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以空间拦截器的纵轴在中、末制导段要求指向目标的视线 ,按最小空间角距旋转 ,作为跟踪目标的姿态定向的假想坐标系 ,形成本体坐标系相对假想坐标系的误差四元数。由拦截器的转动角速度分量与误差四元数作为状态反馈构造稳态姿态控制的数学模型。为了得到姿态控制所需的变控制力矩 ,运用PWPF调制器对常值推力姿控发动机的稳态和脉冲工作状态进行调制 ,构造所谓的“数字变力矩”控制器 ,实现对姿态的连续控制。仿真计算结果表明 ,该方法是实际可行的
With the longitudinal intercept of the space block in the middle and last guide sections, it is required to point the line of sight of the target and rotate at the minimum space angular distance as the imaginary coordinate orientation of the tracking target’s attitude orientation to form the quaternion of error of the ontology coordinate system relative to the imaginary coordinate system . The mathematic model of steady-state attitude control is constructed from the interceptors’ rotational angular velocity component and the quaternion of error as the state feedback. In order to obtain the variable control torque required by attitude control, the PWPF modulator is used to modulate the steady state and pulse state of the constant thrust attitude control engine. The so called “digital variable torque” controller is constructed to realize the continuous control of attitude. The simulation results show that this method is practicable