电光与控制
電光與控製
전광여공제
ELECTRONICS OPTICS & CONTROL
2014年
5期
6-10
,共5页
垂直发射导弹%姿态控制%四元数%ADRC%解耦
垂直髮射導彈%姿態控製%四元數%ADRC%解耦
수직발사도탄%자태공제%사원수%ADRC%해우
vertical launching missile%attitude control%quaternion%active disturbance rejection control (ADRC)%decoupling
针对运用欧拉角建立的垂直发射拦截导弹初始转弯阶段运动学方程存在奇异点的特点，通过忽略空气动力的作用，在仅考虑燃气舵的作用下，采用四元数法建立了垂直发射拦截导弹的非线性数学模型。考虑到系统模型存在着非线性、不确定性、参数大摄动和忽略空气动力产生的未知外部扰动，利用自抗扰控制器（ ADRC）不依赖精确的数学模型，并且可以动态补偿系统模型不确定和外部干扰的特点，设计了一种基于四元数的自抗扰姿态控制器。仿真结果表明，所设计的自抗扰姿态控制器具有良好的动态特性和强鲁棒性。
針對運用歐拉角建立的垂直髮射攔截導彈初始轉彎階段運動學方程存在奇異點的特點，通過忽略空氣動力的作用，在僅攷慮燃氣舵的作用下，採用四元數法建立瞭垂直髮射攔截導彈的非線性數學模型。攷慮到繫統模型存在著非線性、不確定性、參數大攝動和忽略空氣動力產生的未知外部擾動，利用自抗擾控製器（ ADRC）不依賴精確的數學模型，併且可以動態補償繫統模型不確定和外部榦擾的特點，設計瞭一種基于四元數的自抗擾姿態控製器。倣真結果錶明，所設計的自抗擾姿態控製器具有良好的動態特性和彊魯棒性。
침대운용구랍각건립적수직발사란절도탄초시전만계단운동학방정존재기이점적특점，통과홀략공기동력적작용，재부고필연기타적작용하，채용사원수법건립료수직발사란절도탄적비선성수학모형。고필도계통모형존재착비선성、불학정성、삼수대섭동화홀략공기동력산생적미지외부우동，이용자항우공제기（ ADRC）불의뢰정학적수학모형，병차가이동태보상계통모형불학정화외부간우적특점，설계료일충기우사원수적자항우자태공제기。방진결과표명，소설계적자항우자태공제기구유량호적동태특성화강로봉성。
Considering the existing singular point problem in the initial turning phase motion equations of the vertical launch interceptor missile using Euler angle,by ignoring the aerodynamic effect and only taking the effect of jet vane into consideration,a nonlinear mathematical model of the vertical launching interceptor missile was established based on quaternion method .Considering the nonlinearities,parameter perturbation , uncertainties and the ignoring aerodynamic effects produced by the unknown external disturbances in the system model,the active disturbance rejection control ( ADRC ) was employed to handle them .The ADRC can dynamically compensate the model perturbation and external disturbances,which does not depend on precise mathematical model of the system .Therefore,an active disturbance rejection attitude controller was designed for the vertical launching interceptor missile by using the quaternion method .Simulation results show that good dynamic performance and strong robustness are obtained under the design of ADRC for the attitude control .
