引用本文:刘柏均,侯明善,余英.考虑自动驾驶仪动态特性的三维双环制导律[J].控制与决策,2019,34(10):2185-2190
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考虑自动驾驶仪动态特性的三维双环制导律
刘柏均,侯明善,余英
(西北工业大学自动化学院,西安710072)
摘要:
针对导弹自动驾驶仪动态特性条件下的机动目标拦截问题,基于非线性干扰观测器和命令滤波器设计一种新的三维双环制导律.将制导系统解耦为外环系统和内环系统.其中:外环控制器产生虚拟制导指令,以零化球坐标系下的弹目法向相对速率;内环控制器产生真实制导指令,以实现导弹自动驾驶仪对外环虚拟指令的快速跟踪.由于外环命令滤波器同时计算出虚拟制导指令的一阶导数和二阶导数,三阶系统的制导律设计问题仅用两步即可完成.拦截高速高机动目标的仿真结果表明,所设计的制导律能够有效补偿导弹自动驾驶仪动态特性影响,抗目标机动鲁棒性强,制导精度优良.
关键词:  制导律  自动驾驶仪动态特性  双环控制  干扰观测器  命令滤波器
DOI:10.13195/j.kzyjc.2018.0218
分类号:TJ765.3
基金项目:
Three-dimensional dual-loop guidance law with autopilot dynamics
LIU Bo-jun,HOU Ming-shan,YU Ying
(School of Automation,Northwestern Polytechnical University,Xián710072,China)
Abstract:
A novel three-dimensional dual-loop guidance law with missile autopilot dynamics based on nonlinear disturbance observers and command filters is proposed. The guidance system is decoupled into an outer loop system and an inner loop system. The outer loop controller generates a virtual guidance law, which makes the normal relative velocities between missile and target in spherical coordinates converge to zero. The inner loop controller generates a real guidance law, which makes the missile autopilot track the virtual guidance law from the outer loop fast. Since a command filter in the outer loop calculates both the first and the second derivatives of the virtual guidance law, the whole guidance design procedure of the three-order system is accomplished just in two steps. Simulation results for a missile intercepting a high speed and high maneuvering target show that the proposed guidance law compensates the influence of autopilot dynamics effectively, has strong robustness of resistance against target maneuver, and possesses high guidance precision.
Key words:  guidance law  autopilot dynamics  dual-loop control  disturbance observer  command filter

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