针对运用欧拉角建立的垂直发射拦截导弹初始转弯阶段运动学方程存在奇异点的特点，通过忽略空气动力的作用，在仅考虑燃气舵的作用下，采用四元数法建立了垂直发射拦截导弹的非线性数学模型。考虑到系统模型存在着非线性、不确定性、参数大摄动和忽略空气动力产生的未知外部扰动，利用自抗扰控制器（ ADRC）不依赖精确的数学模型，并且可以动态补偿系统模型不确定和外部干扰的特点，设计了一种基于四元数的自抗扰姿态控制器。仿真结果表明，所设计的自抗扰姿态控制器具有良好的动态特性和强鲁棒性。%Considering the existing singular point problem in the initial turning phase motion equations of the vertical launch interceptor missile using Euler angle,by ignoring the aerodynamic effect and only taking the effect of jet vane into consideration,a nonlinear mathematical model of the vertical launching interceptor missile was established based on quaternion method .Considering the nonlinearities,parameter perturbation , uncertainties and the ignoring aerodynamic effects produced by the unknown external disturbances in the system model,the active disturbance rejection control ( ADRC ) was employed to handle them .The ADRC can dynamically compensate the model perturbation and external disturbances,which does not depend on precise mathematical model of the system .Therefore,an active disturbance rejection attitude controller was designed for the vertical launching interceptor missile by using the quaternion method .Simulation results show that good dynamic performance and strong robustness are obtained under the design of ADRC for the attitude control .
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