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针对高超声速飞行器末制导阶段参数不确定性和耦合性强的特点,提出了导引与控制协调的一体化设计思路,建立了非线性受扰动的导引与控制一体化控制模型。结合自适应比例导引律特点,通过分段对模型简化,降低了控制律的设计难度。针对气动模型非线性不精确问题,给每段设计了鲁棒自适应BackStepping滑模控制器,再将各段控制律在时间上融合。针对控制回路饱和与延迟特性,提出一种将导引指令缩放和相位提前的修正方法。仿真结果表明,所提方法可行有效,鲁棒性强。
Aiming at the characteristics of uncertainty and strong coupling of the final guidance phase of the hypersonic vehicle, an integrated design idea of guidance and control coordination is put forward. An integrated guidance and control model of nonlinear perturbation is established. Combined with the characteristics of adaptive proportional guidance law, the model is simplified by subsection, which reduces the design difficulty of control law. Aiming at the nonlinear inaccuracy of the aerodynamic model, a robust adaptive BackStepping Sliding Mode Controller is designed for each segment, and then the control law of each segment is fused in time. Aiming at the saturation and delay characteristics of the control loop, a method of correcting the pilot command scaling and phase advancement is proposed. Simulation results show that the proposed method is feasible and robust.