鲁棒非线性导引与控制律一体化设计研究
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摘要
精确打击能力是现代国防对导弹武器的要求,飞行控制和制导算法是实现导弹精确打击目标的关键所在。导引与控制一体化设计可综合协调各个子系统之间的关系,确保级联系统整体上具有稳定性,从而能够充分挖掘导弹的潜力,提高导弹的精确打击能力。本文以寻的导弹打击机动或地面固定目标为背景,研究了不基于视线角速率测量信息的导引规律和末制导阶段的导引与控制一体化模型和设计方法,主要内容包括：
首先,研究了导弹导引与控制一体化非线性模型。在导弹六自由度非线性模型和导弹与目标相对运动模型的基础上,通过坐标变换,以导弹在弹道坐标系和视线坐标系中的加速度分量为桥梁,考虑所拦截目标具有机动飞行的能力,建立了导引与控制一体化非线性模型。该模型不仅可反映导弹与目标的相对运动关系,也可体现导弹在飞行过程中姿态变量(攻角、俯仰角及其角速率等)的变化。
其次,研究了不基于视线角速率测量信息的三维导引律设计问题。考虑机动目标拦截问题,首先在所有状态都可测的情况下,基于输入-状态稳定性(ISS)理论设计了一种使视线角速率对目标机动具有ISS稳定性的导引律(ISS导引律),理论分析表明这种导引律可通过调节系数使视线角速率收敛到零点的任意小邻域内,并通过数值仿真验证了该导引律的有效性。在实际空战中,测量得到的视线角速率可能混杂了导弹自身的姿态角速率,这使得视线角速率的测量值不准确,从而影响制导精度,因此本文在上述的ISS导引律的基础上引入高增益观测器对视线角速率进行估计,理论分析和数值仿真表明这种加入了观测器的导引律可重现ISS导引律的性能。
然后,将导引与控制一体化模型简化为平面模型后,研究了俯仰平面内导引与控制律的一体化设计问题。针对俯仰平面内具有单控制输入(俯仰舵)的导弹打击高速机动目标问题,利用反步设计法设计了一体化导引-控制律,并结合自适应控制方法处理模型中的非线性。由于俯仰舵在攻角较大的情况下具有气动饱和特性,可能会使导弹的机动能力受到限制,特别是对于弹体较长的导弹,若同时使用俯仰舵和尾翼对导弹进行操控则可增强其机动能力,因此针对俯仰平面内具有俯仰舵和尾翼的导弹打击地面固定目标问题,在不忽略舵面对攻角直接影响的情况下,利用小增益定理设计了可使导弹以一定角度准确打击目标的导引与控制方案,并证明了将其与ISS导引律结合后,也可用于打击机动目标。本文所设计的一体化导引-控制律均不基于视线与导弹速度方向夹角很小的假设,理论分析和数值仿真表明,所设计的一体化导引-控制律在获得满意打击效果的同时可确保由导弹的导引系统和控制系统组成的综合系统具有稳定性。
最后,本文在考虑导弹控制系统动态特性和不确定性的情况下,研究了近似的导引与控制系统一体化设计问题。由于三维的导引与控制一体化模型较为复杂,直接基于此模型设计三维的一体化导引-控制律比较困难,为了提高导弹的打击能力,可设计近似的一体化导引-控制律——在设计导引律时考虑导弹控制系统的动态特性和不确定性。本文在导弹控制系统可近似为一阶环节和二阶环节的情况下,分别利用分块反步设计法和小增益定理在弹道坐标系中研究了近似的三维导引与控制设计问题,所设计的控制方案可克服导弹控制系统的动态特性对制导效果的影响,并对导弹控制系统的不确定性和目标机动具有鲁棒性,数值仿真验证了其有效性。
The ability of getting an accurate interception is the requirement of modern nation-al defense for missile weapons, and flight control and guidance algorithms are the key to achieve successful interception. Integrated guidance and control can coordinate the relationship between subsystems, and guarantee the stability of the overall system, so as to fully explore the potential of missiles and improve accurate interception capability. This dissertation focuses on the problems of guidance law design without line-of-sight (LOS) rate measurement, and modeling and control design of integrated guidance and control for homing missile against maneuvering or ground fixed targets. The main re-sults consist of the following parts:
First of all, the modeling problem of the missile nonlinear integrated guidance and control system is considered. On the basis of the missile6-DOF nonlinear model and the relative motion model between missile and target, by using the coordinate trans-formation and viewing the acceleration elements in the trajectory coordinates and LOS coordinates as intermediaries, the nonlinear integrated guidance and control (IGC) mod-el is formulated considering the target maneuverability. The IGC model can reflect not only the relative motion between the missile and target, but also the varies of missile attitude (attack angle, pitch angle, and angular rates, etc.) during the flight process.
Then, a three-dimensional guidance law without LOS rate measurement is pro-posed. Considering the interception of maneuvering targets and supposing all the states are measurable, a guidance law is designed based on input-to-state stability (ISS) to en-sure that the LOS rate is ISS with respect to target maneuvers. It is proved that, under the proposed guidance law, the LOS rate can converges to an arbitrary small neighbor-hood of the zero by adjusting the coefficients. The simulation results are also provided to test the algorithm. In practice, the LOS rate is always combined with missile body rates, so it is difficult to measure LOS rate accurately, which will affect guidance pre-cision. Thus, a high-gain observer is introduced into the guidance law to estimate the LOS rate, and the theoretical analysis as well as simulation results show that the perfor-mance of the closed-loop system under the guidance law with LOS rate measurement can be recovered by using a high-gain observer.
Sequentially, the IGC model in pitch plane is formulated from the3D model, and the IGC law design problem is studied. To design an IGC law for missiles with sin-gle control input (canard control) against high speed targets with maneuverability, the backstepping is introduced, and adaptive control method is also used to handle the influ-ence of the nonlinear term. Canard control has its limit due to aerodynamic saturation at high angles of attack, which may affect the maneuverability of the missile, especially for long fuselage missiles, and a tail control is often preferred. Therefore, an IGC de-sign approach, against ground fixed targets, is proposed using small-gain theorem for missiles controlled by canard and tail control, which can guarantee a successful inter-ception with a desired impact angle. It is shown that the IGC law combining with ISS guidance law can be used in the interception of a maneuvering target. It is worth to claim that the designed IGC approaches do not rely on the assumption that the angle between LOS and missile velocity is almost constant. A successful interception as well as the stability of the overall system can be guaranteed by our approaches, which can be seen from both theoretical analysis and simulation results.
Finally, considering the missile control system dynamics and uncertainties, the problem of approximative IGC design is studied. Due to the complexity of the3D IGC model, it is difficult to design IGC law directly. In order to improve the accurate inter-ception capability of missiles, missile control system dynamics and uncertainties may be considered in the guidance law design, which can be regarded as approximative IGC design. Here, the missile control system is viewed as one-order model and second-order model, and block backstepping and small-gain theorem are respectively used to design approximative IGC scheme based on the trajectory coordinates. The designed control can compensate for the effects of the closed-loop system dynamics and are ro-bust against the missile control system uncertainties and target maneuvers. Simulation results show the effectiveness of the approaches.
首先,研究了导弹导引与控制一体化非线性模型。在导弹六自由度非线性模型和导弹与目标相对运动模型的基础上,通过坐标变换,以导弹在弹道坐标系和视线坐标系中的加速度分量为桥梁,考虑所拦截目标具有机动飞行的能力,建立了导引与控制一体化非线性模型。该模型不仅可反映导弹与目标的相对运动关系,也可体现导弹在飞行过程中姿态变量(攻角、俯仰角及其角速率等)的变化。
其次,研究了不基于视线角速率测量信息的三维导引律设计问题。考虑机动目标拦截问题,首先在所有状态都可测的情况下,基于输入-状态稳定性(ISS)理论设计了一种使视线角速率对目标机动具有ISS稳定性的导引律(ISS导引律),理论分析表明这种导引律可通过调节系数使视线角速率收敛到零点的任意小邻域内,并通过数值仿真验证了该导引律的有效性。在实际空战中,测量得到的视线角速率可能混杂了导弹自身的姿态角速率,这使得视线角速率的测量值不准确,从而影响制导精度,因此本文在上述的ISS导引律的基础上引入高增益观测器对视线角速率进行估计,理论分析和数值仿真表明这种加入了观测器的导引律可重现ISS导引律的性能。
然后,将导引与控制一体化模型简化为平面模型后,研究了俯仰平面内导引与控制律的一体化设计问题。针对俯仰平面内具有单控制输入(俯仰舵)的导弹打击高速机动目标问题,利用反步设计法设计了一体化导引-控制律,并结合自适应控制方法处理模型中的非线性。由于俯仰舵在攻角较大的情况下具有气动饱和特性,可能会使导弹的机动能力受到限制,特别是对于弹体较长的导弹,若同时使用俯仰舵和尾翼对导弹进行操控则可增强其机动能力,因此针对俯仰平面内具有俯仰舵和尾翼的导弹打击地面固定目标问题,在不忽略舵面对攻角直接影响的情况下,利用小增益定理设计了可使导弹以一定角度准确打击目标的导引与控制方案,并证明了将其与ISS导引律结合后,也可用于打击机动目标。本文所设计的一体化导引-控制律均不基于视线与导弹速度方向夹角很小的假设,理论分析和数值仿真表明,所设计的一体化导引-控制律在获得满意打击效果的同时可确保由导弹的导引系统和控制系统组成的综合系统具有稳定性。
最后,本文在考虑导弹控制系统动态特性和不确定性的情况下,研究了近似的导引与控制系统一体化设计问题。由于三维的导引与控制一体化模型较为复杂,直接基于此模型设计三维的一体化导引-控制律比较困难,为了提高导弹的打击能力,可设计近似的一体化导引-控制律——在设计导引律时考虑导弹控制系统的动态特性和不确定性。本文在导弹控制系统可近似为一阶环节和二阶环节的情况下,分别利用分块反步设计法和小增益定理在弹道坐标系中研究了近似的三维导引与控制设计问题,所设计的控制方案可克服导弹控制系统的动态特性对制导效果的影响,并对导弹控制系统的不确定性和目标机动具有鲁棒性,数值仿真验证了其有效性。
The ability of getting an accurate interception is the requirement of modern nation-al defense for missile weapons, and flight control and guidance algorithms are the key to achieve successful interception. Integrated guidance and control can coordinate the relationship between subsystems, and guarantee the stability of the overall system, so as to fully explore the potential of missiles and improve accurate interception capability. This dissertation focuses on the problems of guidance law design without line-of-sight (LOS) rate measurement, and modeling and control design of integrated guidance and control for homing missile against maneuvering or ground fixed targets. The main re-sults consist of the following parts:
First of all, the modeling problem of the missile nonlinear integrated guidance and control system is considered. On the basis of the missile6-DOF nonlinear model and the relative motion model between missile and target, by using the coordinate trans-formation and viewing the acceleration elements in the trajectory coordinates and LOS coordinates as intermediaries, the nonlinear integrated guidance and control (IGC) mod-el is formulated considering the target maneuverability. The IGC model can reflect not only the relative motion between the missile and target, but also the varies of missile attitude (attack angle, pitch angle, and angular rates, etc.) during the flight process.
Then, a three-dimensional guidance law without LOS rate measurement is pro-posed. Considering the interception of maneuvering targets and supposing all the states are measurable, a guidance law is designed based on input-to-state stability (ISS) to en-sure that the LOS rate is ISS with respect to target maneuvers. It is proved that, under the proposed guidance law, the LOS rate can converges to an arbitrary small neighbor-hood of the zero by adjusting the coefficients. The simulation results are also provided to test the algorithm. In practice, the LOS rate is always combined with missile body rates, so it is difficult to measure LOS rate accurately, which will affect guidance pre-cision. Thus, a high-gain observer is introduced into the guidance law to estimate the LOS rate, and the theoretical analysis as well as simulation results show that the perfor-mance of the closed-loop system under the guidance law with LOS rate measurement can be recovered by using a high-gain observer.
Sequentially, the IGC model in pitch plane is formulated from the3D model, and the IGC law design problem is studied. To design an IGC law for missiles with sin-gle control input (canard control) against high speed targets with maneuverability, the backstepping is introduced, and adaptive control method is also used to handle the influ-ence of the nonlinear term. Canard control has its limit due to aerodynamic saturation at high angles of attack, which may affect the maneuverability of the missile, especially for long fuselage missiles, and a tail control is often preferred. Therefore, an IGC de-sign approach, against ground fixed targets, is proposed using small-gain theorem for missiles controlled by canard and tail control, which can guarantee a successful inter-ception with a desired impact angle. It is shown that the IGC law combining with ISS guidance law can be used in the interception of a maneuvering target. It is worth to claim that the designed IGC approaches do not rely on the assumption that the angle between LOS and missile velocity is almost constant. A successful interception as well as the stability of the overall system can be guaranteed by our approaches, which can be seen from both theoretical analysis and simulation results.
Finally, considering the missile control system dynamics and uncertainties, the problem of approximative IGC design is studied. Due to the complexity of the3D IGC model, it is difficult to design IGC law directly. In order to improve the accurate inter-ception capability of missiles, missile control system dynamics and uncertainties may be considered in the guidance law design, which can be regarded as approximative IGC design. Here, the missile control system is viewed as one-order model and second-order model, and block backstepping and small-gain theorem are respectively used to design approximative IGC scheme based on the trajectory coordinates. The designed control can compensate for the effects of the closed-loop system dynamics and are ro-bust against the missile control system uncertainties and target maneuvers. Simulation results show the effectiveness of the approaches.
引文
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