基于滑模趋近律的防空导弹垂直发射姿态控制研究

利用四元数在弹体坐标系下对垂直发射的防空导弹建立了运动方程,并在纵向通道利用小扰动线性化状态空间模型,设计了基于滑模趋近律的姿态控制律,最后建立了Simulink六自由度弹道模型并进行了数字仿真,结果表明：基于四元数的运动方程形式运行有效,基于滑模趋近律的姿态控制律可实现对防空导弹垂直发射的有效控制。

Attitude Control Law Design of Vertical Launched Air-defense Missile #$NLbased on Sliding Mode Control

Quaternion is used for air-defense missile of vertical launched to establish motion equations in missile's body coordinate system, then the small perturbation linearization state space model is adopted in pitch channel to design attitude control law based on sliding mode approaching law. Finally the 6-DOF trajectory simulation model in Simulink is established and simulated. The result indicated that the motion equations using quaternion is efficient, and attitude control law based on sliding mode approaching law is practicable in vertical launching control of air-defense missile.