阅读说明：本技术 一种复合制导跟踪控制方法与装置 (Composite guidance tracking control method and device ) 是由 宋晓娜 刘凯 宋帅 朱阳陈 王密 张雷 满景涛 刘珊中 于 2018-06-20 设计创作，主要内容包括：本发明涉及一种复合制导跟踪控制方法与装置,主要针对导弹直接力/气动力复合控制系统,本发明考虑了非线性函数和外部干扰的影响,首先,通过构造状态观测器来估计系统状态；其次,通过设计的积分滑模面和状态观测器来消除导弹复合控制系统中的不确定性,保证了闭环系统的稳定性,能够有效提高导弹的响应速度,增加导弹的稳定性及过载能力。(The invention relates to a composite guidance tracking control method and a device, which mainly aim at a guided missile direct force/aerodynamic force composite control system, consider the influence of a nonlinear function and external interference, and firstly estimate the system state by constructing a state observer; and secondly, uncertainty in a missile composite control system is eliminated through a designed integral sliding mode surface and a state observer, the stability of a closed-loop system is guaranteed, the response speed of the missile can be effectively improved, and the stability and overload capacity of the missile are increased.)

1. A composite guidance tracking control method is characterized by comprising the following steps:

1) according to the set nonlinear function and the external interference, a missile dynamics model of the following missile composite control system is established:

wherein x (t) is a state variable of the missile dynamics model, y (t) is an output variable of the missile dynamics model,α_j(j-1 … 5) is the missile dynamics parameter, f (x, t) is a non-linear function, d (-) is the external disturbance, C is a given matrix, u₁Is the system integrated control rate, u₁＝σ_z+A₁B⁺F，σ_zIs the angle of deflection of the rudder,l is the distance from the missile center of mass to the pulse engine, J_zIs the moment of inertia in the pneumatic force parameters of the missile,m is the mass of the missile body, v is the speed of the missile during the tail section guidance, F is the maximum thrust value of the side-spraying engine, B⁺Is the generalized inverse of coefficient B;

2) according to the system comprehensive control rate u₁Constructing a state observer by using the output variable y (t) of the missile dynamic model and a sliding mode dynamic equation to obtain an estimation function of the state variable and the output variable of the state observer; the sliding mode dynamic equation is obtained through the following steps:

s1) designing an integral sliding mode surface according to the state variable of the state observer;

s2) subtracting the state variable of the missile dynamic model and the state variable of the state observer to obtain error estimation;

s3) obtaining the sliding mode dynamic equation by utilizing the error estimation and combining with an output variable y (t) of the missile dynamics model.

2. The composite guidance tracking control method according to claim 1, wherein the nonlinear function satisfies the following constraint condition:

||f(x,t)||≤α+β||y(t)||

in the formula, alpha is more than 0, beta is more than 0 as unknown parameter.

3. The compound guidance tracking control method according to claim 1, wherein the external disturbance satisfies the following constraint condition:

d (·) | < d, d is an unknown scalar.

4. The compound guidance tracking control method according to claim 2, wherein the external disturbance satisfies the following constraint condition:

d (·) | < d, d is an unknown scalar.

5. The compound guidance tracking control method according to any one of claims 1-4, wherein the state observer is as follows:

in the formula (I), the compound is shown in the specification,is an estimate of x (t), u_eIs a set function and is used to attenuate the effects of non-linear functions and external disturbances, C is a given matrix and L is the observer gain.

6. The compound guidance tracking control method according to claim 1, wherein the integral sliding mode is as follows:

where s (t) is a function of the integral sliding mode surface, K is a coefficient matrix, and K is selected such that A + BK is a Helvelz matrix, Q is a symmetric positive definite matrix, and B is a non-singular matrix.

7. The compound guidance tracking control method of claim 5, wherein the error estimate is derived as follows:

where e (t) is the error estimate.

8. The compound guidance tracking control method of claim 6, wherein the derivative of the function of the integral sliding-mode surface is:

let the derivative be zero and solve for the solution, the resulting solution is:

in the formula (I), the compound is shown in the specification,is the derivative of a function of said integral sliding-mode surface, L is the observer gain, C is a given matrix, e (t) is said error estimate, u_eIs a set function and is used to attenuate the effects of non-linear functions and external disturbances.

9. The compound guidance tracking control method according to claim 7 or 8, characterized in that u is u_eThe following calculation is used:

in the formula (I), the compound is shown in the specification,wherein S is_e(t)＝B^TXe (t), X > 0 and B is satisfied^TX is NC and N is a given matrix.

10. A compound guidance tracking control apparatus comprising a processor for implementing instructions for performing the steps of:

1) according to the set nonlinear function and the external interference, a missile dynamics model of the following missile composite control system is established:

wherein x (t) is a state variable of the missile dynamics model, y (t) is an output variable of the missile dynamics model,α_j(j-1 … 5) is the missile dynamics parameter, f (x, t) is a non-linear function, d (-) is the external disturbance, C is a given matrix, u₁Is the system integrated control rate, u₁＝σ_z+A₁B⁺F，σ_zIs the angle of deflection of the rudder,l is the distance from the missile center of mass to the pulse engine, J_zIs the moment of inertia in the pneumatic force parameters of the missile,m is the mass of the missile body, v is the speed of the missile during the tail section guidance, F is the maximum thrust value of the side-spraying engine, B⁺Is the generalized inverse of coefficient B;

2) according to the system comprehensive controlRate u₁Constructing a state observer by using the output variable y (t) of the missile dynamic model and a sliding mode dynamic equation to obtain an estimation function of the state variable and the output variable of the state observer; the sliding mode dynamic equation is obtained through the following steps:

s1) designing an integral sliding mode surface according to the state variable of the state observer;

s2) subtracting the state variable of the missile dynamic model and the state variable of the state observer to obtain error estimation;

s3) obtaining the sliding mode dynamic equation by utilizing the error estimation and combining with an output variable y (t) of the missile dynamics model.

Technical Field

The invention belongs to the technical field of aerospace, and particularly relates to a composite guidance tracking control method and device.

Background

With the progress of science and technology, the traditional aerodynamic guidance can not well meet the requirements of modern war. Therefore, the new generation missile control technology generally adopts a direct/gas composite control method to improve the guidance precision of the missile. A great deal of research has been carried out at home and abroad aiming at a direct/gas composite control system, wherein the aster in France and the patriot in America successfully complete interception experiments, and compared with the conventional aerodynamic missile, the control guidance has the characteristics of high response speed, high stability and the like, and is an effective way for realizing zero-approaching miss distance.

The missile direct/gas composite control system has strong nonlinearity and uncertainty, so that great difficulty is brought to modeling and control of the composite control system. In recent years, researchers at home and abroad use sliding mode control, self-adaptive theory, fuzzy control, optimal control and other theories to research a composite control system, but most of the theories ignore the influences of nonlinear factors and external disturbance in the control system, so that the existing composite guidance tracking control is unstable.

Disclosure of Invention

The invention aims to provide a composite guidance tracking control method and a composite guidance tracking control device, which are used for solving the problem that a control system is unstable due to the fact that nonlinear factors and external disturbance are ignored in modeling of the existing 'composite guidance control by adopting a sliding mode variable structure'.

In order to solve the technical problem, the invention provides a composite guidance tracking control method, which comprises the following steps:

1) according to the set nonlinear function and the external interference, a missile dynamics model of the following missile composite control system is established:

wherein x (t) is a state variable of the missile dynamics model, y (t) is an output variable of the missile dynamics model,α_j(j-1 … 5) is the missile dynamics parameter, f (x, t) is a non-linear function, d (-) is the external disturbance, C is a given matrix, u₁Is the system integrated control rate, u₁＝σ_z+A₁B⁺F，σ_zIs the angle of deflection of the rudder,l is the distance from the missile center of mass to the pulse engine, J_zIs the moment of inertia in the pneumatic force parameters of the missile,m is the mass of the missile body, v is the speed of the missile during the tail section guidance, F is the maximum thrust value of the side-spraying engine, B⁺Is the generalized inverse of coefficient B;

2) according to the system comprehensive control rate u₁Constructing a state observer by using the output variable y (t) of the missile dynamic model and a sliding mode dynamic equation to obtain an estimation function of the state variable and the output variable of the state observer; the sliding mode dynamic equation is obtained through the following steps:

s1) designing an integral sliding mode surface according to the state variable of the state observer;

s2) subtracting the state variable of the missile dynamic model and the state variable of the state observer to obtain error estimation;

s3) obtaining the sliding mode dynamic equation by utilizing the error estimation and combining with an output variable y (t) of the missile dynamics model.

As the system state in the process of the composite guidance tracking control is not completely measurable, nonlinearity and disturbance uncertainty exist. The method considers the influence of a nonlinear function and external interference, and firstly, a state observer is constructed to estimate the state of the system; and secondly, uncertainty in a missile composite control system is eliminated through a designed integral sliding mode surface and a state observer, the stability of a closed-loop system is guaranteed, the response speed of the missile can be effectively improved, and the stability and overload capacity of the missile are increased.

As a further limitation of the nonlinear function, the nonlinear function satisfies the following constraint:

||f(x,t)||≤α+β||y(t)||

in the formula, alpha is more than 0, beta is more than 0 as unknown parameter.

As a further limitation of the external disturbance, the external disturbance satisfies the following constraint:

d (·) | < d, d is an unknown scalar.

As a further definition of the state observer, the state observer is as follows:

in the formula (I), the compound is shown in the specification,is an estimate of x (t), u_eIs a set function and is used to attenuate the effects of non-linear functions and external disturbances, C is a given matrix and L is the observer gain.

As a further definition of an integral slip-form surface, the integral slip-form surface is as follows:

where s (t) is a function of the integral sliding mode surface, K is a coefficient matrix, and K is selected such that A + BK is a Helvelz matrix, Q is a symmetric positive definite matrix, and B is a non-singular matrix.

As a further limitation of the error estimate, the error estimate is obtained as follows:

where e (t) is the error estimate.

Further, the derivative of the integral sliding mode surface function is:

let the derivative be zero and solve for the solution, the resulting solution is:

in the formula (I), the compound is shown in the specification,is the derivative of a function of said integral sliding-mode surface, L is the observer gain, C is a given matrix, e (t) is said error estimate, u_eIs a set function and is used to attenuate the effects of non-linear functions and external disturbances.

Further, u_eThe following calculation is used:

in the formula (I), the compound is shown in the specification,wherein S is_e(t)＝B^TXe (t), X > 0 and B is satisfied^TX is NC and N is a given matrix.

As a further definition of the sliding-mode dynamic equation, the sliding-mode dynamic equation is as follows:

where e (t) is the error estimate, L is the observer gain, and I is the identity matrix.

In order to solve the above technical problem, the present invention further provides a composite guidance tracking control device, including a processor, configured to implement instructions for executing the following steps:

1) according to the set nonlinear function and the external interference, a missile dynamics model of the following missile composite control system is established:

wherein x (t) is a state variable of the missile dynamics model, y (t) is an output variable of the missile dynamics model,α_j(j-1 … 5) is the missile dynamics parameter, f (x, t) is a non-linear function, d (-) is the external disturbance, C is a given matrix, u₁Is the system integrated control rate, u₁＝σ_z+A₁B⁺F，σ_zIs the angle of deflection of the rudder,l is the distance from the missile center of mass to the pulse engine, J_zIs the moment of inertia in the pneumatic force parameters of the missile,m is the mass of the missile body, v is the speed of the missile during the tail section guidance, F is the maximum thrust value of the side-spraying engine, B⁺Is the generalized inverse of coefficient B;

2) according to the system comprehensive control rate u₁Constructing a state observer by using the output variable y (t) of the missile dynamic model and a sliding mode dynamic equation to obtain an estimation function of the state variable and the output variable of the state observer; the sliding mode dynamic equation is obtained through the following steps:

s1) designing an integral sliding mode surface according to the state variable of the state observer;

s2) subtracting the state variable of the missile dynamic model and the state variable of the state observer to obtain error estimation;

s3) obtaining the sliding mode dynamic equation by utilizing the error estimation and combining with an output variable y (t) of the missile dynamics model.

As a further limitation of the nonlinear function, the nonlinear function satisfies the following constraint:

||f(x,t)||≤α+β||y(t)||

in the formula, alpha is more than 0, beta is more than 0 as unknown parameter.

As a further limitation of the external disturbance, the external disturbance satisfies the following constraint:

d (·) | < d, d is an unknown scalar.

As a further definition of the state observer, the state observer is as follows:

in the formula (I), the compound is shown in the specification,is an estimate of x (t), u_eIs a set function and is used to attenuate the effects of non-linear functions and external disturbances, C is a given matrix and L is the observer gain.

As a further definition of an integral slip-form surface, the integral slip-form surface is as follows:

where s (t) is a function of the integral sliding mode surface, K is a coefficient matrix, and K is selected such that A + BK is a Helvelz matrix, Q is a symmetric positive definite matrix, and B is a non-singular matrix.

As a further limitation of the error estimate, the error estimate is obtained as follows:

where e (t) is the error estimate.

Further, the derivative of the function of the integral sliding mode surface is:

let the derivative be zero and solve for the solution, the resulting solution is:

in the formula (I), the compound is shown in the specification,is the derivative of a function of said integral sliding-mode surface, L is the observer gain, C is a given matrix, e (t) is said error estimate, u_eIs a set function and is used to attenuate the effects of non-linear functions and external disturbances.

Further, u_eThe following calculation is used:

in the formula (I), the compound is shown in the specification,wherein S is_e(t)＝B^TXe (t), X > 0 and B is satisfied^TX is NC and N is a given matrix.

As a further definition of the sliding-mode dynamic equation, the sliding-mode dynamic equation is as follows:

where e (t) is the error estimate, L is the observer gain, and I is the identity matrix.

Drawings

FIG. 1 is a flow chart of a compound guidance tracking control method of the present invention;

FIG. 2 is a graph of the output response of overload tracking for an angle of attack command of 10 and an angle of attack command of 8;

FIG. 3 is a graph of the output response of pitch angular rate for an angle of attack command of 10 and an angle of attack command of 8;

FIG. 4 is a graph of the output response of the overload tracking error for an angle of attack command of 10 and an angle of attack command of 8;

FIG. 5 shows the angle of attack command as 10 and angle of attackWhen the command is 8, the integrated control rate u₁Output response graph of (1);

FIG. 6 is a graph of the output response of the pitch rate tracking error e (t) for an angle of attack command of 10 and an angle of attack command of 8;

FIG. 7 is a graph of the output response of angle of attack tracking for an angle of attack command of 10 and an angle of attack command of 8;

fig. 8 is a schematic diagram of the motion trajectory of the sliding mode of the system.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings.