反舰导弹控制中的稳定性研究

应用零动态和精确线性化理论，对反舰导弹的几种控制方法进行了研究。研究表明，姿态控制系统和传统的加速度控制系统都是最小相位系统，但纯加速度控制系统却是一种非最小相位系统。最后，对过载控制系统也进行了稳定性研究，表明它是最小相位系统，从而解决了纯加速度控制的非最小相位问题。     

Roll-pitch-yaw autopilot design for nonlinear time-varying missile using partial state observer based global fast terminal sliding mode control

The acceleration autopilot design for skid-to-turn (STT) missile faces a great challenge owing to coupling effect among planes, variation of missile velocity and its parameters, inexistence of a complete state vector, and nonlinear aerodynamics. Moreover, the autopilot should be designed for the entire flight envelope where fast variations exist. In this paper, a design of inte-grated roll-pitch-yaw autopilot based on global fast terminal sliding mode control (GFTSMC) with a partial state nonlinear observer (PSNLO) for STT nonlinear time-varying missile model, is employed to address these issues. GFTSMC with a novel sliding surface is proposed to nullify the integral error and the singularity problem without application of the sign function. The pro-posed autopilot consisting of two-loop structure, controls STT maneuver and stabilizes the rolling with a PSNLO in order to estimate the immeasurable states as an output while its inputs are missile measurable states and control signals. The missile model considers the velocity variation, gravity effect and parameters’ variation. Furthermore, the environmental conditions’ dynamics are mod-eled. PSNLO stability and the closed loop system stability are studied. Finally, numerical simula-tion is established to evaluate the proposed autopilot performance and to compare it with existing approaches in the literature.     

Missile autopilot design via functional inversion and time-scaled transformation

This paper presents a new approach to acceleration control of STT (Skid-To-Turn) missiles. In the design and stability analysis of our autopilot, we assume perfect roll-stabilization but consider fully all other nonlinearities of the missile dynamics including the coupling effect due to bank angle. Our autopilot controller consists of a partial-linearizing controller and a dynamic compensator. The partial-linearizing controller along with a time scaled transformation can convert the nonlinear missile dynamics to the so-called normalized system which is completely independent of Mach number and almost independent of air density. The dynamic compensator is designed based on this normalized system. This normalized system greatly simplifies the design process of an autopilot controller regardless of flight conditions. Our autopilot controller can provide fast and exact set-point tracking performance but without the slow-varying conditions on angle of attack and side-slip angle required often in the prior works.     

Optimal guidance for acceleration constrained missile andmaneuvering target

Explicit formulas of optimal guidance laws for an acceleration-constrained, arbitrary-order missile and maneuvering target are derived. These formulas are given in terms of the transfer function and acceleration constraint of the missile and the transfer function/shaping filter of the target. Optimal full-state feedback guidance law is synthesized against a target performing a barrel roll maneuver, and compared with the performance of proportional navigation (PN) for minimum and nonminimum phase missile. Simulation of a third-order missile shows the relative gain from using the full-order guidance law     

Dynamics and autopilot design for endoatmospheric interceptors with dual control systems

The nonlinear system model of an endoatmospheric missile whose attitude is controlled by tail fins and reaction jets is presented. By choosing the divert accelerations and rotational rates as output variables, the internal dynamics of the nonlinear system are derived and are proved to be bounded under a bounded input. The blending principle of the reaction jets and tail fins is addressed to ensure that the normal acceleration is principally maintained by angle-of-attack or sideslip angle. An autopilot is designed by using the feedback linearization technique. Results of a numerical simulation of an autopilot design example show the effectiveness of the proposed blending principle and the autopilot design.     

导弹非线性控制系统设计方法研究

导弹过载输出跟踪控制系统是一个非最小相位系统.为了克服非最小相位特性造成的设计控制器的困难,介绍了一种新颖的导弹非线性控制算法--(系统)浸入和(流行)不变算法,将导弹的输出跟踪问题转化为系统的镇定问题.研究和仿真结果表明,这种方法是简单和实用的.     

Nonlinear autopilot for high maneuverability of bank-to-turnmissiles

This paper presents a novel approach to autopilot design for highly maneuvering bank-to-turn (BTT) missiles. In the design and performance analysis of the proposed nonlinear autopilot, all nonlinearities of missile dynamics including the coupling between roll, yaw, and pitch channels as well as the asymmetric structure of missile body are taken into full account. It is shown that through a kind of feedback linearization technique along with a singular perturbation-like technique, the input/output (I/O) dynamic characteristics of pitch, yaw, and roll channels are made linear, decoupled, and independent of flight conditions such as air density and missile velocity. In particular, the proposed autopilot controllers can provide excellent set-point tracking performance for roll and pitch channels while keeping the side-slip angle negligible. The generality and practicality of our approach are demonstrated through mathematical analysis and various simulation results using an ILAAT missile     

基于Backstepping和扰动观测器的导引律

考虑目标机动和自动驾驶仪动态特性等情况,基于扰动观测器(DOB)技术及Backstepping的设计思想,提出了一种新型的三维导引律。运用Backstepping的设计思想,将包含驾驶仪动态特性的制导环路分为外环和内环两个环路。将目标机动及俯仰和偏航平面间的交叉耦合项当成外环扰动,将驾驶仪参数不确定当成内环扰动,分别设计内外扰动观测器将它们估计出来,利用估计值做前馈补偿得到的外环控制器可抑制目标机动对制导精度的影响及实现两个平面的解耦控制,内环控制器补偿驾驶仪动态特性对制导精度的影响。导引律的设计在于使得导弹的实际加速度跟踪上外环的虚拟控制。仿真结果表明:在目标做大机动、考虑驾驶仪动态特性的情况下,这种导引律仍然具有良好的制导精度。     

ROBUST ADAPTIVE BANK-TO-TURN MISSILE AUTOPILOT DESIGN USING FUZZY CMAC NEURAL NETWORKS

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Fuzzy gain-scheduled missile autopilot design using evolutionary algorithms

The paper presents the lateral acceleration control design of a missile model using the evolution strategy (ES). The nonlinear fixed-structure-like controller is represented by the singleton fuzzy model. This allows a variation of shapes of the gain functions to be explored, and subsequent modification is fairly easy. Instead of finding an optimal decomposition of the fuzzy controller, a set of fuzzy rules is unconventionally optimized for the overall gain surfaces that guarantee acceptable performances for the closed-loop system over the whole operating envelope. The simulation results show that the designed fuzzy gain-scheduled controller is a robust tracking controller for all perturbation vertices     

基于神经网络的导弹稳定控制回路设计方法

基于径向基函数神经网络（RBFNN）的学习能力和逼近特性，将传统方法中的局部/整体构架蕴涵于神经网络内部，对导弹稳定控制律进行局部（定点）/整体（拟合）设计，以简化计算步骤，提高设计方法的通用性和自动化程度，以防空导弹侧向稳定控制回路设计为背景，对所提出的稳定控制回路设计方法进行了仿真，验证了该方法的可行性和有效性。     

摆动喷管控制导弹回路成形自动驾驶仪设计

针对摆动喷管控制防空导弹存在的伺服气动弹性问题,利用鲁棒回路成形方法在导弹的纵向通道设计了自动驾驶仪。首先,建立了考虑一阶弹性振动影响的纵向小扰动线性化模型;然后考虑到控制系统设计中存在的导弹自身以及外界干扰等不确定因素的影响,采用回路成形的方法,根据系统性能指标的要求,选取了系统期望回路成形函数,构造了防空导弹纵向自动驾驶仪回路成形设计框架,给出了鲁棒回路成形控制增益K∞;最后,对其进行了数字仿真。仿真结果表明,所设计的系统具有良好的鲁棒稳定性和鲁棒性能。     

基于时滞不确定理论的导弹鲁棒控制系统设计

针对含有参数不确定性、干扰和响应延迟的控制系统鲁棒性设计问题,采用状态反馈控制方法设计控制系统,使得闭环控制系统在保证渐进稳定的同时满足H∞性能指标要求.建立导弹控制系统的线性离散模型,将提出的基于时滞不确定理论的设计方法应用于导弹俯仰-偏航通道的自动驾驶仪设计.通过仿真计算,验证了提出的控制系统设计方法在气动参数摄动...     

基于NBF网络的导弹航向平面滑模控制导引一体化

提出了一种反舰导弹针对水面机动目标的航向平面控制导引一体化设计方案。建立了航向平面的一体化控制导引模型,然后基于NBF网络切换增益调节和滑模控制的思想进行了控制导引律的设计,为了验证该一体化设计的有效性和正确性,进行了仿真计算。仿真结果表明,针对高机动的水面目标命中精度很高。     

气动舵/侧向脉冲推力复合控制导弹最优控制及输出反馈问题研究(英文)

针对气动舵/侧向脉冲推力复合控制导弹,设计了复合控制自动驾驶仪,其包含最优控制器和控制分配两部分。应用最优/经典综合控制法设计的最优控制器用于求解虚拟控制量;控制分配模块将虚拟力矩分配到冗余的作动器上。该复合控制器结构简单,跟踪性能好,具有鲁棒性,并能考虑对作动器的实际约束。基于该复合控制自动驾驶仪,发现采用总加速度为反馈时系统的稳定性和跟踪快速性之间的矛盾严重。为解决这一问题,剔除总加速度中的瞬时影响因素,采用攻角产生的加速度作为反馈,仿真结果表明攻角产生的加速度作为反馈时系统具有更好的快速性。最后针对如何得到合理的加速度反馈进行了简要的讨论,结果表明将总加速度通过低通滤波器后再作为反馈,也可以获得良好的跟踪性能。     

Design of optimal midcourse guidance sliding-mode control for missiles with TVC

This work discusses a nonlinear midcourse missile controller with thrust vector control (TVC) inputs for the interception of a theater ballistic missile, including autopilot system and guidance system. First, a three degree-of-freedom (DOF) optimal midcourse guidance law is designed to minimize the control effort and the distance between the missile and the target. Then, converting the acceleration command from guidance law into attitude command, a quaternion-based sliding-mode attitude controller is proposed to track the attitude command and to cope with the effects from variations of missile's inertia, aerodynamic force, and wind gusts. The exponential stability of the overall system is thoroughly analyzed via Lyapunov stability theory. Extensive simulations are conducted to validate the effectiveness of the proposed guidance law and the associated TVC.     

Adaptive control for feedback-linearized missiles withuncertainties

A robust adaptive control scheme is proposed that can be applied to a practical autopilot design for feedback-linearized skid-to-turn (STT) missiles with aerodynamic uncertainties. The approach is to add a robust adaptive controller to a feedback-linearizing controller in order to reduce the influence of the aerodynamic uncertainties. The proposed robust adaptive control scheme is based on a sliding mode control technique with an adaptive law for estimating the unknown upper bounds of uncertain parameters. A feature of the proposed scheme is that missile systems with aerodynamic uncertainties can be controlled effectively over a wide operating range of flight conditions. It is shown, using Lyapunov stability theory, that the proposed scheme can give sufficient tracking capability and stability for a feedback-linearized STT missile with aerodynamic uncertainties. The six-degree-of-freedom nonlinear simulation results also show that good performance for several uncertainty models and engagement scenarios can be achieved by the proposed scheme in practical night conditions     

Adaptive block dynamic surface control for integrated missile guidance and autopilot

A novel integrated guidance and autopilot design method is proposed for homing missiles based on the adaptive block dynamic surface control approach. The fully integrated guidance and autopilot model is established by combining the nonlinear missile dynamics with the nonlinear dynamics describing the pursuit situation of a missile and a target in the three-dimensional space. The integrated guidance and autopilot design problem is further converted to a state regulation problem of a time-varying nonlinear system with matched and unmatched uncertainties. A new and simple adaptive block dynamic surface control algorithm is proposed to address such a state regulation problem. The stability of the closed-loop system is proven based on the Lyapunov theory. The six degrees of freedom (6DOF) nonlinear numerical simulation results show that the proposed integrated guidance and autopilot algorithm can ensure the accuracy of target interception and the robust stability of the closed-loop system with respect to the uncertainties in the missile dynamics.     

Robust控制器在导弹自动驾驶仪中的应用

本文提出一种改进自动驾驶仪性能的方案。在导弹自动驾驶仪原回路的基础上增加Robust控制器,这种方案可提高驾驶仪对参数变化的Robust性能。本文详细叙述了Robust控制器结合自动驾驶仪的设计方法,并用仿真结果说明了Robust控制器在本算例中所起的作用。     

BTT导弹的抖动抑制多模型切换控制

 基于线性系统特征结构配置和模型跟踪方法,以及优化工具,提出了可以有效抑制抖动的多模型切换控制策略,并用该策略设计了 BTT导弹俯仰 /偏航通道的自动驾驶仪。在导弹的整个飞行轨道上选取了若干点,分别建立起描述 BTT导弹俯仰 /偏航运动的线性时不变数学模型。对各个线性时不变模型,分别用特征结构配置方法设计反馈控制器对系统进行镇定。为了使导弹过载跟踪制导指令,又基于模型跟踪方法设计了前馈控制器。当导弹跨越不同特征点区域时,控制器要进行切换。为了减小切换时的抖动,针对切换后的特征结构配置反馈控制器,利用优化工具合理选取其自由度。仿真结果表明,所提出的方法令导弹的输出过载准确跟踪制导指令,而且切换抖动得到有效抑制。