臺灣博碩士論文加值系統

本論文探討結合積分型順滑模(integral type sliding mode)技術與傳統順滑模(sliding mode)技術於飛彈強健導引律設計之議題。本論文考量之不確定性干擾因素的來源包括有，目標估測誤差及因經過飛行控制系統而造成的加速度時間延遲。利用所設計之強健導引律可使閉迴路系統對目標估測誤差以及加速度時間延遲具有良好的補償效果。此外所提出之強健導引律可允許工程師針系統之性能要求設計無干擾系統(nominal system)的(最佳)導引律，使得包含時間延遲與估測誤差的系統(uncertain system)閉迴路狀態響應與無干擾系統閉迴路響應近似。最後經由模擬驗證證明此導引律可以達到期望的效能。

This paper studies the design of missile guidance law using the combination of SMC and ISMC technologies. The presented guidance law is shown to be able to compensate for the presence of uncertainty, including target estimation error, and time lag in acceleration caused by the flight control system. Besides, the presented scheme possesses a remarkable flexibility of allowing the engineer to select a desired guidance law for the nominal system (i.e., system without uncertainty and time delay) so that the state response of the overall uncertain time delay guidance system is close to that of the selected nominal closed-loop guidance system. Simulation results demonstrate the benefits of the presented scheme.

中 文 摘 要 i
英 文 摘 要 ii
誌 謝 iii
目 錄 iv
圖 目 錄 vi
第1章 緒論 1
1.1 研究背景與動機 1
1.2 論文架構 5
第2章 預備知識 6
2.1 順滑模控制技術介紹 6
2.2 積分型順滑模控制技術介紹 11
2.3 飛彈與目標相對運動模型介紹 16
2.3.1 基礎動力學 17
2.3.2 飛彈座標系 20
2.3.3 飛彈與目標相對運動模型 21
2.4 比例導引律介紹 23
第3章 積分型順滑模控制技術應用於導引律設計 27
3.1 問題描述 27
3.2 導引律設計 28
3.3 模擬驗證 32
第4章 順滑模控制技術應用於具加速度延遲之導引律設計 35
4.1 問題描述 35
4.2 導引律設計 36
4.3 模擬驗證 38
第5章 結合ISMC與SMC技術應用於飛彈導引律設計 49
5.1 問題描述 49
5.2 導引律設計 50
5.3 模擬驗證 53
第6章 結論與未來方向 60
參考文獻 62

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