考虑齿隙的多约束导引控制一体化设计方法

doi:10.12305/j.issn.1001-506X.2022.04.30

Abstract

Abstract:

At the end of long-range shore fire support by naval gun guided projectile, an integrated guidance and control design method with multiple constraints based on dynamic surface sliding mode and extended states observer is proposed, considering the canard backlash, impact angle constraint and limitation of measurement line of sight (LOS) angle rate. The strict feedback cascade model of integrated guidance and control for guided projectile is constructed, and the canard is regarded as more practical dual inertial quantum system with backlash. For unknown disturbances such as LOS angle rate and wind, an extended state observer is designed to estimate them quickly and accurately. A nonsingular terminal sliding mode with adaptive exponential reaching law is designed to make the LOS angle rate and LOS angle tracking error zero in finite time. In order to improve the differential expansion problem effectively, dynamic surface sliding mode is used in high-order cascade system. The system uniform and ultimate bounded and finite time convergence of important states are proved through Lyapunov theory. Through comparative simulation experiments, under control of the proposed method, the guided projectile with actuator backlash possess good guidance performance when attacking fixed and snake maneuvering targets.

Key words: guided projectile, integrated guidance and control, multiple constraints, backlash, dynamic surface sliding mode

CLC Number:

TJ413.+6

Shang JIANG, Bo WEI, Weige LIANG, Dongyan SUN, Jinjun LI, Ye MA. Integrated guidance and control design method with multiple constraints and backlash[J]. Systems Engineering and Electronics, 2022, 44(4): 1318-1328.

Figures/Tables 11

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References 31

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参数	数值	参数	数值
x_T0/m	3 000	v_T0/(m·s^-1)	0
y_T0/m	0	w_x/(m·s^-1)	2
θ_Qf/(°)	-65	τ_T	0.01
θ_T0/(°)	0	—	—

参数	数值	参数	数值
x_P0/m	0	k_α	35
y_P0/m	4 000	l/m	1.5
θ_P0/(°)	-10	d/m	0.15
c_x	0.51	m/kg	48
c′_y	23.1	v_P0/(m·s^-1)	357
c_y^δ_z	4.9	ΔF_{P_x2}/N	sin t
m′_z	-7.1	ΔF_{P_y2}/N	2sin t
m′_zz	11.4	T_d/(N·m)	2cos t
m_z^δ_z	2.1	ΔM/(N·m)	cos t

参数	数值	参数	数值
K_v	0.95	J_m/(kg·m²)	0.006 7
K_ip	6.3	K_t/(N·m·A^-1)	8
K_vp	5.5	k_c/(N·m·rad^-1)	320
N_δ	78	h_δ/(N·m·rad^-1)	0.12
j_δ/(°)	0.2	B_m/(N·m·s·rad^-1)	0.12
R_Ω/Ω	0.5	B_δ/(N·m·s·rad^-1)	0.23

参数	数值	参数	数值	参数	数值
β	10	k₂	0.2	c₂	1
ϕ	1.5	k₃	2	c₃	2
τ₄	0.01	k₄	1.3	c₄	1
τ₅	0.01	k₅	1.5	c₅	1.2
τ₆	0.01	k₆	1.5	c₆	1
τ₇	0.01	k₇	1.8	c₇	1.5
τ₈	0.01	k₈	2.1	c₈	1.5

设计方法	脱靶量/m	命中时间/s	θ_Qf误差/(°)
IGCMCB	0.486	14.800	0.064
ADSC&PID	1.136	15.110	0.128

Integrated guidance and control design method with multiple constraints and backlash

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设计方法	脱靶量/m	命中时间/s	θ_Qf误差/(°)
IGCMCB	0.632	14.890	0.082
ADSC&PID	1.348	15.230	0.149