Three-dimensional integrated guidance and control design with fixed-time convergence
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摘要:
针对终端角度约束、状态约束和控制受限问题，在三维空间内，提出一种固定时间收敛的导弹制导控制一体化设计方法。构建了带终端角度约束的制导控制系统三通道全耦合设计模型，采用固定时间收敛的滑模干扰观测器对一体化设计模型中的未知干扰进行估计和补偿。基于固定时间稳定性理论、终端滑模控制和反演控制方法等对制导控制系统进行一体化设计，并采用二阶指令滤波器对系统状态及控制指令进行约束。对所提方法的固定时间收敛特性进行证明，并给出具体的收敛时间表达式。通过导弹六自由度仿真，验证了所提方法的有效性和优越性。
Abstract:This paper proposes a three-dimensional integrated design method for missile guidance and control with fixed-time convergence to address the issues of impact angle constraints, state constraints, and control constraints. A three-channel fully coupled design model of guidance and control system with impact angle constraints is constructed, and the unknown disturbances in the integrated design model are estimated and compensated by a fixed-time convergent sliding mode disturbance observer. Based on the fixed-time stability theory, terminal sliding mode control and backstepping control method, the integrated design of the guidance and control system is carried out, and the second-order instruction filter is used to restrict the system states and control instructions. The fixed-time convergence property of the integrated algorithm is proved, and the specific convergence time expression is given. The effectiveness and superiority of the integrated guidance and control law are verified by six degrees of freedom simulation of the missile.
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图 3 弹目视线倾角、偏角曲线和弹目相对距离
Figure 3. LOS elevation angles, LOS azimuth angles and relative distances of missile and target
表 1 导弹动力学参数
Table 1. Missile dynamics parameters
参数 数值 参数 数值 参数 数值 $m$/kg 1200 $m_{x1}^{\beta}$ −0.38 $C_y^{\beta}$ −0.081 $S$/m2 0.42 $m_{x1}^{\delta_x}$ 2.13 $C_y^{\delta_{\textit{z}}}$ 5.75 $ L $/m2 0.69 $m_{y1}^{\beta}$ −27.30 $C_{\textit{z}}^{\alpha}$ 0.09 $J_{x1} $/(kg·m2) 100 $m_{y1}^{\delta_y}$ −26.60 $C_{\textit{z}}^{\beta}$ −56.32 $J_{y1} $/(kg·m2) 5800 $m_{{\textit{z}}1}^{\alpha}$ −28.15 $C_{\textit{z}}^{\delta_y}$ −5.6 $J_{{\textit{z}}1}$/(kg·m2) 5700 $m_{{\textit{z}}1}^{\delta_{\textit{z}}}$ −27.90 g/(m·s−2) 9.8 $m^\alpha_{x1} $ 0.45 $C_y^{\alpha}$ 57.15 $V_{\rm{m}}$/(m·s−1) 600 
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表 2 不同一体化控制律的仿真结果
Table 2. Simulation results of different integrated control laws
控制律 攻击
时间/s脱靶量/m 视线倾角
误差/(°)视线偏角
误差/(°)RCIGC 14.69 2.33 0.63 0.51 FTIGC 14.82 1.71 0.22 0.43 本文方法 14.77 0.71 0.05 0.04
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