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研究了具有大离轴角及越肩发射能力的敏捷导弹初始段敏捷转弯的控制方法,用反作用喷气控制系统来提供大角度敏捷转弯时大攻角飞行的控制力矩。首先利用时标分离的思想将导弹姿态控制系统的运动学部分和动力学部分分别视为慢变子系统和快变子系统,然后应用动态逆和变结构控制相结合来设计各子系统的控制律;最后,在考虑了导弹各个环节非理想因素的情况下,对导弹进行全耦合状态下三通道联合仿真。仿真结果表明所提出的控制方法,能够有效消除敏捷导弹大角度姿态机动时的结构参数变化以及各种外部干扰的影响,可以很好地控制导弹的大迎角机动飞行,鲁棒性强,简单易行,具有一定的实用性。“,”The control method for the agile turn phase of the air to air missile was investigated that had high off-boresight capability and over the shoulder maneuverability.Reaction jet control system was used as control moment on this type of missile when the angle of attack was large during the agile turn.Using the idea of time scale separation,the attitude dynamical and kinematical systems of the missile were divided into fast subsystem and slow subsystem.Then the control law of each subsystem was designed using the dynamic inversion and variable structure sliding mode control.Finally,under the condition that each portion of the missile was true,and three channels were complete coupling,simulation tests were made.The results show that the control law can completely eliminate the effect of the variation of the structure parameters and the exterior disturbances,and the control system can finely maneuver the missile flight at high angles of attack.The method is strong robustness,easy and feasible with practicability.