考虑驾驶仪动态滞后的三维终端角约束制导律

doi:10.12305/j.issn.1001-506X.2025.12.26

系统工程与电子技术 ›› 2025, Vol. 47 ›› Issue (12): 4143-4152.doi: 10.12305/j.issn.1001-506X.2025.12.26

• 制导、导航与控制 • 上一篇

考虑驾驶仪动态滞后的三维终端角约束制导律

张子睿¹, 马静宜², 王江¹^,*, 朱少波¹

1. 北京理工大学宇航学院，北京 100081
2. 西北工业集团，陕西西安 710043

收稿日期:2024-06-19 修回日期:2024-12-23 出版日期:2025-06-10 发布日期:2025-06-10
通讯作者: 王江
作者简介:张子睿（1998—），男，硕士研究生，主要研究方向为飞行器制导与控制
马静宜（1993—），女，工程师，硕士，主要研究方向为智能弹药控制
朱少波（2001—），男，硕士研究生，主要研究方向为飞行器制导与控制
基金资助:
国家自然科学基金（61827901）；中国博士后科学基金（2023M730169）资助课题

Three-dimensional terminal angle constraint guidance law considering autopilot dynamic lag

Zirui ZHANG¹, Jingyi MA², Jiang WANG¹^,*, Shaobo ZHU¹

1. School of Aerospace Engineering，Beijing Institute of Technology，Beijing 100081，China
2. Northwest Industries Group Co.，Ltd.，Xi’an 710043，China

Received:2024-06-19 Revised:2024-12-23 Online:2025-06-10 Published:2025-06-10
Contact: Jiang WANG

摘要/Abstract

摘要：

针对高机动飞行器拦截过程中的动态滞后及多约束问题，构建三维拦截制导二阶系统模型，提出一种终端角约束制导律。针对目标机动引起的干扰，提出一种有限时间收敛三阶扰动观测器，将系统模型视为“观测器-控制器”系统，基于超螺旋滑模控制理论提出一种非奇异有限时间收敛控制器。此外，考虑驾驶仪的动态响应，将系统模型扩展至四阶，基于反步法和动态面控制理论，将视线（line-of-sight，LOS）角误差和LOS角速率控制在零附近的邻域内，实现对目标的精确拦截。最后，通过不同场景的仿真验证了所提制导律的良好性能。

关键词: 超螺旋滑模控制, 终端角约束, 驾驶仪滞后, 扰动观测器, 反步法

Abstract:

Addressing the dynamic lag and multi-constraint problems in the interception of high-maneuverability aircraft, a second-order system model for three-dimensional interception guidance is constructed, and a terminal angle constraint guidance law is proposed. A finite time convergent third-order disturbance observer is proposed to address disturbances caused by target maneuvering. The system model is treated as an “observer-controller” system, and a non-singular finite time convergent controller is proposed based on the theory of super-twisting sliding mode control. In addition, considering the dynamic response of the autopilot, the system model is extended to fourth order. Based on backstepping and dynamic surface control theory, the line-of-sight （LOS） angle errors and LOS angular rates are controlled within the neighborhood of zero, achieving precise interception of the target. Finally, the good performance of the proposed guidance law is verified through simulations in different scenarios.

Key words: super-twisting sliding mode control, terminal angle constraint, autopilot lag, disturbance observer, back-stepping design

中图分类号:

TJ 765

张子睿, 马静宜, 王江, 朱少波. 考虑驾驶仪动态滞后的三维终端角约束制导律[J]. 系统工程与电子技术, 2025, 47(12): 4143-4152.

Zirui ZHANG, Jingyi MA, Jiang WANG, Shaobo ZHU. Three-dimensional terminal angle constraint guidance law considering autopilot dynamic lag[J]. Systems Engineering and Electronics, 2025, 47(12): 4143-4152.

图/表 11

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参考文献 25

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参数类型	名称	取值
位置	$R$/m	20000
	${\theta _L}$/(°)	0
	${\phi _L}$/(°)	0
加速度	$ {a_{ty}} $/(m/s²)	$ 30\cos 2t $
加速度	$ {a_{tz}}$/(m/s²)	$ 30\cos 2t $

参数	下界	上界
$ {V_m}$/(m/s)	800	900
$ {V_t}$/(m/s)	600	700
${\theta _m}$/(°)	5	10
${\phi _m}$/(°)	5	10
${\theta _t}$/(°)	15	20
${\phi _t}$/(°)	175	180

公式	参数	取值
观测器式（12）	${\lambda _1}$	2
	${\lambda _2}$	1.5
	${\lambda _3}$	1.1
	${L_1}$	2
	${L_2}$	2
制导律式（16）	${\alpha _1}$	0.1
	${\alpha _2}$	0.1
	$p$	3
	$q$	5
	${\beta _1}$	0.025
	${\beta _2}$	0.025
	${\gamma _1}$	1.5
	${\gamma _2}$	1
	${\mu _1}$	5
	${\mu _2}$	5

参数类型	名称	取值
位置	$R$/m	20 000
	${\theta _L}$/(°)	30
	${\phi _L}$/(°)	0
速度	$ {V_m} $/(m/s)	800
速度	$ {V_t} $/(m/s)	600
速度系	${\theta _m}$/(°)	10
	${\phi _m}$/(°)	10
	${\theta _t}$/(°)	20
	${\phi _t}$/(°)	180
加速度	$ {a_{ty}}$/(m/s²)	$ 30\cos t $
加速度	$ {a_{tz}} $/(m/s²)	$ 30\cos t $

公式	参数	取值
驾驶仪式（34）	${\xi _y}$	0.5
	${\xi _z}$	0.5
	${\omega _y}$	10
	${\omega _z}$	10
制导律式（40）	$ \varsigma $	0.7
	${\theta _1}$	1.3
	${\theta _2}$	0.1
	${\tau _1}$	0.7
	${\tau _2}$	0.7
	${\kappa _1}$	5
	${\kappa _2}$	10

考虑驾驶仪动态滞后的三维终端角约束制导律

Three-dimensional terminal angle constraint guidance law considering autopilot dynamic lag

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