半捷联位标器稳定跟踪与弹体姿态一体化控制

半捷联位标器安装在弹体上，由于寄生回路的存在，使得位标器稳定跟踪控制回路和弹体姿态控制回路产生严重耦合，影响了位标器的稳定与跟踪。针对半捷联导引头稳定平台的稳定与跟踪问题，提出了一种半捷联位标器稳定跟踪控制与弹体姿态控制的一体化方法。基于反步控制原理设计了控制律，通过合理选择反馈增益可保证系统的稳定性与动态性能。最后对一体化设计与传统分离设计进行了仿真对比。仿真结果表明：考虑位标器稳定跟踪回路与导弹姿态回路耦合的一体化控制器，不仅能够保证弹体姿态控制系统快速响应，还可以提高位标器的稳定跟踪性能，并降低位标器跟踪不上高速目标的可能性。

Integration control of semi-strapdown coordinator stable tracking and missile body attitude

The semi-strapdown coordinator is located on the missile body. Because of the existence of the parasitic loop, the control loop for stable tracking of the semi-strapdown coordinator is strongly coupled with the control loop of the missile body attitude. As a result, the stability and tracking performance of the coordinator are severely affected. In order to solve this problem, an integration control method is proposed. Control law is designed based on the backstepping theory. Stability and dynamic performance of the system can be ensured by choosing an appropriate feedback gain. The integrated control system is verified by simulations. Results show that the integration controller, which considers the coupling between the coordinator stable tracking loop and the missile attitude loop, can not only ensure the dynamic performance of the missile attitude control system, but also improve the stable tracking performance of the coordinator and prevent the high-speed target from escaping from the field of view of the missile seeker.