BTT导弹基于扩张状态观测器的滑模控制律设计

Sliding Mode Control Design for BTT Missile Based on Extended State Observer

摘要:

针对BTT导弹非线性动力学模型中的参数不确定性及系统存在未知外部干扰的问题,提出了一种基于扩张状态观测器的滑模控制设计方法；将系统参数不确定性和未知外界干扰作为系统的复合干扰,采用扩张状态观测器估计系统的复合干扰,并实时补偿；利用Lyapunov方法证明系统的稳定性；该控制器算法简单、计算量小,更易于实际工程应用；仿真结果表明,设计的控制器对导弹控制系统受到的复合干扰具有较强的鲁棒性和稳定性,满足导弹姿态快速机动和高稳定度的控制要求,性能指标明显优于滑模控制器。

Abstract:

For the nonlinear dynamic model of BTT missile with parametric uncertainties and unknown external disturbance, this paper presented a design method of sliding mode controller based on extend state observer (ESO). The parametric uncertainties and unknown external disturbance was treated as a composition disturbance and ESO was used to estimate unknown composite disturbance and compensated online. The closed-loop stability of the observer-controller combination was proved by Lyapunov method. The controller algorithm is simple, small amount of calculation, and it’s easier for practical engineering application. Simulation results show that the designed controller for the system of missile with the composite disturbance has good robustness and stability. It meets the requirements on the missile fast attitude maneuver and high stability. The performance indices are much superior to those of sliding-mode controller.