直接力/气动力复合控制巡航导弹滑模变结构控制研究
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摘要
巡航导弹作为战术导弹中的重要组成成员,在当今作战环境日益复杂的情况下也面临很多新的挑战。如何扩大飞行空域、提高机动性,以适应作战目标的新特点;如何实现隐匿弹道、规避突防、提高自身生存能力;如何节省发动机燃料、增加有效载荷、扩大作战半径从而提高导弹整体性能。这些都成为当今研发巡航导弹所面临的新课题。正是在这种背景下,提出采用直接力/气动力复合控制方法。本论文则是以此为背景,针对直接力/气动力复合控制巡航导弹的滑模变结构控制,给出了相应的理论结果,主要内容包括:
针对直接力控制力矩与气动力控制力矩的作用效果,从原理上及数学仿真上进行了分析与验证。在此基础上,提出了指令分解控制策略。该策略以气动力控制方式为主,在低空空气密度较大的情况下,采用单一的气动力控制方式。随着飞行高度的增加,当俯仰舵提供的气动力矩不足以维持弹体平衡时,启动发动机推力控制方式,提供相应的直接力补偿。这种控制方案把两种控制变量的协调控制问题简化为单控制变量的控制问题,具有简单易行的特点,便于工程应用。在该策略的基础上,给出了直接力控制的间接设计方法。利用这种间接设计方法,可以使得像对常规巡航导弹那样对直接力/气动力复合控制巡航导弹进行分析与设计。
提出一种线性多滑模递推的变结构控制律设计方法。该方法是在滑模变结构的目标滑模面之外设计多个过渡滑模面,从而使得系统由趋近运动阶段到滑动模态的切入更加平缓。由于随着飞行高度的增加、空气密度的下降会使得气动效能变差,如果采用单滑模面的变结构控制律进行控制,则执行机构会过早的出现饱和。而本文提出的线性多滑模递推的变结构控制律设计方法可以使得该问题得以解决。
提出一种基于控制参数化提升技术的滑模变结构控制律设计方法。为了使得实际过载信号能够尽快地跟踪指令过载、提高导弹响应速度,将滑模变结构的趋近运动阶段拆分为三个子阶段:加速趋近阶段;速度保持阶段;减速缓冲阶段。这种拆分方法一方面使得系统尽快达到滑动模态运动,另一方面避免了在滑模变结构的趋近运动向滑动模态过渡时带来的执行机构饱和问题。但是,这种拆分同时也将原系统化为了切换时间并不确定的切换系统。对于这种切换时间不确定的切换系统最优控制问题,很难直接利用现有的优化手段求解。为此,本论文采用控制参数化提升技术,利用时间缩放转变将变化的切换时间点转化为固定的时间点,从而,将导弹滑模变结构趋近运动阶段的控制律设计问题转化为标准的最优参数选择问题,使得问题得到解决。
针对导弹大空域机动时数学模型的特点,通过合理设计滑动模态方程,将导弹空间机动所带来的弹道倾角不确定性转化为对系统矩阵的参数摄动,从而利用滑模变结构控制律对系统矩阵的摄动不变性,使得系统性能得到保证。
针对滑模变结构控制律的滑模参数,给出了增益调度设计方法。该方法首先按照模糊控制律的设计规则,根据不同的系统状态,相应调整滑模变结构控制律的滑模参数。然后在模糊控制律的特性函数中提取特征点组成特征点集,在特征点集上进行插值处理,从而得到滑模参数的增益规则。利用阿依捷尔曼稳定性分析方法,证明了控制律的稳定性。该控制律使得系统既具有较快的响应速度,同时不至于带来无法消除的抖振。
Cruise missile, being an important number of tactical missiles, is facing manychallenges since the combat environment is getting more complicated. As a result,some new tasks are put forward for developing the cruise missile, including: how toenlarge the ?ight airspace and improve the maneuverability to meet the new charac-ter of operational goal; how to implement concealed trajectory, avoidance and pen-etration to improve the survivability; how to save the engine fuel, increase availableloading and enlarge fight radius to improve the integral performance of the missile.Under this background, we proposed the method of compound control with the directforce/aerodynamic. Based on this idea, in this thesis, we give some theoretical resultsaccording to sliding mode variable structure control of missile compound control byusing direct force/aerodynamic. The main contents include:
Firstly, according to the effect of direct force control moment and aerodynamiccontrol moment, we give the analysis and verification from the theorem and simula-tion. Based on this, we propose the control strategy of instruction decomposition. Thisstrategy, mainly depending on aerodynamic control, applies single aerodynamic con-trol under the situation of low altitude ?ight with high air density. With the increase of?ight altitude, since the aerodynamic moment provided by pitch rudder can not main-tain the balance of missile body, we apply the engine thrust control, providing directforce compensation. This kind of control strategy transforms the coordination controlproblem of two kind of control variables into simple single control problem. Hence,it is simple and easy to be applied by engineering. Based on this strategy, we proposethe indirect design method of direct force control. By using this indirect method, wecan give analysis and design for direct force/aerodynamic compound missile controlas for conventional cruise missile.
Secondly, we present a linear multi-sliding mode recursive variable structurecontroller design method. This method designs multiple transitional sliding surfaceout of target sliding surface, such that the system state move gently when it enterssliding surface from reaching stage. When applying sliding mode variable structurecontroller with single sliding surface, the increase of the ?ight height and the decrease of the air density will bring pneumatic efficiency. As a result, the actuator will saturateuntimely. Our proposed method can overcome this defect.
Thirdly, we present a sliding mode variable structure control method based oncontrol parameterization enhancing technique. In order that the real overload signalis able to follow the instruction overload quickly, and the response velocity can beimproved, the reaching stage of the sliding mode variable structure control is dividedinto three segments: acceleration accessing segment; speed-keeping segment; deceler-ation buffer segment. Under this decomposition, on the one hand, the system state canreach the sliding surface quickly; on the other hand, the saturation problem is avoidedwhen the system state is moving to sliding surface. However, this decomposition alsochange the original system into switched system with the switching time unknown.It is difficult to solve the optimal control problem of the switched system with theunknown switching times by using existing optimization routine directly. Thus, usingthe control parameterization enhancing technique, the variable switching time is con-verted into fixed time, and the original problem is transformed into a standard optimalparameter selection problem, which can be solved by existing optimization technique.
Furthermore, according to the characteristic of mathematical model for missilelarge airspace maneuvering, by designing the sliding mode equation, the uncertaintyof dip angle resulted from the missile space maneuvering is changed into the parame-ter perturbation of the system matrix. Thus the sliding variable structure controller isused to keep the performance of the system due to its perturbation invariance.
Finally, for the sliding parameter of sliding mode variable structure controller,we give the gain scheduling design method. This method first apply the design lawof fuzzy controller and adjust the sliding parameter of sliding mode variable structurecontroller according to different system state. Then, the characteristic point is takenfrom characteristic function of fuzzy control law to form characteristic set and thecharacteristic points are interpolated on the characteristic set, obtaining the gain lawof sliding parameter. In addition, by using Ajjzerman stability method, we prove thestability of the proposed controller. Under this controller, the system has the fastresponse speed without the dithering, which can not be eliminated.
针对直接力控制力矩与气动力控制力矩的作用效果,从原理上及数学仿真上进行了分析与验证。在此基础上,提出了指令分解控制策略。该策略以气动力控制方式为主,在低空空气密度较大的情况下,采用单一的气动力控制方式。随着飞行高度的增加,当俯仰舵提供的气动力矩不足以维持弹体平衡时,启动发动机推力控制方式,提供相应的直接力补偿。这种控制方案把两种控制变量的协调控制问题简化为单控制变量的控制问题,具有简单易行的特点,便于工程应用。在该策略的基础上,给出了直接力控制的间接设计方法。利用这种间接设计方法,可以使得像对常规巡航导弹那样对直接力/气动力复合控制巡航导弹进行分析与设计。
提出一种线性多滑模递推的变结构控制律设计方法。该方法是在滑模变结构的目标滑模面之外设计多个过渡滑模面,从而使得系统由趋近运动阶段到滑动模态的切入更加平缓。由于随着飞行高度的增加、空气密度的下降会使得气动效能变差,如果采用单滑模面的变结构控制律进行控制,则执行机构会过早的出现饱和。而本文提出的线性多滑模递推的变结构控制律设计方法可以使得该问题得以解决。
提出一种基于控制参数化提升技术的滑模变结构控制律设计方法。为了使得实际过载信号能够尽快地跟踪指令过载、提高导弹响应速度,将滑模变结构的趋近运动阶段拆分为三个子阶段:加速趋近阶段;速度保持阶段;减速缓冲阶段。这种拆分方法一方面使得系统尽快达到滑动模态运动,另一方面避免了在滑模变结构的趋近运动向滑动模态过渡时带来的执行机构饱和问题。但是,这种拆分同时也将原系统化为了切换时间并不确定的切换系统。对于这种切换时间不确定的切换系统最优控制问题,很难直接利用现有的优化手段求解。为此,本论文采用控制参数化提升技术,利用时间缩放转变将变化的切换时间点转化为固定的时间点,从而,将导弹滑模变结构趋近运动阶段的控制律设计问题转化为标准的最优参数选择问题,使得问题得到解决。
针对导弹大空域机动时数学模型的特点,通过合理设计滑动模态方程,将导弹空间机动所带来的弹道倾角不确定性转化为对系统矩阵的参数摄动,从而利用滑模变结构控制律对系统矩阵的摄动不变性,使得系统性能得到保证。
针对滑模变结构控制律的滑模参数,给出了增益调度设计方法。该方法首先按照模糊控制律的设计规则,根据不同的系统状态,相应调整滑模变结构控制律的滑模参数。然后在模糊控制律的特性函数中提取特征点组成特征点集,在特征点集上进行插值处理,从而得到滑模参数的增益规则。利用阿依捷尔曼稳定性分析方法,证明了控制律的稳定性。该控制律使得系统既具有较快的响应速度,同时不至于带来无法消除的抖振。
Cruise missile, being an important number of tactical missiles, is facing manychallenges since the combat environment is getting more complicated. As a result,some new tasks are put forward for developing the cruise missile, including: how toenlarge the ?ight airspace and improve the maneuverability to meet the new charac-ter of operational goal; how to implement concealed trajectory, avoidance and pen-etration to improve the survivability; how to save the engine fuel, increase availableloading and enlarge fight radius to improve the integral performance of the missile.Under this background, we proposed the method of compound control with the directforce/aerodynamic. Based on this idea, in this thesis, we give some theoretical resultsaccording to sliding mode variable structure control of missile compound control byusing direct force/aerodynamic. The main contents include:
Firstly, according to the effect of direct force control moment and aerodynamiccontrol moment, we give the analysis and verification from the theorem and simula-tion. Based on this, we propose the control strategy of instruction decomposition. Thisstrategy, mainly depending on aerodynamic control, applies single aerodynamic con-trol under the situation of low altitude ?ight with high air density. With the increase of?ight altitude, since the aerodynamic moment provided by pitch rudder can not main-tain the balance of missile body, we apply the engine thrust control, providing directforce compensation. This kind of control strategy transforms the coordination controlproblem of two kind of control variables into simple single control problem. Hence,it is simple and easy to be applied by engineering. Based on this strategy, we proposethe indirect design method of direct force control. By using this indirect method, wecan give analysis and design for direct force/aerodynamic compound missile controlas for conventional cruise missile.
Secondly, we present a linear multi-sliding mode recursive variable structurecontroller design method. This method designs multiple transitional sliding surfaceout of target sliding surface, such that the system state move gently when it enterssliding surface from reaching stage. When applying sliding mode variable structurecontroller with single sliding surface, the increase of the ?ight height and the decrease of the air density will bring pneumatic efficiency. As a result, the actuator will saturateuntimely. Our proposed method can overcome this defect.
Thirdly, we present a sliding mode variable structure control method based oncontrol parameterization enhancing technique. In order that the real overload signalis able to follow the instruction overload quickly, and the response velocity can beimproved, the reaching stage of the sliding mode variable structure control is dividedinto three segments: acceleration accessing segment; speed-keeping segment; deceler-ation buffer segment. Under this decomposition, on the one hand, the system state canreach the sliding surface quickly; on the other hand, the saturation problem is avoidedwhen the system state is moving to sliding surface. However, this decomposition alsochange the original system into switched system with the switching time unknown.It is difficult to solve the optimal control problem of the switched system with theunknown switching times by using existing optimization routine directly. Thus, usingthe control parameterization enhancing technique, the variable switching time is con-verted into fixed time, and the original problem is transformed into a standard optimalparameter selection problem, which can be solved by existing optimization technique.
Furthermore, according to the characteristic of mathematical model for missilelarge airspace maneuvering, by designing the sliding mode equation, the uncertaintyof dip angle resulted from the missile space maneuvering is changed into the parame-ter perturbation of the system matrix. Thus the sliding variable structure controller isused to keep the performance of the system due to its perturbation invariance.
Finally, for the sliding parameter of sliding mode variable structure controller,we give the gain scheduling design method. This method first apply the design lawof fuzzy controller and adjust the sliding parameter of sliding mode variable structurecontroller according to different system state. Then, the characteristic point is takenfrom characteristic function of fuzzy control law to form characteristic set and thecharacteristic points are interpolated on the characteristic set, obtaining the gain lawof sliding parameter. In addition, by using Ajjzerman stability method, we prove thestability of the proposed controller. Under this controller, the system has the fastresponse speed without the dithering, which can not be eliminated.
引文
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