基于对数型障碍Lyapunov函数的俯仰驾驶仪设计
Robust Pitch Autopilot Design Based on Logarithmic Barrier Lyapunov Method
王伟 1杨婧 1林时尧 2王宏 3王少龙3
作者信息
- 1. 北京理工大学 宇航学院,北京 100081;北京理工大学 中国-阿联酋智能无人系统"一带一路"联合实验室,北京 100081
- 2. 中国兵器科学研究院,北京 100089
- 3. 西北工业集团有限公司,西安 710043
- 折叠
摘要
相控阵雷达制导拦截弹在拦截高速大机动目标时,弹体气动参数剧烈非线性变化影响控制系统对大攻角的响应效果,应设计考虑攻角指令跟踪误差约束的鲁棒自动驾驶仪控制律.基于双幂次趋近律和对数型障碍李雅普诺夫函数设计了鲁棒非线性自动驾驶仪控制律,可将攻角指令的跟踪误差快速收敛于约束范围内.通过降阶扩张状态观测器对系统中存在的气动参数不确定性和系统外部扰动进行在线估计和补偿.稳定性分析和数值仿真表明,攻角可在 1s内达到稳态且攻角响应的稳态误差＜10-4°,所提出的自动驾驶仪控制律具有较强的鲁棒性,能够准确稳定地跟踪攻角指令,控制导弹产生所需过载进而精准拦截目标.
Abstract
When the phased array radar-guided missile intercepts a high speed target with large maneuve-ring,the aerodynamic parameters of the missile body vary dramatically and become nonlinear,which affects the response of the control system to the large angle-of-attack,the robust autopilot control law should be designed considering the tracking error constraint of the angle-of-attack command.A robust nonlinear autopilot control law is designed based on the double power reaching law and logarithmic barrier Lyapunov function can make the tracking error of the angle-of-attack command converge to the constraint range rapidly.The aerodynamic parame-ter uncertainty and external disturbance of the system are estimated and compensated online by using the reduced order extended state observer.Stability analysis and numerical simulation show the angle-of-attack can reach a steady state within 1 second and the steady-state error of the angle-of-attack response＜10-4°.The proposed au-topilot control law has strong robustness,can accurately and stably track the command of angle of attack,control the missile produces the required overload accurately to intercept the target.
关键词
障碍李雅普诺夫函数/双幂次趋近律/鲁棒非线性自动驾驶仪/扩张状态观测器Key words
barrier Lyapunov function/double power reaching law/robust nonlinear autopilot/extended state observer引用本文复制引用
基金项目
国家自然科学基金(52272358)
国家自然科学基金(62103052)
出版年
2024
国家科技期刊平台
NSTL
万方数据