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针对带终端角度约束的STT飞行器,提出一种三维制导控制一体化设计方法。首先,推导出面向三维制导控制一体化设计的非线性数学模型。然后,针对一类多变量非线性系统,构造了一种鲁棒动态逆设计方法。结合鲁棒动态逆和反演设计方法,完成了制导控制一体化算法的初步设计。最后,针对传统反演法带来的“计算膨胀”问题以及非线性补偿项引发的控制量抖动问题,对已完成的初步算法做进一步改进。仿真结果表明,所提出的三维制导控制一体化算法可确保飞行器的稳定飞行与精确制导,满足终端角度的约束要求,并且具备针对参数不确定性的强鲁棒性。
For the STT aircraft with terminal angle constraints, a three-dimensional guidance control integrated design method is proposed. First of all, a nonlinear mathematical model for three-dimensional guidance control integrated design is derived. Then, for a class of multivariable nonlinear systems, a robust dynamic inverse design method is constructed. Combined with the robust dynamic inversion and inversion design method, the preliminary design of integrated guidance control algorithm was completed. Finally, aiming at the problem of “calculating the expansion ” caused by the traditional inversion method and the dithering of the control amount caused by the nonlinear compensation term, the preliminary algorithm completed is further improved. Simulation results show that the proposed integrated three-dimensional guidance control algorithm can ensure the stable flight and precise guidance of the aircraft to meet the constraints of the terminal angle requirements, and has strong robustness against parameter uncertainty.