考虑冲压发动机工作边界的导弹大过载机动反演控制

Backstepping Control of Missile High Overload Maneuver with Ramjet Work Boundary Constraint

针对冲压发动机导弹大过载机动控制问题,设计了基于干扰观测器的反演控制器。根据导弹纵向运动方程建立了过载控制和马赫数控制模型,将模型存在的不确定性和扰动视为总干扰,采用扩张状态观测器进行精确估计,然后设计了过载回路和马赫数回路的反演控制器,为避免对控制器中的虚控制量多次求导导致“微分膨胀”,采用反正切跟踪微分器对其进行精确估计,最后采用Lyapunov方法对控制器的稳定性进行了证明。仿真结果表明,所设计的控制器能够快速稳定地跟踪指令信号,且过载通道和马赫数通道之间耦合较小,充分验证了所设计控制器的有效性。

A backstepping controller based on disturbance observer was designed for the ramjet missile high overload maneuver. The overload control model and Mach control model were derived from the longitude motion equations,the uncertainties of control models and the unknown disturbances were regarded as total disturbance and extended as a new state and estimated precisely by extended states observer,then the backstepping control laws of the overload loop and the Mach loop using the total disturbance estimation and compensation were designed. The arctangent-based tracking differentiator was used to estimate the first-order derivatives of virtual control parameters included in the backstepping control laws in order to avoid the‘differential explosion problem’. Finally the stabilities of control laws were proved based on Lyapunov theory. The simulation results show that the controllers can track the command signals rapidly,meanwhile the coupling between overload loop and Mach loop is very weak,so the effectiveness of the proposed controller is proved for the ramjet missile high overload maneuver.