文中给出了一种滑模趋近律应用于潜空导弹垂直出水姿态控制的设计方法。首先利用四元数在弹体坐标系下对垂直出水的潜空导弹水下和空中运动建立了统一的运动方程形式，然后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：基于四元数的水下、水上统一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潜空导弹垂直出水的有效控制。%A design method of sliding mode approaching law was applied in attitude control of vertical water-exit of submarine-to-air mis-sile. Firstly, quaternion was used for submarine-to-air missile of vertical water-exit to establish a unified equation form of underwater and in air motion in missile’ s body coordinate system, then the small perturbation linearization state space model was adopted in pitch channel to design attitude control law based on sliding mode approaching law, finally the 6-DOF trajectory simulation model in Simulink was estab-lished and simulated. The result indicates that the unified equation form of underwater and in air motion using quaternion is efficient, and attitude control law based on sliding mode approaching law is practicable in vertical water-exit control of submarine-to air missile.
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