考虑齿隙的多约束导引控制一体化设计方法

doi:10.12305/j.issn.1001-506X.2022.04.30

摘要/Abstract

摘要：

在舰炮制导炮弹进行远程对岸火力支援的末段, 考虑舵机齿隙、限定攻击角以及测量视线角速率受限, 提出了一种基于动态面滑模与扩张状态观测器的多约束导引控制一体化设计方法。构建了制导炮弹的导引控制一体化的严反馈串级模型, 将舵机视为更符合实际的含齿隙双惯量子系统。针对视线角速率和风等未知干扰, 设计扩张状态观测器对其实施迅速而准确的估计。设计具备自适应指数趋近律的非奇异终端滑模, 致使视线角速率与视线角跟踪误差在有限时间内零化。在高阶串级系统中合理运用动态面滑模, 有效改善微分膨胀问题。运用Lyapunov理论证明了系统一致最终有界性以及重要状态的有限时间收敛性。通过对比仿真实验, 在所提方法的调控下, 含有舵机齿隙的制导炮弹在打击固定与蛇形机动目标时, 均具有良好的制导性能。

关键词: 制导炮弹, 导引控制一体化, 多约束, 齿隙, 动态面滑模

Abstract:

At the end of long-range shore fire support by naval gun guided projectile, an integrated guidance and control design method with multiple constraints based on dynamic surface sliding mode and extended states observer is proposed, considering the canard backlash, impact angle constraint and limitation of measurement line of sight (LOS) angle rate. The strict feedback cascade model of integrated guidance and control for guided projectile is constructed, and the canard is regarded as more practical dual inertial quantum system with backlash. For unknown disturbances such as LOS angle rate and wind, an extended state observer is designed to estimate them quickly and accurately. A nonsingular terminal sliding mode with adaptive exponential reaching law is designed to make the LOS angle rate and LOS angle tracking error zero in finite time. In order to improve the differential expansion problem effectively, dynamic surface sliding mode is used in high-order cascade system. The system uniform and ultimate bounded and finite time convergence of important states are proved through Lyapunov theory. Through comparative simulation experiments, under control of the proposed method, the guided projectile with actuator backlash possess good guidance performance when attacking fixed and snake maneuvering targets.

Key words: guided projectile, integrated guidance and control, multiple constraints, backlash, dynamic surface sliding mode

中图分类号:

TJ413.+6

姜尚, 魏波, 梁伟阁, 孙东彦, 李进军, 马野. 考虑齿隙的多约束导引控制一体化设计方法[J]. 系统工程与电子技术, 2022, 44(4): 1318-1328.

Shang JIANG, Bo WEI, Weige LIANG, Dongyan SUN, Jinjun LI, Ye MA. Integrated guidance and control design method with multiple constraints and backlash[J]. Systems Engineering and Electronics, 2022, 44(4): 1318-1328.

图/表 11

图1

图2

图3

表1

表2

表3

表4

表5

图4

表6

图5

参考文献 31

1	姜尚, 田福庆, 孙世岩, 等. 适应海上火力支援新需求的末端导引控制方法综述[J]. 飞航导弹, 2019, (6): 75- 82.
	JIANG S , TIAN F Q , SUN S Y , et al. Summary of terminal guidance and control method to meet the new requirements of marine fire support[J]. Aerodynamic Missile Journal, 2019, (6): 75- 82.
2	CHANG S J . Dynamic response to canard control and gravity for a dual-spin projectile[J]. Journal of Spacecraft and Rockets, 2016, 53 (3): 558- 566. doi: 10.2514/1.A33485
3	JIANG S , TIAN F Q , SUN S Y , et al. Integrated guidance and control of guided projectile with multiple constraints based on fuzzy adaptive and dynamic surface[J]. Defense Technology, 2020, 16 (6): 1130- 1141. doi: 10.1016/j.dt.2019.12.003
4	GUO J G , XIONG Y , ZHOU J . A new sliding mode control design for integrated missile guidance and control system[J]. Aero-space Science and Technology, 2018, 78, 54- 77. doi: 10.1016/j.ast.2018.03.042
5	HE S M , WANG W , WANG J . Adaptive backstepping impact angle control with autopilot dynamics and acceleration saturation consideration[J]. International Journal of Robust and Nonlinear Control, 2017, 27, 3777- 3794.
6	MENG K Z , ZHOU D . Super-twisting integral-sliding-mode guidance law considering autopilot dynamics[J]. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aero-space Engineering, 2018, 232 (9): 1787- 1799. doi: 10.1177/0954410017703413
7	SEO M , LEE C , TAHK M . New design methodology for impact angle control guidance for various missile and target motions[J]. IEEE Trans.on Control Systems and Technology, 2018, 26 (6): 2190- 2197. doi: 10.1109/TCST.2017.2749560
8	WILLIAMS D E, RICHMAN J, FRIEDLAND B. Design of an integrated strapdown guidance and control system for a tactical missile[C]//Proc. of the AIAA Guidance and Control Conference, 1983: AIAA 1983-2169.
9	JEGARKANDI M F , ASHRAFIFAR A , MOHSENIPOUR R . Adaptive integrated guidance and fault tolerant control using backstepping and sliding mode[J]. International Journal of Aero-space Engineering, 2015, 2015 (6): 1- 7.
10	VADDI S , MENON P K , OHLMEYER E J . Numerical state-dependent riccati equation approach for missile integrated guidance control[J]. Journal of Guidance, Control, and Dynamics, 2012, 32 (2): 699- 703.
11	XIN M , BALAKRISHNAN S N , OHLMEYER E J . Integrated guidance and control of missiles with θ D method[J]. IEEE Trans.on Control Systems Technology, 2006, 14 (6): 981- 992. doi: 10.1109/TCST.2006.876903
12	SEYEDIPOUR S H , JEGARKANDI M F , SHAMAGHDARI S . Nonlinear integrated guidance and control based on adaptive backstepping scheme[J]. Aircraft Engineering and Aerospace Technology, 2017, 89 (3): 415- 424. doi: 10.1108/AEAT-12-2014-0209
13	IBARRONDO F B , SANZ-ARANGUEZ P . Integrated versus two-loop guidance-autopilot for a dual control missile with high-order aerodynamic model[J]. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2016, 230 (1): 60- 76. doi: 10.1177/0954410015586862
14	WANG Y L , TANG S J , SHANG W , et al. Adaptive fuzzy sliding mode guidance law considering available acceleration and autopilot dynamics[J]. International Journal of Aerospace Engineering, 2018, 2018, 6081801.
15	GUO J G , XIONG Y , ZHOU J . A new sliding mode control design for integrated missile guidance and control system[J]. Aerospace Science and Technology, 2018, 78, 54- 77. doi: 10.1016/j.ast.2018.03.042
16	JIANG S , TIAN F Q , SUN S Y . Integrated guidance and control design of rolling guided projectile based on adaptive fuzzy control with multiple constraints[J]. Mathematical Problems in Engineering, 2019, 2019, 6309462.
17	KOREN A , IDAN M , GOLAN O M . Integrated sliding mode guidance and control for missile with on-off actuators[J]. Journal of Guidance, Control, and Dynamics, 2015, 31 (1): 204- 214.
18	SAGLIANO M , MOOIJ E , THEIL S . Adaptive disturbance-based high-order sliding-mode control for hypersonic-entry vehicles[J]. Journal of Guidance, Control, and Dynamics, 2017, 40 (3): 521- 536. doi: 10.2514/1.G000675
19	WANG L , ZHANG W H , WANG D H , et al. Command filtered back-stepping missile integrated guidance and autopilot based on extended state observer[J]. Advances in Mechanical Engineering, 2017, 9 (11): 1- 13.
20	HAN J Q . From PID to active disturbance rejection control[J]. IEEE Trans.on Industrial Electronics, 2009, 56 (3): 900- 906. doi: 10.1109/TIE.2008.2011621
21	WANG J H , CAI Y W , CHENG L , et al. Active disturbance rejection guidance and control scheme for homing missiles with impact angle constraints[J]. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2019, 233 (3): 1133- 1146. doi: 10.1177/0954410017748968
22	YANG S J , GUO J G , ZHOU J . New integrated guidance and control of homing missiles with an impact angle against a ground target[J]. International Journal of Aerospace Engineering, 2018, 2018, 3968242.
23	SUN L , YI W J , YUAN D D , et al. Application of elman neural network based on genetic algorithm in initial alignment of SINS for guided projectile[J]. Mathematical Problems in Engineering, 2019, 2019, 5810174.
24	HE S M , SONG T , LIN D F . Impact angle constrained integrated guidance and control for maneuvering target interception[J]. Journal of Guidance, Control, and Dynamics, 2017, 40 (10): 2652- 2660.
25	田福庆, 姜尚, 梁伟阁. 含齿隙弹载舵机的全局反步模糊自适应控制[J]. 自动化学报, 2019, 45 (6): 1177- 1185.
	TIAN F Q , JIANG S , LIANG W G . Global backstepping fuzzy adaptive control for ammunition actuator with backlash[J]. Acta Automatica Sinica, 2019, 45 (6): 1177- 1185.
26	WU J , LI J , CHEN W S . Practical adaptive fuzzy tracking control for a class of perturbed nonlinear systems with backlash nonlinearity[J]. Information Sciences, 2017, 420, 517- 531. doi: 10.1016/j.ins.2017.08.085
27	YIN Z , HE M , KAYNAK O , et al. Uncertainty and distur-bance estimator-based control of a flapping-wing aerial vehicle with unknown backlash-like hysteresis[J]. IEEE Trans.on Industrial Electronics, 2020, 67 (6): 4826- 4835. doi: 10.1109/TIE.2019.2926055
28	LAI G Y , LIU Z , ZHANG Y , et al. Adaptive fuzzy tracking control of nonlinear systems with asymmetric actuator backlash based on a new smooth inverse[J]. IEEE Trans.on Cybernetics, 2016, 46 (6): 1250- 1262. doi: 10.1109/TCYB.2015.2443877
29	TARBOURIECH S , QUEINNEC I , PRIEUR C . Stability analysis and stabilization of systems with input backlash[J]. IEEE Trans.on Automatic Control, 2014, 59 (2): 488- 494. doi: 10.1109/TAC.2013.2273279
30	SHEN Q K , SHI Y , JIA R F , et al. Design on type-2 fuzzy-based distributed supervisory control with backlash-like hysteresis[J]. IEEE Trans.on Fuzzy Systems, 2019, 29 (2): 252- 261.
31	YU M , EVANGELOU S A , DINI D . Position control of parallel active link suspension with backlash[J]. IEEE Trans.on Industrial Electronics, 2019, 67 (6): 4741- 4751.

参数	数值	参数	数值
x_T0/m	3 000	v_T0/(m·s^-1)	0
y_T0/m	0	w_x/(m·s^-1)	2
θ_Qf/(°)	-65	τ_T	0.01
θ_T0/(°)	0	—	—

参数	数值	参数	数值
x_P0/m	0	k_α	35
y_P0/m	4 000	l/m	1.5
θ_P0/(°)	-10	d/m	0.15
c_x	0.51	m/kg	48
c′_y	23.1	v_P0/(m·s^-1)	357
c_y^δ_z	4.9	ΔF_{P_x2}/N	sin t
m′_z	-7.1	ΔF_{P_y2}/N	2sin t
m′_zz	11.4	T_d/(N·m)	2cos t
m_z^δ_z	2.1	ΔM/(N·m)	cos t

参数	数值	参数	数值
K_v	0.95	J_m/(kg·m²)	0.006 7
K_ip	6.3	K_t/(N·m·A^-1)	8
K_vp	5.5	k_c/(N·m·rad^-1)	320
N_δ	78	h_δ/(N·m·rad^-1)	0.12
j_δ/(°)	0.2	B_m/(N·m·s·rad^-1)	0.12
R_Ω/Ω	0.5	B_δ/(N·m·s·rad^-1)	0.23

参数	数值	参数	数值	参数	数值
β	10	k₂	0.2	c₂	1
ϕ	1.5	k₃	2	c₃	2
τ₄	0.01	k₄	1.3	c₄	1
τ₅	0.01	k₅	1.5	c₅	1.2
τ₆	0.01	k₆	1.5	c₆	1
τ₇	0.01	k₇	1.8	c₇	1.5
τ₈	0.01	k₈	2.1	c₈	1.5

设计方法	脱靶量/m	命中时间/s	θ_Qf误差/(°)
IGCMCB	0.486	14.800	0.064
ADSC&PID	1.136	15.110	0.128