带三维落角约束的寻的导弹制导与姿控系统设计

Guidance and control system design for homing missiles with three dimensional impact angle constraints

针对带三维落角约束的寻的导弹制导与姿态控制系统设计问题,提出一种基于终端滑模控制和扩张状态观测器的六自由度制导控制系统设计方法。建立包含模型不确定项的寻的导弹六自由度质心与绕质心模型,设计内外双层环路六自由度制导控制系统框架;基于弹-目三维相对运动模型和坐标系转移矩阵建立以攻角和侧滑角为输入的三维全耦合导引方程,利用终端滑模控制方法和扩展状态观测器得到期望的攻角和侧滑角并将其转化为对应的俯仰、偏航和滚转角指令;根据线性形式的寻的导弹绕质心动力学方程,设计与俯仰、偏航和滚转角相关的滑模面向量,并利用终端滑模控制方法和扩张状态观测器得到寻的导弹的副翼偏角、方向舵偏角和俯仰舵偏角指令。六自由度数值仿真结果验证了该方法的有效性和鲁棒性,并证明了该制导控制系统设计方法能以较少的控制设计参数完成预设的制导控制任务。

A PIGC （partial integrated guidance and control） design approach for the homing missile with 3D （three dimensional ） impact angle constraints was proposed. The 6DoF （six-degree-of-freedom） dynamic and kinematical equations of the translational and rotational loops of the homing missile were designed. For implementing the PIGC scheme, a two loop control structure was adopted. The outer loop model based on the 3D relative dynamics and the precise coordinate transformations was employed. The desired angle of attack and the sideslip angle were obtained with the help of the sliding mode control theory and the ESO （extended state observer）. A linear form dynamic model of the rotational loop was derived. The sliding surface vector with respect to desired roll, yaw, and pitch angles was conducted and the anticipate control surface fin deflections were obtained based on the ESO. Finally, the effectiveness and robustness of the newly proposed PIGC scheme are investigated and verified via appropriate 6DoF nonlinear simulation studies with respect to the ground fixed target.