考虑加速度约束的终端角度约束滑模制导律设计
作者:
作者单位:

1.上海交通大学自动化系 2. 系统控制与信息处理教育部重点实验室,上海,200240 3.海洋智能装备与系统集成技术教育部实验室,上海交通大学;2.上海交通大学

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中图分类号:

V448.13

基金项目:

国家自然科学基金项目(面上项目,重点项目,重大项目)


Sliding-mode Guidance Law with Acceleration and Angle Constraints
Author:
Affiliation:

1.Department of Automation, Shanghai Jiao Tong University, Shanghai, People’s Republic of China. 2.Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, 200240. 3.Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Jiao Tong University.;2.Shanghai Jiao Tong University

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    摘要:

    针对含终端角度约束的滑模制导律在制导初期加速度指令过大的问题,采用趋近律方法和引入阻尼项 设计了一种考虑加速度约束的角度约束滑模制导律。首先,分析了制导指令大小与滑模变量趋近速度的关系;之 后在滑模面函数中引入阻尼项,动态调节制导指令中不同部分的占比,从而降低制导初期整体指令值;最后设 计了多幂次自适应趋近律来调节不同阶段的滑模变量趋近速度,达到降低制导指令极值、满足加速度约束的目 的,同时保证了滑模面函数的快速收敛。与常见的终端角度约束滑模制导律相比,仿真结果验证了所提出方法 在降低加速度极值方面的有效性。

    Abstract:

    Concerning the problem that the sliding mode guidance law with terminal angle constraint has too large an acceleration command at the initial stage of guidance process, an angle constraint guidance law considering acceleration constraint is designed using the reaching law method and a damping term. The relationship between the magnitude of the acceleration command and the approaching speed of the sliding mode variable is analyzed first. Then, a damping term is introduced into the sliding mode surface function to dynamically adjust the proportion of different parts of the guidance instruction, thereby reducing the overall instruction value at the initial stage of the guidance process. Finally, a multipower adaptive reaching law is designed to adjust the approaching speed of the sliding mode variable at different stages to reduce the extreme value of the guidance instruction and meet the acceleration constraint. The fast convergence of the sliding mode surface function is guaranteed in the meantime. Compared with the common terminal-angle-constrained sliding mode control-based guidance law, the simulation results demonstrate the effectiveness of the proposed guidance law in reducing acceleration command extremes.

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  • 收稿日期:2020-03-14
  • 最后修改日期:2020-07-25
  • 录用日期:2020-05-12
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