远程制导炮弹弹道优化设计与姿态控制方法研究
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摘要
本文主要针对某远程制导炮弹的弹道特性和制导炮弹的控制系统进行了研究。文中采用火箭助推+滑翔的复合增程方法来提高炮弹的射程。在确定增程方案的基础上,本文根据低速滚转炮弹的特点,建立了低速滚转炮弹的六自由度弹道模型。针对远程制导炮弹在飞行过程中的特点,将整个弹道分为起飞段、火箭助推段、无控段、滑翔段和增速段,并根据各段特点建立了弹道数学模型。在建立的模型的基础上,深入研究了炮弹的射角、火箭发动机的点火时间、火箭发动机的助推时间、滑翔段的飞行姿态以及末段制导律等对炮弹的射程及性能的影响。在无控段,优化了炮弹的射角和火箭发动机的点火方案;在有控段,根据庞德李亚金的极小值原理,以射程为目标,以攻角为控制函数,以着角和着速为约束函数,对某制导炮弹的方案弹道进行了优化设计。仿真结果表明,炮弹能以较大的着速和着角攻击目标,所设计的弹道方案能够很好地满足战技指标。
为了实现所设计的方案弹道,提出了制导控制系统的总体方案,建立了滑翔制导炮弹的控制系统数学模型。在此基础上,针对低速滚转炮弹飞行过程中的特点,采用经典控制理论设计了制导炮弹的自动控制系统,并引入等效舵偏角对气动耦合进行补偿。仿真结果表明,设计的自动控制系统能够使滑翔制导炮弹在飞行过程中具有良好的响应特性,方法简单,易于实现。
另外,针对低速转滚炮弹控制系统的非线性特点,本文深入研究了非线性系统滑模控制理论,利用变结构控制的滑动模态对参数摄动及外部扰动具有不变性的特点,并与微分几何理论相结合,来设计非线性系统控制律。这样既提高了系统的鲁棒性,又解决了非线性滑模面不易构造的难题。反馈线性化可以把系统原有模型变换成为一种更易于控制设计的简单的等效模型,因此,在非线性控制系统的设计中,本文借助反馈线性化理论对原系统模型进行了变换。
本文将微分几何理论与滑模变结构控制相结合,给出了一种基于反馈线性化的滑模变结构控制器设计方法,证明了所设计控制器的稳定性,并将该方法应用于低速滚转的制导炮弹控制系统设计中,取得了较好的效果。该控制方法将复杂非线性制导炮弹系统的设计转化为若干个单输入单输出子系统的控制,解决了制导炮弹动态特性的强非线性及耦合给控制器设计带来的困难。仿真结果表明,所设计的控制器对系统参数的变化及外界干扰具有完全的鲁棒性,所设计的控制系统具有良好的动态性能,并与经典的PID控制器进行了比较,显示出本文所设计的控制方法的优越性。
Extended range guided projectile trajectory characteristic and control system were studied. Improve the projectile range by rocket pushing together with glide compound extended range scheme. After making certain extended range scheme, the projectile of six DOF exterior ballistic extended range based on the projectile low speed rolling characteristic. According to the characteristics of extended range guided munition, the trajectory is divided take-off phase, rocket boost phase, free flight phase, glide phase, increasing speed phase and the ballistic model is established. The paper research fire angle of the projectile, firing time of the rocket motor, assisted time of the rocket motor, flying attitude of the glide phase and the terminal phase guidance law to add the projectile firing range. The projectile fire angle and the rocket motor firing scheme were optimized in the free trajectory phase. In the control phase, the guided projectile trajectory go on optimizing design , using firing range as target, using attack angle as dominant function, using compacting angle and compacting velocity as limits, project trajectory optimization design based on the guided projectile. The simulation results show that the projectile can attack target as larger compacting angle and compacting velocity.
In order to realize the designed project trajectory that the guidance and control overall scheme is proposed and control system mathematical model of guided projectile is established. Based on these, to the characteristics of low speed rolling projectile in flying, an automatic control system is designed with the classic control methods. The air dynamic couplings were eliminated by the equivalent rudder angle method. The simulation results show that the automatic control system can make the guided projectile response perfectly and design method is simple and achieved easily.
The nonlinear sliding mode theory was researched based on the nonlinear characteristic of the low speed rolling the projectile control system, making use of the invariance of the sliding mode variable structure control to parameter perturbation and external disturbance combined with differential geometry theory design control law of nonlinear system, so that both improving system robustness and solving difficult in building the nonlinear sliding surface. The system model transform as a equivalent model more easily the control design by the feedback linearization, so that this paper transform system model base on feedback linearization theory in the nonlinear system design.
The differential geometry theory combined with sliding variable structure control theory, based on feedback linearization variable structure control method was given, proving the designed controller is stable, then the design method was used to controller design of low speed rolling guided projectile and get better results. The complex nonlinear guided projectile control system problem was converted into several single input single output subsystem with this method and solving strongly nonlinear of the guided projectile dynamic characteristics. The simulation results show that the controller perfect robustness to the parameter changes of a control system and external interference and the designed control system dynamic characteristics is good. The comparison show that the paper controller designed is better than the PID controller.
为了实现所设计的方案弹道,提出了制导控制系统的总体方案,建立了滑翔制导炮弹的控制系统数学模型。在此基础上,针对低速滚转炮弹飞行过程中的特点,采用经典控制理论设计了制导炮弹的自动控制系统,并引入等效舵偏角对气动耦合进行补偿。仿真结果表明,设计的自动控制系统能够使滑翔制导炮弹在飞行过程中具有良好的响应特性,方法简单,易于实现。
另外,针对低速转滚炮弹控制系统的非线性特点,本文深入研究了非线性系统滑模控制理论,利用变结构控制的滑动模态对参数摄动及外部扰动具有不变性的特点,并与微分几何理论相结合,来设计非线性系统控制律。这样既提高了系统的鲁棒性,又解决了非线性滑模面不易构造的难题。反馈线性化可以把系统原有模型变换成为一种更易于控制设计的简单的等效模型,因此,在非线性控制系统的设计中,本文借助反馈线性化理论对原系统模型进行了变换。
本文将微分几何理论与滑模变结构控制相结合,给出了一种基于反馈线性化的滑模变结构控制器设计方法,证明了所设计控制器的稳定性,并将该方法应用于低速滚转的制导炮弹控制系统设计中,取得了较好的效果。该控制方法将复杂非线性制导炮弹系统的设计转化为若干个单输入单输出子系统的控制,解决了制导炮弹动态特性的强非线性及耦合给控制器设计带来的困难。仿真结果表明,所设计的控制器对系统参数的变化及外界干扰具有完全的鲁棒性,所设计的控制系统具有良好的动态性能,并与经典的PID控制器进行了比较,显示出本文所设计的控制方法的优越性。
Extended range guided projectile trajectory characteristic and control system were studied. Improve the projectile range by rocket pushing together with glide compound extended range scheme. After making certain extended range scheme, the projectile of six DOF exterior ballistic extended range based on the projectile low speed rolling characteristic. According to the characteristics of extended range guided munition, the trajectory is divided take-off phase, rocket boost phase, free flight phase, glide phase, increasing speed phase and the ballistic model is established. The paper research fire angle of the projectile, firing time of the rocket motor, assisted time of the rocket motor, flying attitude of the glide phase and the terminal phase guidance law to add the projectile firing range. The projectile fire angle and the rocket motor firing scheme were optimized in the free trajectory phase. In the control phase, the guided projectile trajectory go on optimizing design , using firing range as target, using attack angle as dominant function, using compacting angle and compacting velocity as limits, project trajectory optimization design based on the guided projectile. The simulation results show that the projectile can attack target as larger compacting angle and compacting velocity.
In order to realize the designed project trajectory that the guidance and control overall scheme is proposed and control system mathematical model of guided projectile is established. Based on these, to the characteristics of low speed rolling projectile in flying, an automatic control system is designed with the classic control methods. The air dynamic couplings were eliminated by the equivalent rudder angle method. The simulation results show that the automatic control system can make the guided projectile response perfectly and design method is simple and achieved easily.
The nonlinear sliding mode theory was researched based on the nonlinear characteristic of the low speed rolling the projectile control system, making use of the invariance of the sliding mode variable structure control to parameter perturbation and external disturbance combined with differential geometry theory design control law of nonlinear system, so that both improving system robustness and solving difficult in building the nonlinear sliding surface. The system model transform as a equivalent model more easily the control design by the feedback linearization, so that this paper transform system model base on feedback linearization theory in the nonlinear system design.
The differential geometry theory combined with sliding variable structure control theory, based on feedback linearization variable structure control method was given, proving the designed controller is stable, then the design method was used to controller design of low speed rolling guided projectile and get better results. The complex nonlinear guided projectile control system problem was converted into several single input single output subsystem with this method and solving strongly nonlinear of the guided projectile dynamic characteristics. The simulation results show that the controller perfect robustness to the parameter changes of a control system and external interference and the designed control system dynamic characteristics is good. The comparison show that the paper controller designed is better than the PID controller.
引文
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