摘要
针对制导炮弹高超声速运动过程中,具有高不确定性、快时变性和外界强干扰的飞行控制问题,提出一种基于干扰补偿的反演滑模控制策略。采用滑模微分器设计非线性干扰观测器,对建模不确定性、内部和外界扰动带来的等效干扰进行估计;根据反步法的递推思想将控制系统分解,对姿态角子系统设计自适应控制律并补偿其等效扰动估计值,对姿态角速度子系统设计滑模控制律并补偿等效扰动估计值;经李亚普洛夫稳定性理论证明,系统是稳定的。结果表明:所设计的控制系统能够快速稳定地跟踪指令信号,并且在建模不确定性、内部和外界干扰存在的情况下依然具有较强的抗干扰能力与跟踪精度。
Aiming at the flight control problems of high uncertainty,fast time variation and strong external interference during the hypersonic motion of guided projectiles,an inversive sliding mode control strategy based on interference compensation is proposed.First,a sliding mode differentiator is used to design a nonlinear disturbance observer to estimate the equivalent disturbance caused by modeling uncertainty,internal and external disturbances.Then,the control system is decomposed according to the recursive idea of the backstepping method,an adaptive control law is designed for the attitude angle subsystem and its equivalent disturbance estimation value is compensated,and a sliding mode control law is designed for the attitude angular velocity subsystem and the equivalent disturbance estimation value is compensated.Finally,Lyapulov′s stability theory proves that the system is stable.The results show that the designed control system can track the command signal quickly and stably,and still has a strong anti-interference ability and tracking accuracy in the presence of modeling uncertainty and internal and external interference.
作者
王成
马佳佳
张小禄
王旭刚
吴映锋
WANG Cheng;MA Jiajia;ZHANG Xiaolu;WANG Xugang;WU Yingfeng(Northwest Institute of Mechanical&Electrical Engineering,Xianyang 712099,Shaanxi,China;School of Energy and Power Engineering,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,China;Unit 63961 of PLA,Beijing 100012,China)
出处
《火炮发射与控制学报》
北大核心
2023年第2期39-45,共7页
Journal of Gun Launch & Control
关键词
高超声速制导炮弹
反步法
非线性干扰观测器
反步滑模控制
hypersonic guided projectile
backstepping method
nonlinear disturbance observer
backstepping sliding mode control
作者简介
王成(1995-),男,硕士,实习研究员,研究方向为制导炮弹飞行动力学与控制。
