考虑齿隙的多约束导引控制一体化设计方法

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...

Integrated guidance and control design method with multiple constraints and backlash

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.