基于双环滑模控制的直/气复合控制系统设计

直/气复合控制导弹具有强干扰、强非线性以及强耦合等特点，传统的姿态控制器难以适用于该种复杂干扰并存的情况，文章提出了基于双环滑模控制的直/气复合控制器。首先采用有限时间收敛趋近律分别构造内外环滑模控制器，并将角速度回路的滑模变量量化为直接力指令，以解决空气舵与姿控发动机之间的耦合问题。接着使用非线性扩张状态观测器估计综合干扰，从而设计控制器补偿侧向喷流干扰及模型不确定性等综合干扰的影响。然后基于李雅普诺夫方法证明了控制系统闭环稳定，分析了干扰补偿对控制器收敛域的影响。最后仿真结果表明，该方法跟踪速度快，动态过程平稳，具有较强的干扰抑制能力，具有很强的鲁棒性。

The Design of Aerodynamic/Reaction Blended Control System Based on Dual-loop Sliding Mode Control

The aerodynamic/reaction blended control missile has the characteristics of strong disturbance, strong nonlinearity, and strong coupling. The traditional attitude controller is difficult to adapt to this complex disturbance situation. A compound controller based on dual-loop sliding mode control is proposed. Firstly the finite-time convergence approach law is used to construct the inner and outer loop controllers respectively, and the sliding mode variables of the angular velocity loop are quantified into direct force commands to solve the coupling problem between the aerodynamic surface and reaction jet control system. Secondly the nonlinear expansion state observer (NLESO) is used to estimate the integrated disturbance, so as to design a controller to compensate for the influence of the disturbance such as jet interaction effects disturbance and model uncertainty. Then, based on the Lyapunov method, the closed-loop stability of the control system is proved, and the influence of disturbance compensation on the controller convergence domain is analyzed. Finally, the simulation results show that the method has fast tracking speed, stable dynamic process, strong disturbance suppression ability, and is very robust.