战术导弹垂直发射姿态调转次最小时间控制器

Near-minimum-time Attitude Maneuver Control of Vertical Launching Tactical Missile

针对战术导弹垂直发射姿态调转时的快速性要求,研究了垂直发射快速姿态调转的次最小时间控制问题。首先基于误差四元数并结合垂直发射的具体特点,建立了战术导弹垂直发射的非线性数学模型;然后基于误差四元数和最优控制理论进行控制系统设计,得出了一种基于误差四元数的非线性反馈控制器,该控制器不仅实现了绕欧拉特征轴的旋转,而且实现了绕特征轴的次最小时间控制,缩短了姿态调转的时间,最后通过仿真验证其有效性。

This paper deals with the near-minimum-time attitude maneuver control of vertical launching tactical missile, in order to solve fast attitude maneuver of this kind of missile. According to the features related to the vertical launching tactical missile, a nonlinear dynamics model is established based on error quaternion. By using optimal control theory, a nonlinear control regulation is derived, which uses quaternion as a measure of attitude errors to achieve tracking via instantaneous eigenaxis rotation. The regulation realizes Eigenaxis Rotation and near-minimum-time attitude maneuver. Numerical simulations prove that the regulation is effective.