火控系统的操瞄与稳定
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摘要
本文研究了自行火炮操瞄解耦和稳定系统的扰动抑制问题。首先，基于线性空间的几何理论，提出了一种新的操瞄系统解耦方案。由于火炮姿态角变化与相应平面的法向量是一一对应的，从而可将调炮诸元转化为法向量夹角来计算，这样可避免传统方案在微小姿态角扰动情形下导致的计算精度可能的损失。作者所做的仿真也表明了文中所提方案的有效性。其次，针对行进中自行火炮的主要干扰源，利用H_∞。控制理论，设计了稳定系统的镇定控制器，可将扰动对系统的影响降低到期望的水平。通过仿真实验，这种扰动抑制控制器具有满意的控制效果。
In this paper, the decoupling of gun auto-aiming system and the disturbance restrict problem to stabilization system are studied. Firstly, a new decoupling approach to aiming system is presented based on the geometric theory of linear space. Since the varies of gun attitude angle and the vertical vector of the homograph plane are one-to-one, all the elements of modulation gun can be transformed into the calculation of the vertical vector angle, which avoids the calculation accuracy loss of the traditional approach under the condition of the tiny attitude angle disturbance. The simulation states the validity of the approach presented in this paper. Secondly, the stabilizer is designed by using H∞ control theory aiming to the main disturbance of proper motion gun, which can reduce the disturbance effect on the gun-control system to the level of aspiration. This controller of disturbance restrict is satisfying proved by the simulation.
In this paper, the decoupling of gun auto-aiming system and the disturbance restrict problem to stabilization system are studied. Firstly, a new decoupling approach to aiming system is presented based on the geometric theory of linear space. Since the varies of gun attitude angle and the vertical vector of the homograph plane are one-to-one, all the elements of modulation gun can be transformed into the calculation of the vertical vector angle, which avoids the calculation accuracy loss of the traditional approach under the condition of the tiny attitude angle disturbance. The simulation states the validity of the approach presented in this paper. Secondly, the stabilizer is designed by using H∞ control theory aiming to the main disturbance of proper motion gun, which can reduce the disturbance effect on the gun-control system to the level of aspiration. This controller of disturbance restrict is satisfying proved by the simulation.
引文
[1] 张洪图，姜正根，赵家象．坦克构造学[M]．北京：北京工业学院出版社，1986
[2] 郭治，现代火控理论[M]．北京：国防工业出版社，1988
[3] 洪昌仪等．兵器工业高新技术[M]．北京：兵器工业出版社，1994
[4] 间瞄武器高精度全自动火控技术应用研究[A]．太原：中国兵器工业第207研究所，1997
[5] 申铁龙．H_∞控制理论及应用[M]．北京：清华大学出版社，1996
[6] 王德进．H_2和H_∞优化控制理论[M]．哈尔滨：哈尔滨工业大学出版社，2001
[7] 曾建平．基于LMI的H_∞控制问题降阶控制器的存在性研究[博士论文]．2000
[8] Rosenbrock H H. The stability of multivariable systems. IEEE Transaction on Automatic Control, 1972,17:105～107
[9] Macfarlan A J G, Postlethwaite I. The generalized Nyquist criterion and multivariable root loci. International Journal of Control, 1977,25(1):81～127
[10] Zames G. Feedback and Optimal Sensitivity Model Reference Transformations, Multiplicative Seminorms, and Approximation Inverses. IEEE Trans. Auto. Contr., 1981, AC-26(4):301～320
[11] 黄琳，王龙，于年才．系统鲁棒性的若干问题背景现状与挑战[A]．控制理论与应用，1991，8(1)：11～29
[12] 陈翰馥，郭雷．现代控制理论的若干进展及展望[A]．科学通报，1998，43(1)：1～7
[13] Doyle J, Glover K, Khargonekar P, Francis B. A. State-space solution to standard H_∞ and H_2 control problem. IEEE Transaction on
Automatic control, 1989,34(8):831～842
[14] Kimura K. Conjugation, interpolation and model-matching in H_∞.International Journal of Control, 1989,49:269～307
[15] Kimura H. Chain-Scattering Representation, J-Lossless Factorization and H_∞ Control. J. of Mathematical Systems, Estimation & Control 1995,5:204～255
[16] A. A. Stoorvogel, A. Soberi, The discrete algebraic Riccati equation and linear matrix inequality, Proceedings of the IEEE conference on decision and control, Vol.2(B),P1511-1516,1994
[17] Zhou K and Khargonekar P. An Algebraic Riccati Equation Approach to Optimization. Syst. Control Lett.,1988,11:85～92
[18] Iwasaki T,Skelton R E. all Controllers for the General H_∞ Control Problem: LMI Existence Conditions and State Space Formulas.Automatica. 1994,30(8): 1307～1317
[19] 郭雷，忻欣，冯纯伯．基于LMI的一种统一的降阶控制器设计方法[A]．中国科学(E)，1997，27(4)：353～361
[20] 陶化成．压制兵器自动操瞄系统的精度分析[A]．火力与指挥控制，1993，18(3)，36～41
[21] 徐昕，李涛，伯晓晨等．MATLA工具箱应用指南[M]．北京：电子工业出版社，2000
[22] 崔怡．MATLAB5.3实例详解[M]．北京：航空工业出版社，2000
[23] 黄忠霖．控制系统MATLAB计算及仿真[M]．北京：国防工业出版社，2001
[24] 郝权文，张启伟．复合控制在坦克炮控系统中的应用[A]．兵工学报(坦克装甲车及发动机手册)，1985；6(3)：41—5
[25] 吴云龙，张飞猛，徐刚．自行高炮武器系统精度参数理论[M]．北京：国防工业出版社，1999
[26] 朱竞夫．坦克火控系统[M]．北京：兵器工业出版社，1992
[27] Daniel C. kammer. "Estimation of Structural REsponse Using Remote Sensor Locations", Journal of Guidance, Control and
Dynamics, Vol.20, No.3,1997,pp501～508
[28] 王靖君，郝信鹏．火炮概论[M]．北京：兵器工业出版社，1992
[29] 苗文．89式120毫米自行反坦克炮[A]．科技与国力，1999增刊
[30] 王新．自行火炮振动自适应控制研究[硕士论文]．1999
[31] 朱元昌，赵福红．火控系统原理与分析[M]．北京：兵器工业出版社，1994
[32] 顾启煌，单东升．坦克火力控制系统[M]．北京：国防工业出版社，1997
[33] 王新，李霆，潘宏侠．火炮稳定器的自适应控制方法研究[A]．兵工学报．2001，22(1)：102～104
[34] 解学书等．H_∞控制理论[M]．北京：清华大学出版社，1994
[35] Kemin Zhou. Essentials of Robust Control, 1999
[36] Carsten Scherer, Siep Weiland. Linear Matrix Inequalities in Control, 2000
[37] Gahinet P.,Apkarian P. A linear matrix inequality approach to H_∞ control. Int. J. Robust Nonlinear Control, 1994,4:421～448
[38] Boyds Ghaoui L E,Feron E. Linear Matrix Inequalities in System and Control Theory. [M].Philadelphia, PA: SIAM, 1994
[39] 朱元昌主编．火控系统的数字仿真[M]．北京：国防工业出版社，1997
[40] 王广雄，李连锋．鲁棒设计中MATLAB的应用[A]．电机与控制学报，1999；3(3)：138-142
[41] 夏德钤．自动控制理论[M]．北京：机械工业出版社，1996
[42] 王广雄，林愈银，谢冰．控制问题中的线性矩阵不等式及其求解[M]．电机与控制学报，1998；2(4)：191-193
[2] 郭治，现代火控理论[M]．北京：国防工业出版社，1988
[3] 洪昌仪等．兵器工业高新技术[M]．北京：兵器工业出版社，1994
[4] 间瞄武器高精度全自动火控技术应用研究[A]．太原：中国兵器工业第207研究所，1997
[5] 申铁龙．H_∞控制理论及应用[M]．北京：清华大学出版社，1996
[6] 王德进．H_2和H_∞优化控制理论[M]．哈尔滨：哈尔滨工业大学出版社，2001
[7] 曾建平．基于LMI的H_∞控制问题降阶控制器的存在性研究[博士论文]．2000
[8] Rosenbrock H H. The stability of multivariable systems. IEEE Transaction on Automatic Control, 1972,17:105～107
[9] Macfarlan A J G, Postlethwaite I. The generalized Nyquist criterion and multivariable root loci. International Journal of Control, 1977,25(1):81～127
[10] Zames G. Feedback and Optimal Sensitivity Model Reference Transformations, Multiplicative Seminorms, and Approximation Inverses. IEEE Trans. Auto. Contr., 1981, AC-26(4):301～320
[11] 黄琳，王龙，于年才．系统鲁棒性的若干问题背景现状与挑战[A]．控制理论与应用，1991，8(1)：11～29
[12] 陈翰馥，郭雷．现代控制理论的若干进展及展望[A]．科学通报，1998，43(1)：1～7
[13] Doyle J, Glover K, Khargonekar P, Francis B. A. State-space solution to standard H_∞ and H_2 control problem. IEEE Transaction on
Automatic control, 1989,34(8):831～842
[14] Kimura K. Conjugation, interpolation and model-matching in H_∞.International Journal of Control, 1989,49:269～307
[15] Kimura H. Chain-Scattering Representation, J-Lossless Factorization and H_∞ Control. J. of Mathematical Systems, Estimation & Control 1995,5:204～255
[16] A. A. Stoorvogel, A. Soberi, The discrete algebraic Riccati equation and linear matrix inequality, Proceedings of the IEEE conference on decision and control, Vol.2(B),P1511-1516,1994
[17] Zhou K and Khargonekar P. An Algebraic Riccati Equation Approach to Optimization. Syst. Control Lett.,1988,11:85～92
[18] Iwasaki T,Skelton R E. all Controllers for the General H_∞ Control Problem: LMI Existence Conditions and State Space Formulas.Automatica. 1994,30(8): 1307～1317
[19] 郭雷，忻欣，冯纯伯．基于LMI的一种统一的降阶控制器设计方法[A]．中国科学(E)，1997，27(4)：353～361
[20] 陶化成．压制兵器自动操瞄系统的精度分析[A]．火力与指挥控制，1993，18(3)，36～41
[21] 徐昕，李涛，伯晓晨等．MATLA工具箱应用指南[M]．北京：电子工业出版社，2000
[22] 崔怡．MATLAB5.3实例详解[M]．北京：航空工业出版社，2000
[23] 黄忠霖．控制系统MATLAB计算及仿真[M]．北京：国防工业出版社，2001
[24] 郝权文，张启伟．复合控制在坦克炮控系统中的应用[A]．兵工学报(坦克装甲车及发动机手册)，1985；6(3)：41—5
[25] 吴云龙，张飞猛，徐刚．自行高炮武器系统精度参数理论[M]．北京：国防工业出版社，1999
[26] 朱竞夫．坦克火控系统[M]．北京：兵器工业出版社，1992
[27] Daniel C. kammer. "Estimation of Structural REsponse Using Remote Sensor Locations", Journal of Guidance, Control and
Dynamics, Vol.20, No.3,1997,pp501～508
[28] 王靖君，郝信鹏．火炮概论[M]．北京：兵器工业出版社，1992
[29] 苗文．89式120毫米自行反坦克炮[A]．科技与国力，1999增刊
[30] 王新．自行火炮振动自适应控制研究[硕士论文]．1999
[31] 朱元昌，赵福红．火控系统原理与分析[M]．北京：兵器工业出版社，1994
[32] 顾启煌，单东升．坦克火力控制系统[M]．北京：国防工业出版社，1997
[33] 王新，李霆，潘宏侠．火炮稳定器的自适应控制方法研究[A]．兵工学报．2001，22(1)：102～104
[34] 解学书等．H_∞控制理论[M]．北京：清华大学出版社，1994
[35] Kemin Zhou. Essentials of Robust Control, 1999
[36] Carsten Scherer, Siep Weiland. Linear Matrix Inequalities in Control, 2000
[37] Gahinet P.,Apkarian P. A linear matrix inequality approach to H_∞ control. Int. J. Robust Nonlinear Control, 1994,4:421～448
[38] Boyds Ghaoui L E,Feron E. Linear Matrix Inequalities in System and Control Theory. [M].Philadelphia, PA: SIAM, 1994
[39] 朱元昌主编．火控系统的数字仿真[M]．北京：国防工业出版社，1997
[40] 王广雄，李连锋．鲁棒设计中MATLAB的应用[A]．电机与控制学报，1999；3(3)：138-142
[41] 夏德钤．自动控制理论[M]．北京：机械工业出版社，1996
[42] 王广雄，林愈银，谢冰．控制问题中的线性矩阵不等式及其求解[M]．电机与控制学报，1998；2(4)：191-193