基于二阶平滑的巡航导弹航路跟踪控制

针对巡航导弹航路的精确跟踪控制问题,采用对称极多项式曲线对初始折线航路进行平滑,并基于反馈线性化方法和最优控制理论设计了轨迹跟踪控制器。基于“提前转弯式”的航路平滑思想,用对称极多项式曲线航路替换存在夹角的相邻航路段的部分航路,实现飞行航路的二阶平滑过渡; 采用基于“虚拟目标”的航路跟踪方法建立了巡航导弹轨迹跟踪误差状态方程,并采用线性二次最优控制理论设计了轨迹跟踪控制器。仿真结果表明,基于对称极多项式曲线的平滑航路曲率连续,且满足导弹机动性能约束,能够有效减小航路跟踪误差,实现巡航导弹的精确航路跟踪。

Cruise Missile Path Tracking Based on Path Second-order Smoothing

In order to solve the precise path tracking problem of cruise missile,the symmetrical polar polynomial curve was used to smooth the flight path composed of line segments,and the trajectory tracking controller was designed based on feedback linearization and the optimal control theory. Based on the idea of“turning in advance”,symmetrical polar polynomial curve was used to replace a portion of path with inclination to realize the second-order smoothing of flight path. A virtual target moving on the pre-specified path was used to structure the tracking error state model,and a trajectory tracking controller was designed based on linear quadratic optimal control theory. Simulation results show that the curvature of smooth path based on symmetrical polar polynomial curve is continuous,and meets the restriction of turn radius of cruise missile. The proposed method can achieve a smaller tracking error effectively and realize precise tracking of the pre-specified flight path.