基于大指令变化率下的防空导弹姿态控制方法

doi:10.12305/j.issn.1001-506X.2024.07.28

摘要/Abstract

摘要：

针对防空导弹的目标机动性较强带来的姿态控制品质变差的问题, 提出一种事件触发控制方法。首先分析了由于目标机动性过强导致的指令变化率未知, 以及指令变化率过大导致稳态误差较大的原因。针对此问题引入非线性最速跟踪微分器获取指令变化率, 研究指令变化率与姿态角误差之间关系, 定义稳态效应指标, 并在该指标基础上设计了基于事件触发的新增控制量。采用滑模控制和扰动观测器使系统在指令变化率较大条件下的稳态误差被抑制在5%误差带之内。在工程实践的背景下, 数值仿真考虑了气动参数拉偏以及执行机构限幅, 仿真结果验证了设计的控制系统的有效性。

关键词: 防空导弹, 姿态控制, 触发控制, 微分器, 稳态效应指标

Abstract:

Aiming at the problem of poor attitude control quality caused by strong target maneuverability of air defense missile, an event-triggered control method is proposed. Firstly, the unknown command change rate caused by the strong maneuverability of the target and the reason of the large steady-state error caused by the excessive command change rate are analyzed. To solve this problem, a nonlinear fastest tracking differentiator is introduced to obtain the command change rate, the relationship between the command change rate and the attitude angle error is studied, the steady-state effect index is defined, and the new event-based control quantity is designed based on this index. By using sliding mode control and disturbance observer, the steady-state error of the system is suppressed within 5% error band under the condition of higher command change rate. In the background of engineering practice, the numerical simulation takes into account the deviation of aerodynamic parameters and the limiting of actuator, and the simulation results verify the effectiveness of the designed control system.

Key words: air defense missile, attitude control, trigger control, differentiator, steady-state effect index

中图分类号:

V448.2

闫帅豪, 魏明英, 郑勇斌. 基于大指令变化率下的防空导弹姿态控制方法[J]. 系统工程与电子技术, 2024, 46(7): 2465-2474.

Shuaihao YAN, Mingying WEI, Yongbin ZHENG. Attitude control method of air defense missile based on large command change rate[J]. Systems Engineering and Electronics, 2024, 46(7): 2465-2474.

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参数	取值
姿态角指令	$\left\{\begin{array}{l}\alpha_{c}=7 \sin (4 {\rm{\mathsf{π}}} t)^{\circ} \\\beta_{c}=0^{\circ} \\\gamma_{c}=0.2^{\circ}\end{array}\right.$
观测器参数	$\boldsymbol{\varLambda}=\operatorname{diag}(50, 50, 50, 50, 50, 50)$
TD	r=200, α=0.75
控制系统参数	$\left\{\begin{array}{l}\boldsymbol{K}_{1}=\operatorname{diag}(50, 50, 50) \\\boldsymbol{K}_{2}=\operatorname{diag}(5, 10, 5)\end{array}\right.$ $\left\{\begin{array}{l}\boldsymbol{M}_{1}=\operatorname{diag}(0.01, 0.01, 0.001) \\\mathbf{N}_{1}=\operatorname{diag}(0.001, 0.001, 0.0001)\end{array}\right.$ $\left\{\begin{array}{l}\boldsymbol{M}_{2}=\operatorname{diag}(0.01, 0.1, 0.1) \\\mathbf{N}_{1}=\operatorname{diag}(0.001, 0.01, 0.01)\end{array}\right.$ $\left\{\begin{array}{l}J_{i}>0, k_{0 i}=-0.9 \\J_{i}<0, k_{0 i}=1.1\end{array}\right.$

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