水下自导武器导引律研究

水下声自导武器的传统导引方式存在着种种缺点，已经不适合现代鱼雷的战术要求。对水下声自导武器的导引方式作了研究，并利用滑模变结构控制理论，推导出一种以航向角为控制律的导引方式。该控制律有别于基于角速率的导引方式，保证了鱼雷在数据率较低且不固定以及存在自导盲区的情况下，仍能够以较高精度命中目标，因而能更好地适应水中导引的特点。仿真表明，该导引律实现简单可靠，鲁棒性强，攻击弹道平滑，对水中目标有较好的制导性能。

Research on the Guidance Law of Underwater Autoguide Weapon

Traditional guidance law of underwater autoguide weapon had lots of defects, which was un?suitable for the tactical requirement of modern torpedoes. In this paper, a guidance law based on the sliding mode control theory was proposed for underwater autoguide weapon. In this guidance law, the increment of yaw angle was used rather than the angle velocity, which proved to be more suitable for the underwater environment. Simulation results show that the sliding mode guidance law gives an out?standing performance for the underwater target.