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质量矩导弹姿态运动模型含有活动质量块的位置、速度和加速度项,是典型的带有输入非线性的快时变多体系统。从构型和控制律设计两方面入手研究该类导弹跟踪控制问题。通过对姿态动力学模型的深入分析,获得了一种使系统具备良好动态品质的构型。以此为基础,建立了仿射型姿态运动模型,利用退步方法设计了控制律;考虑到系统中存在气动参数、外界扰动和执行机构动态特性等不确定因素,设计了鲁棒自适应补偿项;最后进行数学仿真,通过与标准退步控制律进行比较,验证了该控制律的有效性。
The mass moment missile attitude movement model contains the position, velocity and acceleration of the moving mass, which is a typical fast time-varying multibody system with input nonlinearity. From the aspects of configuration and control law design, this paper studies the tracking control of such missiles. Through in-depth analysis of the attitude dynamics model, a system with good dynamic quality was obtained. Based on this, an affine model of attitude motion is established and the regressive method is used to design the control law. Considering the uncertainties such as aerodynamic parameters, external disturbances and dynamic characteristics of actuators, a robust adaptive compensation term Finally, mathematical simulation is carried out to verify the effectiveness of the control law by comparing with the standard regression control law.