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针对空空导弹攻击载机尾后目标的大角度机动控制问题,提出一种基于复合滑模面与扰动抑制机制的非奇异Terminal滑模(NTSM)控制器设计方法。首先建立了包含有气动不确定性的直接力控制系统(RCS)空空导弹数学模型,并采用传统NTSM控制方法设计了导弹姿态控制律。然后,在此基础上,针对大角度机动时初始状态远离平衡点的问题,设计了一种复合滑模面以加快系统收敛速度。为解决大攻角下的气动不确定性导致的严重抖振问题,引入了扩张状态观测器(ESO)技术,实现了系统不确定量的在线估计与补偿。对所提方法的稳定性分析证明了系统的有限时间收敛特性。最后,将设计的控制器应用于空空导弹的敏捷转弯大角度机动控制,仿真结果表明新方法可以加快系统收敛速度,并能有效削弱未建模动力学造成的抖振现象。
Aiming at the problem of large-angle maneuver control of aero-missile attack tail-end target, a non-singular Terminal Sliding Mode (NTSM) controller design method based on complex sliding mode and disturbance suppression mechanism is proposed. First, a mathematical model of air-to-air missile control system (RCS) including aerodynamic uncertainties is established and a missile attitude control law is designed by the traditional NTSM control method. Then, on the basis of this, aiming at the problem that the initial state moves away from the equilibrium point when maneuvering at a large angle, a compound sliding mode surface is designed to speed up the system convergence. In order to solve the severe chattering problem caused by the aerodynamic uncertainty under high attack angle, an extended state observer (ESO) technique is introduced to realize the on-line estimation and compensation of system uncertainties. The stability analysis of the proposed method proves the limited time convergence of the system. Finally, the controller is applied to agile turning large-angle maneuvering control of air-to-air missile. The simulation results show that the new method can speed up the system convergence and weaken the chattering caused by un-modeled dynamics.