系统工程与电子技术 ›› 2019, Vol. 41 ›› Issue (2): 389-401.doi: 10.3969/j.issn.1001-506X.2019.02.22

• 制导、导航与控制 • 上一篇    下一篇

考虑自动驾驶仪动态特性与攻击角约束的模糊自适应动态面末制导律

姜尚1, 田福庆1, 孙世岩1, 梁伟阁1, 尤栋2   

  1. 1.海军工程大学兵器工程学院, 湖北 武汉 430033;  2. 西北机电工程研究所, 陕西 咸阳 712099
  • 出版日期:2019-01-25 发布日期:2019-01-25

Fuzzy adaptive dynamic surface terminal guidance law considering autopilot lag and impact angle constraints

JIANG Shang1, TIAN Fuqing1, SUN Shiyan1, LIANG Weige1, YOU Dong2   

  1. 1. Institute of Weapons Engineering, Naval University of Engineering, Wuhan 430033, China;
    2. Northwest Institute of Mechanical and Electrical Engineering, Xianyang 712099, China
  • Online:2019-01-25 Published:2019-01-25

摘要: 在大口径舰炮制导炮弹打击近岸机动目标的末制导段,考虑自动驾驶仪二阶动态特性与攻击角约束,基于模糊自适应逼近与动态面控制提出一种末制导律。构建二维弹目相对运动模型,运用扩张状态观测器估计目标加速度。为零化视线角的跟踪误差与视线角速率,采用自适应指数趋近律设计非奇异终端动态面滑模,设计模糊自适应系统逼近变结构项,削弱自动驾驶仪的控制指令抖振。通过Lyapunov第二法证明了闭环系统中视线角的跟踪误差与视线角速率均一致最终有界。仿真实验表明:该制导律使制导炮弹在打击具有不同加速度形式的目标时,均具备较好的末制导性能。

Abstract: In the terminal guidance section of large caliber naval gun guided projectile (GP) while striking near shore maneuver targets, a terminal guidance law based on fuzzy adaptive approximation and dynamic surface control is proposed considering two order dynamic characteristics of autopilot and impact angle constraints. The relative motion model of GP and the target in two dimension is constructed, and the extended state observer is used to estimate acceleration of the target. Aiming at zeroing the tracking error about the line of the sight angle and angular velocity, the nonsingular terminal dynamic surface sliding mode is designed adopting the adaptive exponential reaching law. The fuzzy adaptive system is applied to approach variable structure term and weaken chattering of autopilot control instruction. The tracking error about the line of the sight angle and the angular velocity in the closed loop system are both uniformly bounded, which is proved by the Lyapunov second method. Simulation experiments show this terminal guidance law helps GP possess good terminal guidance performance while striking targets with different acceleration forms.