (in Chinese)
[11］董飞垚, 雷虎民, 周池军, 等. 导弹鲁棒高阶滑模制导控制一体化研究[J]. 航空学报, 2013, 34(9): 2212-2218.
DONG Fei-yao, LEI Hu-min, ZHOU Chi-jun, et al. Research of integrated robust high order sliding mode guidance and control for missiles[J]. Acta Aeronautica et Astronautica Sinica, 2013, 34(9): 2212-2218. (in Chinese)
[12］齐辉, 张泽, 韩鹏鑫, 等. 基于反演滑模控制的导弹制导控制一体化设计[J]. 系统工程与电子技术, 2016, 38(3): 618-623.
QI Hui, ZHANG Ze, HAN Peng-xin, et al. Integrated design of missile guidance and control based on back-stepping and sliding mode control [J]. Systems Engineering and Electronics, 2016,38(3): 618-623. (in Chinese)
[13] Levant A. Sliding order and sliding accuracy in sliding mode control[J]. International Journal of Control, 1993, 58(6): 1247-1263.
[14] Levant A. High-order sliding mode, differentiation and output-feedback control[J]. International Journal of Control, 2003, 76(9): 924-941.
[15] Zarchan P. Tactical and strategic missile guidance[M]. New York: AIAA, 2012.
[16］ Zhou D, Mu C, Xu W. Adaptive sliding-mode guidance of a homing missile[J]. Journal of Guidance, Control, and Dyna- mics, 1999, 22(4): 589-594.

第38卷
第2期2017 年2月兵工学报ACTA
ARMAMENTARIIVol.38No.2Feb.2017

[1]	娄伟鹏，郑长松，李和言，陈建文，张周立，马源. 高速《Symbol》v湿式换挡离合器排油阀临界开启和关闭压力研究[J]. 兵工学报, 2017, 38(9): 1665-1672.
[2]	王宪成，杨绍卿，马宁，赵文柱. 车辆柴油机缸套动载荷磨损计算模型研究[J]. 兵工学报, 2017, 38(9): 1673-1680.
[3]	孙皓泽，常天庆，王全东，孔德鹏，戴文君. 一种基于分层多尺度卷积特征提取的坦克装甲目标图像检测方法[J]. 兵工学报, 2017, 38(9): 1681-1691.
[4]	张玉燕，孙莎莎，王振春，曹海要，战再吉. 高速载流电枢表面瞬态温度场仿真与测量[J]. 兵工学报, 2017, 38(9): 1692-1698.
[5]	李臣明，宦超，石怀龙. 某箱式火箭炮对面目标分布式杀伤最优火力分配[J]. 兵工学报, 2017, 38(9): 1699-1704.
[6]	雷娟棉，张嘉炜，谭朝明. 小攻角下船尾外形对旋转弹丸马格努斯效应影响的数值研究[J]. 兵工学报, 2017, 38(9): 1705-1715.
[7]	李泽，闫晓鹏，栗苹，郝新红，王建涛. 扫频式干扰对调频多普勒引信的干扰机理研究[J]. 兵工学报, 2017, 38(9): 1716-1722.
[8]	张浩为，谢军伟，张昭建，宗彬锋，陈唐军. 基于混合自适应遗传算法的相控阵雷达任务调度[J]. 兵工学报, 2017, 38(9): 1761-1770.
[9]	李茂，侯海量，朱锡，黄晓明，李典，陈长海，胡年明. 结构间隙对芳纶纤维增强复合装甲结构抗侵彻性能的影响[J]. 兵工学报, 2017, 38(9): 1797-1805.
[10]	王鉴, 韩焱, 王黎明, 张丕状, 陈平. 弹丸在膛内运动的回波信号瞬时频率估计方法研究[J]. 兵工学报, 2017, 38(9): 1806-1814.
[11]	刘海鸥，张文胜，徐宜，赵梓烨. 基于核密度估计的履带车辆传动轴载荷谱编制[J]. 兵工学报, 2017, 38(9): 1830-1838.
[12]	姜缪文，闫健卓，陈继民. 基于拓扑优化技术的军用头盔内胆结构三维打印[J]. 兵工学报, 2017, 38(9): 1845-1853.
[13]	张磊，李世民，朱刚. 基于时间连续灰色Markov模型的维修器材需求预测方法研究[J]. 兵工学报, 2017, 38(9): 1862-1866.
[14]	张亚舟，李贞晓，程年恺，田慧，栗保明. 一种真空触发开关脉冲电源系统研究[J]. 兵工学报, 2017, 38(8): 1469-1475.
[15]	尹冬梅，肖宏成，栗保明. 基于三维梁理论的电磁轨道炮复合身管抗弯性能分析[J]. 兵工学报, 2017, 38(8): 1476-1482.

基于滑模观测器的鲁棒变结构一体化导引控制律

Sliding-mode-observer-based Robust Variable Structure Control for Integrated Autopilot-guidance

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价