滑模控制在制导弹药弹道跟踪中的应用

Application of Sliding Mode Control on Trajectory Following for Guided Munitions

为使制导弹药有效地沿方案弹道飞行,研究了以姿态角为控制指令的三维滑模弹道跟踪控制系统。探讨了基于弹道修正策略的跟踪控制方案,将动态逆方法与趋近律滑模控制相结合设计了跟踪控制器。分析了控制器参数与系统的闭环稳定性、抖振与跟踪性能之间的关系。根据空间几何运动关系设计了过渡参考弹道,有效避免了启控点偏差带来的控制饱和问题,并给出了光滑的控制指令信息。弹道仿真表明,滑模控制可使制导弹药较严格地按期望轨迹飞行,对各种干扰具有较强的鲁棒性,控制器边界层参数的选择需综合权衡控制精度和抖振问题。

In order to make guided munitions follow the planned trajectory effectively,a three-di-mensional sliding-mode trajectory tracking-control-system was proposed.The tracking control scheme based on the trajectory correction strategy was discussed,and the tracking controller was designed by combining the dynamic inversion method and sliding mode control with reaching law. The influence of the controller parameters on the closed-loop stability,chattering and the tracking performance were also analyzed.A transition reference trajectory was designed to avoid control saturation problem caused by the start location deviation,and the smooth control-command information was given according to the geometry relationship.The simulation shows that the sliding mode control can make guidance munitions fly along the planned trajectory,and it is strong robust to external disturbance.The setting of controller parameters is a tradeoff between the control precision and the chattering problem.