针对激光驾束制导导弹的位置控制问题,研究了一种基于卡尔曼滤波器的PID位置控制方法。首先,对导弹和目标的相对运动关系进行推导,给出三点法导引过程中导弹需用加速度的解析表达形式。由于驾束制导导弹只能测量导弹相对于驾束中心的位置偏量,采用最速跟踪微分器跟踪位置信息,提取得到位置的微分信号。采用卡尔曼滤波器对位置信号、位置微分信号进行滤波,同时对目标加速度进行估计。将滤波得到的位置信号和微分信号应用到PID位置控制器中,同时在控制器中引入目标加速度的补偿。最后,数值仿真验证了所提出方法的有效性。

Aiming at the position control problem of laser beam-riding guided missile, a PID position control method based on Kalman filter is studied. First of all, the relative motion relationship between the missile and the target is deduced, and the analytical expression of the overload that the missile needs to be used in the three-point guidance process is given. Because the beam-riding guided missile can only measure the position deviation of the missile relative to the beam-riding center, the tracking differentiator is used to track the position information and extract the differential signal of the position. The Kalman filter is used to filter the position signal and the position differential signal, and also to estimate the target acceleration. The position signal and differential signal obtained by filtering are applied to the PID position controller, and at the same time, the compensation of the target acceleration is introduced into the controller. Finally, numerical simulations verify the effectiveness of the proposed method.