Research On Boost-glide Tactical Missile Integrated Guidance And Control Method

Boost-glide tactical missile has outstanding advantages on range and velocity comparing with ballistic and cruise missile.Because the flight height is near space and flight speed is high,the guidance and control(G&C)system design has the problem of aerodynamics coefficient uncertainties,flight state couplings and control constraints.The synthetic influences are great challenge to the G&C system design.As the important trend in the field of G&C system design,the integrated guidance and control(IGC)design synthetically considers the kinematics,dynamics and actuator dynamics in modeling,and effectively utilizes the full state feedback.It improves the entire performance and cuts the design cost.This paper focuses on the IGC design of boost-glide tactical missile.New theory and methods are further developed,the practical application is discussed.The influences of uncertain factors on the integrated modeling are analysed,and the different deign are compared.Firstly,the actuator dynamics is considered in IGC model with nonlinearity,uncertainty,unmodeling dynamics.Then back-stepping technique is used to reduce the high order and simplified the structure of the closed-loop system.Single loop and double loop design are compared to testified the advantages of IGC design.At last,the grey association degree is introduced in the analysis of the uncertain aerodynamics coefficients,quantization of the influences is made.Extended state observer(ESO)based command filtered IGC method for boost-glide tactical missile is proposed.The technique of command filter is developed in IGC controller structure.The parameters of command filter are chosen according to the principle given by the Lyapunov stability condition.The ESO is employed to estimate the synthetical disturbances to compensate the complex model uncertainties and disturbances.Firstly,the design process is introduced and the estimate error is discussed.The closed-loop stability is greatly improved through the combination of inner and outer disturbance compensation.Composite command filters are implemented in inner disturbance suppression design.The differentiaor command filter is implemented to avoid the complex items produced by directly differentiating to the virtual control input.The variable structure command filter is used to cancel out the uncertainties and make the closed-loop system converge to ideal state.The low and high order command filtered IGC design are proposed,the feasibility and validity are shown by the numerical simulation.The arbitrarily approximation to nonlinear function and self-learning ability of neural network are utilized to develop a new ESO to estimate the complexed uncertainties and disturbances.The closed-loop system with ESOs stability is proved by the Lyapunov theory.The Nussbaum gain is employed to design the command filter,and the unknown control direction problem is solved.The hardware-in-loop simulation system is built based on the open source flight control kit.The inertial componets are calibrated and the actuator dynamics is identified.The simulation system takes fully advantages of the PIXHAWK open source flight control kit with hardware augmentability and low cost.The paper adequately studies the integrated model.The IGC design is extended with new structure and method by the ESO and command filter.The proposed method ensures the stability and robustness of the closed-loop system under the complex nonlinearity,uncertainty and disturbance.The study has great practical and theoretical value to the development of boost-glide tactical missile IGC design.