Research On Guidance And Control Of The New-type Gliding Missile

Towards to a new-type gliding missile,the method of guidance and control is researched.All the Euler angles' definition used in the old missile motion model is extended such that their rang is[-?,?].By the extension,the model of the missile can be used to simulate the motion of vertical turn.If not by the extension,the missile's motion of vertical turn is not simulated by using the old model,because the rang of the old model's Euler angles which are relative to vertical turn motion is[-?/2,?/2].A method is proposed which is used to accurately calculate aerodynamic force and aerodynamic moment under wind and the component of the real aerodynamic force under the ballistic coordinate system.A new relative motion model is built which is 3-D coupling and has clear definition about the angle of the line of sight(LOS),and so can be used to simulate the attack motion with multiple attack angles.Basing on the Euler angles' extension and the new relative motion model,a classical Proportional Navigation Guidance(PNG)is discussed about its convergency and efficiency.The discussion verifies the extension's necessity and expounds the key problem of the attack motion with multiple attack angles.3-D Coupling Guidance Law with terminal angle constraint is proposed based on 3-D coupling relative motion model,then 3-D Coupling Guidance Law based on the extended state observer(ESO)is proposed as an improvement of the 3-D Coupling Guidance Law with terminal angle constraint.The Feedback Linearization is compared to the small perturbation linearization method so as to choose a method which is fit for attitude motion equations linearization of the new-type gliding missile whose stability and instability is alternative.It is a most important research achievement that a new design method of the Finite-Time Convergent Disturbance Observer(FTCDO)is proposed.At the end of the article,the 6-D simulation is conducted to verify the performance of the proposed guidance law and control methods simultaneously.The research achievements are including:1)All the Euler angles' definition is extended so as to built a model which is suited to simulate the missile's vertical turn motion and seen as an improved model;2)The model of disturbance about the wind is proposed to calculate accurately the aerodynamic parameters under the wind;3)A new 3-D coupling relative motion model is proposed,then basing on the model 3-D Coupling Guidance Law with terminal angle constraint and its improved method:3-D Coupling Guidance Law based on ESO are proposed;4)A new design method of Disturbance Observer:FTCDO is proposed,then Active Disturbance Rejection Sliding Mode Control basing on FTCDO is proposed.The results show that the extension of Euler angles is necessary and accuracy.The 3-D simulations of the guidance and control systems demonstrate that the proposed methods have desirable performance.3-D Coupling Guidance Law with terminal angle constraint and its improved method:3-D Coupling Guidance Law based on ESO can all attack the target precisely with terminal constraints.FTCDO designed basing on non singular term sliding mode control has good performance when compared to ESO,and active disturbance rejection sliding mode control basing on FTCDO can eliminate chattering and improve control accuracy.The 6-D simulations prove that the guidance and control methods are feasible for the whole trajectory.