基于可变终端时间模型预测静态规划的制导律设计
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摘要
为了实现导弹以期望落角击中目标,使毁伤程度达到最大,同时解决原始模型预测静态规划(MPSP)方法固定终端时间限制的问题,基于新型的MPSP扩展方法,提出了一种可变终端时间的三维非线性次优制导律。通过推导终端输出误差与终端时间误差和控制量误差之间的关系,并在目标函数中引入终端时间误差,建立了控制量误差和终端时间误差的静态优化框架。利用经典比例导引法得到初始猜测控制量,并采用新型MPSP方法对控制量迭代更新,直至满足一定的落角约束,同时使得控制能量最小。仿真结果表明,基于可变终端时间的MPSP制导方法能满足末端的位置与落角约束,优化控制量,同时具有计算效率较高的特点。
In order to achieve the desired impact angle,to maximize the damage,and to solve the fixedfinal-time limit of the original model predictive static programming( MPSP),based on the new extension of the MPSP,a three-dimensional nonlinear suboptimal guidance law with a flexible final time is proposed,realizing the flexible adjustment of the terminal time. To determine the proper control input and final time,a static optimization framework is developed by deriving the relation between the terminal output error and the final time error with the input error,and considering the final time error in the cost function.In this paper,the classical proportional navigation guidance is implemented as the initial guess solution,and the initial guess is updated and optimized by using the proposed method until the impact-angle constraint is satisfied. Simulation results show that the guidance method based on the flexible final time MPSP can achieve the desired positional and impact-angle constraints,optimize the control histories and has a high computational efficiency.
In order to achieve the desired impact angle,to maximize the damage,and to solve the fixedfinal-time limit of the original model predictive static programming( MPSP),based on the new extension of the MPSP,a three-dimensional nonlinear suboptimal guidance law with a flexible final time is proposed,realizing the flexible adjustment of the terminal time. To determine the proper control input and final time,a static optimization framework is developed by deriving the relation between the terminal output error and the final time error with the input error,and considering the final time error in the cost function.In this paper,the classical proportional navigation guidance is implemented as the initial guess solution,and the initial guess is updated and optimized by using the proposed method until the impact-angle constraint is satisfied. Simulation results show that the guidance method based on the flexible final time MPSP can achieve the desired positional and impact-angle constraints,optimize the control histories and has a high computational efficiency.
引文
[1]李友年,江云,李世华,等.基于有限时间控制方法的三维空间导弹制导律设计[J].航空兵器,2016(3):26-29.
[2]陈昌旭,李洋,祁琪,等.基于滑模变结构的导弹制导律设计[J].兵器装备工程学报,2016,37(12):56-59.
[3]王斌,雷虎民,李炯,等.一种打击效能优化的拦截弹制导方法研究[J].计算机仿真,2017,34(9):45-50.
[4]李强,卢宝刚,王晓辉,等.一种导弹终端侵彻多约束最优制导方法[J].兵工学报,2016,37(6):1131-1137.
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[7]李新三,汪立新,丁邦平,等.基于G-MPSP算法的非线性制导律研究[J].弹箭与制导学报,2016,36(2):1-5.
[8]魏鹏鑫,荆武兴,高长生.具有落角约束的弹道导弹再入末制导律设计[J].哈尔滨工业大学学报,2013,45(9):23-30.
[9]魏鹏鑫.弹道导弹机动突防分析及其制导与控制问题研究[D].哈尔滨:哈尔滨工业大学,2012.
[10]王晓芳,王紫扬,林海.一种同时具有攻击时间和攻击角度约束的协同制导律[J].弹道学报,2017,29(4):1-8.
[11] Guo P F,She H P.A nonlinear suboptimal guidance law with impact angle constraint[C]∥Proceedings of the32nd Chinese Control Conference. Xi’an:IEEE,2013:4910-4914.
[12] Bhitre N,Sarkar A K,Padhi R.Three-dimensional impact angle constrained MPSP guidance of air-to-air missiles[C]∥2013 IEEE International Conference on Control Applications(CCA). Hyderabad,India:IEEE,2013:883-888.
[13]李帅,李新国.基于MPSP的次优滑模制导律[J].飞行力学,2016,34(5):54-58.
[14] Maity A,Padhi R,Rao G M,et al.A robust and high precision optimal explicit guidance scheme for solid motor propelled launch vehicles with thrust and drag uncertainty[J]. International Journal of Systems Science,2016,47(13):3078-3097.
[15] Imado F,Kuroda T,Tahk M J.A new missile guidance algorithm against a maneuvering target[R]. AIAA-98-4114,1998.
[16] Bryson A E,Ho Y C,Siouris G M. Applied optimal control:optimization,estimation,and control[J]. IEEE Transactions on Systems Man and Cybernetics,2007,9(6):366-367.
[2]陈昌旭,李洋,祁琪,等.基于滑模变结构的导弹制导律设计[J].兵器装备工程学报,2016,37(12):56-59.
[3]王斌,雷虎民,李炯,等.一种打击效能优化的拦截弹制导方法研究[J].计算机仿真,2017,34(9):45-50.
[4]李强,卢宝刚,王晓辉,等.一种导弹终端侵彻多约束最优制导方法[J].兵工学报,2016,37(6):1131-1137.
[5]杨海澜.基于MPSP算法的多约束非线性制导律研究[J].计算机仿真,2016,33(1):38-41.
[6]李新三,汪立新,刘国辉,等.一种带有末端弹体姿态角约束的非线性制导律[J].中国惯性技术学报,2015,23(2):232-237.
[7]李新三,汪立新,丁邦平,等.基于G-MPSP算法的非线性制导律研究[J].弹箭与制导学报,2016,36(2):1-5.
[8]魏鹏鑫,荆武兴,高长生.具有落角约束的弹道导弹再入末制导律设计[J].哈尔滨工业大学学报,2013,45(9):23-30.
[9]魏鹏鑫.弹道导弹机动突防分析及其制导与控制问题研究[D].哈尔滨:哈尔滨工业大学,2012.
[10]王晓芳,王紫扬,林海.一种同时具有攻击时间和攻击角度约束的协同制导律[J].弹道学报,2017,29(4):1-8.
[11] Guo P F,She H P.A nonlinear suboptimal guidance law with impact angle constraint[C]∥Proceedings of the32nd Chinese Control Conference. Xi’an:IEEE,2013:4910-4914.
[12] Bhitre N,Sarkar A K,Padhi R.Three-dimensional impact angle constrained MPSP guidance of air-to-air missiles[C]∥2013 IEEE International Conference on Control Applications(CCA). Hyderabad,India:IEEE,2013:883-888.
[13]李帅,李新国.基于MPSP的次优滑模制导律[J].飞行力学,2016,34(5):54-58.
[14] Maity A,Padhi R,Rao G M,et al.A robust and high precision optimal explicit guidance scheme for solid motor propelled launch vehicles with thrust and drag uncertainty[J]. International Journal of Systems Science,2016,47(13):3078-3097.
[15] Imado F,Kuroda T,Tahk M J.A new missile guidance algorithm against a maneuvering target[R]. AIAA-98-4114,1998.
[16] Bryson A E,Ho Y C,Siouris G M. Applied optimal control:optimization,estimation,and control[J]. IEEE Transactions on Systems Man and Cybernetics,2007,9(6):366-367.