电光与控制, 2016, 23 (6): 50, 网络出版: 2021-01-28
基于欧拉旋转的动能拦截器姿态控制方法
An Attitude Control Method of Kinetic Kill Vehicle Based on Eigenaxis Rotation
弹道导弹防御 动能拦截器 姿态控制 欧拉旋转 ballistic missile defense kinetic kill vehicle attitude control Eigenaxis rotation
摘要
针对动能拦截器姿态控制的快速性要求, 提出了一种基于欧拉旋转的姿态控制方法, 实现了对目标姿态的快速跟踪。欧拉旋转为姿态跟踪提供了最短路径, 被誉为最优机动方式。控制律以误差动力学方程为基础, 引入姿态误差四元数和动能拦截器角速度信息, 实现了调姿过程的欧拉旋转; 并且利用李雅普诺夫函数, 对控制律进行了稳定性分析; 最后进行了数学仿真。仿真结果表明, 采用本文设计的算法进行姿态跟踪, 过程平滑、精度高, 能够实现欧拉旋转的最短路径效果。
Abstract
An attitude control method is proposed based on Eigenaxis rotation to satisfy the rapidity demands of kinetic kill vehicles, and realize rapid attitude tracking of target. Eigenaxis rotation is considered as an optimum maneuver mode since it can provide the shortest angular path for the attitude tracking. Based on error kinetic equation, the control algorithm achieves Eigenaxis rotation in the process of controlling attitude angles by introducing error quaternion and angular velocity. The globally stability of the algorithm is proved using Lyapunov function. Finally, mathematical simulation is conducted, which demonstrates that the algorithm can realize the shortest path of Eignaxis rotation with smooth maneuvering process and high precision.
刘巍, 陈源宝, 王旋. 基于欧拉旋转的动能拦截器姿态控制方法[J]. 电光与控制, 2016, 23(6): 50. LIU Wei, CHEN Yuan-bao, WANG Xuan. An Attitude Control Method of Kinetic Kill Vehicle Based on Eigenaxis Rotation[J]. Electronics Optics & Control, 2016, 23(6): 50.