北京航空航天大学学报 ›› 2019, Vol. 45 ›› Issue (3): 614-623.doi: 10.13700/j.bh.1001-5965.2018.0387

• 论文 • 上一篇    下一篇

带落角约束的新型二阶滑模三维制导律

史绍琨, 赵久奋, 崇阳, 杨奇松, 尤浩   

  1. 火箭军工程大学 作战保障学院, 西安 710025
  • 收稿日期:2018-06-27 出版日期:2019-03-20 发布日期:2019-04-04
  • 通讯作者: 赵久奋,E-mail:xiangcdx1994@163.com E-mail:xiangcdx1994@163.com
  • 作者简介:史绍琨,男,硕士研究生。主要研究方向:飞行器总体、结构分析与飞行力学;赵久奋,男,博士,硕士生导师。主要研究方向:飞行器总体、结构分析与飞行力学。

Novel second-order sliding mode control based 3D guidance law with impact angle constraints

SHI Shaokun, ZHAO Jiufen, CHONG Yang, YANG Qisong, YOU Hao   

  1. College of Operational Support, Rocket Force University of Engineering, Xi'an 710025, China
  • Received:2018-06-27 Online:2019-03-20 Published:2019-04-04

摘要: 针对导弹在三维空间中攻击地面机动目标问题,提出了一种带落角约束的三维有限时间制导律。为提高收敛速度和抑制抖振现象,基于非齐异快速终端滑模面和二阶滑模控制理论设计了含耦合项的非奇异快速终端二阶滑模三维制导律,设计过程中无需对系统模型作线性化处理并且避免了奇异问题的出现。针对目标机动信息和视线角耦合带来的总扰动,设计了非齐次干扰观测器进行估计并补偿。并对制导律的稳定性和有限时间收敛特性进行了严格的数学证明。仿真验证了本文提出制导律的有效性和优越性。

关键词: 落角约束, 快速终端滑模, 二阶滑模, 三维制导律, 干扰观测器, 有限时间收敛

Abstract: To deal with the problem of missile for attacking ground maneuvering target in 3D space, a 3D finite-time guidance law with impact angle constraints is proposed. In order to improve convergence speed and suppress chattering problem, the nonsingular fast terminal second-order sliding mode control based 3D guidance law with coupling terms is designed based on the nonsingular fast terminal sliding surface and the second-order sliding mode control theory. System model linearization is not needed and singular problem is avoided in the design process. A nonhomogeneous disturbance observer is designed to estimate and compensate the total disturbance, which is caused by target maneuvering information and coupling terms of line of sight. And the stability and finite-time convergent characteristics of the proposed guidance law are proved mathematically. The effectiveness and superiority of the proposed guidance law are verified by numerical simulation.

Key words: impact angle constraint, fast terminal sliding mode, second-order sliding mode, 3D guidance law, disturbance observer, finite-time convergence

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