导弹编队飞行控制方法研究

为实现多导弹协同作战时的编队飞行,基于滑模变结构、自适应及非线性动态逆控制理论研究了导弹编队飞行控制方法. 在领弹的速度、加速度以及从弹的速度未知的前提下,将领弹与从弹的相对速度以及领弹的加速度视为可估计的有界不确定量,基于滑模变结构控制理论提出一种仅需弹间相对位置和相对速度信息的鲁棒编队控制律. 采用边界层法消除了系统的抖颤现象,并根据编队稳态误差的要求分析了边界层厚度的设置方法. 运用奇异摄动理论将导弹非线性动力学系统划分为3个快慢变化不同的子系统,考虑系统所受的外部干扰并将其视作有界不确定量引入慢变子系统中,基于自适应变结构控制和非线性动态逆控制理论,设计了具有鲁棒性的导弹编队自动驾驶仪. 仿真结果表明,导弹编队自动驾驶仪能够准确跟踪编队控制指令,实现多导弹的编队飞行. 

Control Method for Missile Formation Flight

In this paper, the control method for missiles formation flight in the cooperative engagement was investigated based on variable structure control (VSC), adaptive control and nonlinear dynamic inversion control theory. Under the condition that the velocity and acceleration of the leader as well as the velocity of the follower were unknown, taking the relative velocity between the leader and follower as well as the acceleration of the leader as boundary uncertainties that can be estimated, a robust control law for missiles formation was proposed based on VSC, in which only the guidance information of relative position and relative velocity between missiles was required. The boundary layer method was adopted to eliminate the system chatting, and the setting method of boundary layer thickness was discussed to guarantee the formation control precision. The missile nonlinear dynamic system was divided into three subsystems from fast to slow based on singular perturbation theory. The extern disturbance acting on the missile system was taken into account and regarded as a boundary uncertainty in slow subsystem. Then a robust autopilot was designed based on adaptive variable structure control and nonlinear dynamic inversion control theory. Simulation results show that the missile autopilot can track the formation control command and the missiles formation can be realized.