导弹制导的协同控制方法

针对导弹制导系统中存在的模型不确定性和外部扰动,研究了末制导规律的设计与实现问题。首先,建立了导弹三维制导的运动学模型,描述了俯仰通道和偏航通道之间的耦合关系。其次,针对无终端约束和有终端约束情况,基于协同控制理论分别设计了非线性制导规律。然后,将制导模型中的目标机动加速度、通道耦合项及量测误差视为系统总扰动,利用扩张状态观测器对其进行估计,并分析了闭环系统的稳定性。所得制导律不依赖于系统精确的数学模型,不需要太多的观测信息。仿真结果表明,该制导律既能用于目标机动的制导,也能用于有终端约束的制导,且具有良好的制导精度,鲁棒性较强。

Synergetic Control Approach to Missile Guidance

Considering the model uncertainty and external disturbance in guidance system, the design and implementation method of terminal guidance law for a missile is investigated. Firstly, the three- dimensional（3D） guidance model is established in spherical coordinate, and the coupling between pitch channel and yaw channel is described. Secondly, the nonlinear guidance laws are designed respectively based on synergetic control theory, corresponding to no ending constraints and ending constraints. Final- observe error along with cross-coupling and target acceleration are regarded as the total system disturb- ances, which could be estimated by the extended state observer （ESO）, and also the stability of closed loop system is analyzed. The resulting guidance laws are independent of explicit mathematical model, and require little guidance information. The simulation results show that the proposed guidance laws are suitable for both given impact direction requirements and maneuvering targets with excellent guidance performance.