﻿ 基于扩张状态观测器的导弹滑模制导律
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Missile sliding mode guidance law based on extended state observer
ZHANG Yao, GUO Jie , TANG Shengjing, MA Yueyue, SHANG Wei
Key Laboratory of Dynamics and Control of Flight Vehicle of Ministry of Education, School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China
Abstract:Based on the technology of extended state observer (ESO), a novel missile sliding mode guidance law was derived to intercept maneuvering target. According to relative movement between missile and target in the process of interception, the difficult question was effectively settled that too large overload was required during terminal intercepting phase, which was addressed by currently estimating and dynamically compensating to target acceleration via ESO. Thus, the goal of precision against target was achieved. Moreover, accounting for the autopilot as second-order dynamics in simulation, three simulation experiments of different interception strategies, which included head-on interception, tail-chase interception and head-pursuit interception, were investigated in the two kinds of cases of intercepting periodic maneuvering target and aperiodic maneuvering target. Compared with sliding mode guidance law based on finite time convergence, the results show the strong robustness and validities of the proposed sliding mode guidance law based on ESO in the terminal interception guidance.
Key words: extended state observer     sliding mode control     observation     finite time convergence     missile guidance     interception

1 导弹运动模型

1.1 模型描述

 图 1 弹目相对运动Fig. 1 Missile-to-target relative motion

1.2 拦截策略

2 基于ESO的导弹滑模制导律设计

3 稳定性证明

4 仿真结果分析

1) 迎击拦截速度为480m/s的目标.

 图 2 算例1中弹目相对运动曲线Fig. 2 Curves of relative motion between missile and target in Case 1

2) 尾追拦截速度为480m/s的目标.

3) 前向拦截速度为1100m/s的目标.

 图 3 目标法向加速度Fig. 3 Normal acceleration of target

1) 迎击拦截速度为480m/s的目标.

 图 4 算例2中弹目相对运动曲线Fig. 4 Curves of relative motion between missile and target in Case 2

2) 尾追拦截速度为480m/s的目标.

3) 前向拦截速度为1100m/s的目标.

 图 5 不同拦截方式(θ=90°)下导弹法向过载变化曲线Fig. 5 Curves of missile normal overload in different intercepting ways(θ=90°)

 图 6 控制输入量变化曲线Fig. 6 Variation curves of control input

 图 7 滑模面变化曲线Fig. 7 Variation curves of sliding mode surface

 图 8 ESO对未知项加速度的观测曲线Fig. 8 Curves of estimated value of ESO to acceleration of unknown term
5 结 论

1) 本文所设计制导律中的扩张状态观测器能够实时地对目标机动加速度进行跟踪观测和反馈补偿,达到了减小导弹打击过程中需用过载的目的.

2) 针对导弹采用不同的拦截策略打击各种快速高机动目标的问题,本文所设计的制导律能够保证导弹以更短的时间、更小的末端需用过载实现对目标的精确打击.

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#### 文章信息

ZHANG Yao, GUO Jie, TANG Shengjing, MA Yueyue, SHANG Wei

Missile sliding mode guidance law based on extended state observer

Journal of Beijing University of Aeronautics and Astronsutics, 2015, 41(2): 343-350.
http://dx.doi.org/10.13700/j.bh.1001-5965.2014.0127