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考虑目标机动和自动驾驶仪动态特性等情况,基于扰动观测器(DOB)技术及Backstepping的设计思想,提出了一种新型的三维导引律。运用Backstepping的设计思想,将包含驾驶仪动态特性的制导环路分为外环和内环两个环路。将目标机动及俯仰和偏航平面间的交叉耦合项当成外环扰动,将驾驶仪参数不确定当成内环扰动,分别设计内外扰动观测器将它们估计出来,利用估计值做前馈补偿得到的外环控制器可抑制目标机动对制导精度的影响及实现两个平面的解耦控制,内环控制器补偿驾驶仪动态特性对制导精度的影响。导引律的设计在于使得导弹的实际加速度跟踪上外环的虚拟控制。仿真结果表明:在目标做大机动、考虑驾驶仪动态特性的情况下,这种导引律仍然具有良好的制导精度。
Considering the dynamic characteristics of target maneuvering and autopilot, a new three-dimensional guiding law is proposed based on the design of disturbance observer (DOB) and Backstepping. Backstepping design concept, will be included in the guidance of dynamic characteristics of the pilot loop into the outer ring and the inner ring two loops. The cross-coupling term between the target maneuver, the pitch and the yaw plane is regarded as the disturbance of the outer ring, the uncertainty of the pilot’s parameter is regarded as the disturbance of the inner ring, the disturbance observers are designed to estimate them respectively, and the estimated value is used as the feedforward compensation The outer ring controller can restrain the influence of the target maneuver on the guidance accuracy and realize the decoupling control of two planes. The inner ring controller compensates the influence of the dynamic characteristics of the pilot on the guidance accuracy. The design of the guidance law is to make the actual acceleration of the missile track the virtual control of the outer ring. The simulation results show that this guidance law still has good guidance accuracy when the target is maneuvering and considering the dynamic characteristics of the pilot.