Attitude Control And Semi-physical Simulation Design Of Trajectory Correction Projectile With Fixed-canard

In this paper,an attitude control scheme is proposed for the control of two-dimensional trajectory correction projectile with fixed-canard(TCPF).Different control methods are designed,and the attitude controller of TCPF is designed respectively based on the two methods.At the same time,for the verification of the relevant performance of the controller,a controller semi-physical simulation platform is designed,which has certain reference significance for realizing the modified control of the TCPF and the semi-physical simulation of the controller.The main work is as follow:(1)To realize the control of TCPF,an attitude control strategy is proposed.Firstly,the coordinate system is established and the force and moment of the projectile are analyzed.Then,the seven-degree-of-freedom ballistic model of the projectile is derived under the elastic shaft system based on Newton's law and momentum moment theorem,and the attitude motion simulation is carried out based on 155 mm projectile.Finally,the attitude control model of the TCPF is established and simplified.The attitude control diagram of this paper is given.(2)To realize the tracking control of the attitude angle command of the TCPF,the attitude controller is designed based on Backstepping sliding mode control method.Firstly,the design principle of the method is analyzed.Then the attitude control model is simplified into attitude control loop and fixed-canard control loop.The control laws of the two loops are designed,and the stability boundary conditions of the two loops are derived based on Lyapunov function respectively.Finally,the simulation results based on Simulink show that the proposed method can achieve tracking control of attitude angle commands,but the chatter exists.(3)To reduce the chatter,an improved sliding mode control method with unidirectional auxiliary surface is proposed,and the stability is proved based on Lyapunov function.The control law of the four control loop is designed respectively,which are attitude angle,attitude angle rate,fixed-canard rolling angle and fixed-canard rolling angle rate.The simulation results based on Simulink show that the tracking performance of sliding mode control with unidirectional auxiliary surface is gentle.(4)For the semi-physical simulation verification of the performance of the controller,a semi-physical simulation platform is established based on ARM microcontroller.Firstly,the semi-physical simulation requirements of controller are analyzed,and the semi-physical simulation architecture is designed including projectile dynamics simulation,the measured information simulation of the attitude angle,human-computer interaction interface and ARM controller.Then the corresponding software and embedded software is designed,and the semi-physical simulation platform is built.Finally,verify the performance of the designed controller based on the platform.