摘要
针对带有攻击角约束的多拦截弹协同拦截问题,基于制导与控制一体化(IGC)方法,提出了一种带有攻击角约束的多拦截弹分布式协同控制算法。首先,基于弹目相对运动关系和拦截弹俯仰通道动力学方程,建立带有攻击角约束的拦截弹"领弹"IGC模型,利用变增益扩张状态观测器(TVGESO)对模型中的未知干扰进行估计,在此基础上,基于干扰估计值和非奇异动态面滑模控制设计"领弹"控制算法;其次,采用基于"领弹-从弹"的分布式网络模式,设计多拦截弹协同控制策略,可以得到拦截弹在俯仰通道2个方向的速度分量,利用运动学转换关系转化为速度和弹道倾角参考指令;最后,基于TVGESO和动态面滑模控制设计"从弹"的控制算法。仿真结果验证所设计的带有攻击角约束的多拦截弹协同IGC算法具有较好的稳定性。
To solve the multi-interceptor coordination problem and to intercept the target with impact angle constraint, a novel distributed cooperative control algorithm with impact angle constraint based on integrated guidance and control is proposed. First, the mathematic model of integrated guidance and control is established by combining the interceptor-target relative motion model with the dynamic equation of the interceptor on pitch plane. The time varying gain extended state observer is developed to estimate and compensate the unknown disturbance. Based on the estimated value and fast nonsingular dynamic surface sliding control method, the IGC algorithm of leader is given;Then, based on distributed cooperative "leader-follower" model, the cooperative control strategy of multi-interceptor is designed, and gives out speeds in two directions on pitch plane, which are transformed to the command of total velocity and trajectory angle based on kinematic relations. Finally, to control the follower, the time varying gain extended state observer and the dynamic surface sliding control method are adopted. The simulation results demonstrate the effectiveness of the distributed cooperative control algorithm.
作者
刘翔
梁晓庚
LIU Xiang;LIANG Xiaogeng(School of Automation, Northwestern Polytechnical University, Xi′an 710072, China)
出处
《西北工业大学学报》
EI
CAS
CSCD
北大核心
2019年第2期273-282,共10页
Journal of Northwestern Polytechnical University
基金
航空科学基金(2016ZC12005)资助
关键词
攻击角约束
制导控制一体化
扩张状态观测器
动态面滑模控制
分布式网络
协同控制策略
impact angle constraints
integrated guidance and control
extended state observer
dynamic surface sliding control
distributed cooperative control algorithm
cooperative control strategy
