基于误差四元数的战术导弹垂直发射姿态调转滑模控制器

Attitude maneuver control of vertical launching tactical missile based on error quaternion

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;然后通过滑模变结构控制理论进行控制系统设计,得出了基于误差四元数反馈控制器,分析了系统的稳定性和鲁棒性。该控制器实现了绕欧拉特征轴的旋转,缩短了姿态调转的时间,最后通过仿真验证其有效性。

In order to solve fast attitude maneuver of vertical launching tactical missile,the angle attitude maneuver control of this kind of missile is studied. According to the features related to the vertical launching tactical missile, a nonlinear dynamics model was established based on error quaternion. By using Variable Structure Control method, a nonlinear control regulation was derived,which used quaternion as a measure of attitude errors to achieve tracking via instantaneous eigenaxis rotation. The stability and robustness of the new control regulation were discussed in this paper. The regulation realizes Eigenaxis Rotation and shortens attitude maneuver time. Numeric simulations prove that it is effective.