Research On Attitude Control And Control Allocation For Missile With Lateral Jets And Aerodynamic Surfaces

In recent years,many countries are actively developing hypersonic cruise missile technology,and the defense and interception technology of hypersonic cruise missiles have also been explored.In order to cope with the threat of rapid development of hypersonic cruise missiles and other airstrike weapons,interceptors need to have more accurate and rapid response capabilities to achieve kinetic interception.Due to the thin air at high altitude,the aerodynamic control response is slow,and the need the need for fast tracking guidance command cannot be met.The lateral thrust has the advantage of rapid response.Therefore,the interceptor can adopt the method of direct thrust and aerodynamic force blended control to improve the response speed of the control system.In this paper,the PAC-3 interceptor is taken as the research object,and the direct thrust and aerodynamic force blended control and control allocation is studied.The research content can be summarized as follows:Firstly,the related research and development status of direct thrust and aerodynamic force blended control and control allocation at home and abroad are systematically investigated,and the research background and significance of interceptor direct thrust and aerodynamic force blended control and control allocation are summarized.Secondly,it studies the modeling problem of composite control missiles,including the definition of coordinate systems,transformation relations between them and derivation.The mathematical model of compound control missile is deduced,the pulse thruster model and the jet interaction effects model are established.Considering the requirements of controller design,the missile motion mathematical model is simplified and the attitude control model is deduced.Then,aiming at the serious non-linearity and strong coupling of attitude control model of composite control missile,a dual-loop sliding mode controller with finite time convergence is designed.Considering that the coupling between the aerodynamic surface and pulse thruster is mainly manifested in the body rate loop,the direct thrust control strategy based on sliding mode variable adaptive adjustment of switching control parameters is adopted in the design of the inner loop controller.Aiming at the problems of aerodynamic parameter perturbation and jet interaction effects disturbance,the extended state observer(ESO)is used to estimate and compensate the disturbance of inner and outer loop based on the dual-loop sliding mode controller.The influence of disturbance compensation on the convergence region of the controller is analyzed while the stability of the control system is proved.The effectiveness and robustness of the composite control method are verified by simulation.Finally,the control allocation method of heterogeneous redundant actuators is studied.Considering the characteristics of the control torque command and the working characteristics of the pulse thruster and aerodynamic force,the control commands the control commands are assigned at different stages and layers.For upper layer allocation between the pulse thruster and aerodynamic force,chain incremental method and LMIbased weighted optimization pseudo-inverse method are studied respectively.The lower layer allocation problem of pulse thruster is transformed into the form of Mixed Integer Linear Programming(MILP),and the range of MILP is limited by vector synthesis method.The effectiveness of the lower layer allocation method is verified by simulation.The whole loop is composed of the allocation method and attitude controller.The advantages and disadvantages of different upper layer allocation methods are simulated and analyzed.