脉冲末修迫弹弹道特性分析与控制方案设计
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摘要
发展低成本的有控迫弹是提高迫击炮武器系统射击精度的重要途径之一。本文以某型末修迫弹为研究对象,利用脉冲发动机作为其控制执行机构,采用简易控制技术实现末段弹道修正,提高命中精度。为此,针对末修迫弹在研究过程中遇到的弹道、控制等相关问题,本文开展了较为深入的研究,主要内容包括：
(1)脉冲末修迫弹飞行弹道模型研究。针对脉冲发动机的特点及其力学作用过程,利用矩形波函数建立了瞬时脉冲控制力模型；基于冲量相等原则提出了等效平均脉冲控制力模型。在此基础上,根据牛顿第二定律和动量矩定理,建立了两种脉冲控制力下的迫弹六自由度刚体弹道模型：采用瞬时脉冲控制力和控制力矩的瞬态弹道模型用于弹道仿真计算；采用等效平均脉冲控制力和控制力矩的均态弹道模型用于脉冲作用下角运动和质心运动的理论分析。
(2)脉冲末修迫弹弹道特性分析。根据脉冲末修迫弹飞行弹道模型,编制了弹道计算程序,对迫弹无控状态下末段弹道诸元的变化规律及最大射程条件下的落点散布等进行了仿真分析；在设定的脉冲控制参数条件下,对有控弹道特性进行了仿真分析；在此基础上,通过对迫弹的绕心运动进行合理简化,建立了其在脉冲作用下的攻角运动方程,推导出其相应的解析解,提出了可用于指导脉冲冲量大小及轴向偏心距离设计的飞行稳定性约束条件。
(3)脉冲参数对修正弹道的影响。分析了脉冲参数(启控点、单脉冲冲量、脉冲作用个数、脉冲持续作用时间及多脉冲点火模式等)和脉冲布局(单排周向和双排周向布局)对修正弹道的影响；弹体自旋是实施脉冲修正的基础,为此,分析了弹体平衡转速对修正弹道的影响；在考虑脉冲发动机径向偏心距的条件下,研究了脉冲控制引起的转速变化对弹道的影响,结果表明,转速变化对弹道修正效果和飞行稳定性有较大的影响,在工程研制中应尽量减小脉冲发动机径向偏心距引起的转速变化。
(4)脉冲末修迫弹参数优化设计模型及求解。针对脉冲末修迫弹的弹道特性,选取了优化设计变量,确定了目标函数和约束条件,建立了脉冲末修迫弹参数优化设计数学模型；提出了适于求解该优化模型的改进粒子群算法。仿真结果表明,该算法能够快速、可靠地求得最优解,为该类迫弹的参数设计提供了理论依据。
(5)激光半主动体制下的末段控制方案设计。通过对激光半主动末修迫弹武器系统的组成、作用过程及末段修正原理进行分析,推导出采用捷联激光导引头的迫弹在弹道末段的目标捕获域公式；提出了一种根据激光导引头所提供的角度测量信息进行脱靶量预测的方法,采用衰减记忆滤波法对滚转角测量数据进行了降噪处理,在此基础上设计了适配的控制方案。仿真结果表明,采用本文的设计方案对迫弹实施末段弹道修正,可以大幅度提高其射击精度,满足设计要求。
(6)卫星定位体制下的末段控制方案设计。针对卫星定位系统对迫弹的测量数据(三维位置和速度),构建了非线性弹道滤波器；基于对三自由度质点弹道模型的近似求解,提出了一种通过估算剩余飞行时间预测落点的方法,在此基础上设计了适配的控制方案。仿真结果表明,采用该方案对迫弹实施末段修正,能够大幅减小迫弹的落点散布,相同条件下其精度好于激光半主动体制下的弹道控制精度。
Developing low cost guided mortar projectiles is one of the most important approaches to fundamentally improve the firing accuracy for mortar guns. In this dissertation, a type of terminal trajectory correction mortar projectile is considered as the subject. This projectile is equipped with impulses and is of high accuracy by utilizeing the simple control technology. The problems concerning the ballistic characteristics and control scheme design for this type of projectiles are investigated. The main research work is listed as follows:
(1) Study on the dynamic model for the terminal trajectory correction mortar peojectile equipped with lateral impulses. Aming to the mechanical action process of impulse engines and their specified characteristics, the model of transient impulse control force is established by using the rectangular wave function. The model of equivalent average impulse control force is also proposed based on the principle that the impulse is equal. In terms of Newton's second law and the theorem of moment of momentum, two kinds of 6D rigid trajectory mod-els are established. One is using the model of transient impulse control force and the other is utilizing the model of equivalent average impulse control force. The former is used to predict the trajectory and the latter is used to theoretically analyze the angular and translational mo-tion of the mortar projectile under the action of impulse engines.
(2) Analysis on ballistic characteristics for the terminal trajectory correction mortar peo-jectile equipped with lateral impulses. According to the dynamic model, the code for predict-ing the trajectory of 6D model is programmed. The variation law of flight trajectory without control and the impact point dispersion under the condition of maximum range are both simu-lated and analyzed. The controlled trajectory characteristics are preliminarily analyzed based on several determined impulse parameters. By simplifying the dynamic equation of motion around the point mass, the equation of angle of attack for mortar projectiles with the action of impulse is established. And the corresponding analytical solution is deduced. The constraint condition of flight stability is proposed which can be used to guide the design of impulse magnitude and axial eccentricity.
(3) The effect of impulse parameters on the trajectory. The effect of the impulse pa-rameters (including starting point, single impulse magnitude and the number of impulse en-gines, impulse duration and multi-impulses ignition mode) and the layout on the trajectory are analyzed. Due to the fact that the projectile should be spin axially so as to realize the im-pulse correction, the influence of different equilibrium spin rates on the correction effective- ness is also analyzed. With the consideration of the radial eccentricity of impulse engines, the effect of the change of spin rate caused by the action of impulse on the trajectory is studied. The result indicates that the change of spin rate can largely influence the trajectory correction and flight stability. The change of spin rate caused by the radial eccentricity should be re-duced in the process of engineering research.
(4) Modeling and soluting of the optimal design for the terminal trajectory correction mortar peojectile. According to the ballistic characteristics, several optimal design variables are selected and both of the constraint conditions and the objective function are determined. An optimal model for designing the relative parameters is established. A type of modified Particle Swarm Optimization which is suitable for solving the optimal model is proposed. The simulation results show that this modified Particle Swarm Optimization can be used to obtain the optimal solution rapidly and reliably which provides theoretical basis for the pa-rameters design of this type of mortat projectile.
(5) Design of terminal trjectiry control scheme under laser semi-active system. By in-troduing and analyzing the composition and principle of the terminal trajectory correction mortar projectile weapon system under the laser semi-active system, the target capture field formula of the mortar projectile equipped with strap-down laser seeker during the terminal trajectory is deduced. A method for predicting the miss distance just using the angle informa-tion provided by the laser seeker is proposed. A Fading-Memory Filter is utilized to reduce the measurement noise of the spin angle data. Based on the previous work, a suitable control scheme is designed. Simulaiton results indicate that the accuracy can be improved by adopt-ing this control scheme which is in accordance with the design purpose.
(6) Design of terminal trjectiry control scheme under satellite position. Based on the measurement data (three dimensional positions and velocities) provided by satellite, the state equation and measurement equation are built respectively. By solving the 3D point mass tra-jectory model analytically, an accurate and rapid method for predicting the impact point through estimating the time-to-go is proposed. Based on the work above, a suitable control scheme is designed. Simulation results show that this control scheme can also cut down the impact point dispersion effectively and its accuracy is better than that of the control scheme based on the laser semi-active system under same conditions.
(1)脉冲末修迫弹飞行弹道模型研究。针对脉冲发动机的特点及其力学作用过程,利用矩形波函数建立了瞬时脉冲控制力模型；基于冲量相等原则提出了等效平均脉冲控制力模型。在此基础上,根据牛顿第二定律和动量矩定理,建立了两种脉冲控制力下的迫弹六自由度刚体弹道模型：采用瞬时脉冲控制力和控制力矩的瞬态弹道模型用于弹道仿真计算；采用等效平均脉冲控制力和控制力矩的均态弹道模型用于脉冲作用下角运动和质心运动的理论分析。
(2)脉冲末修迫弹弹道特性分析。根据脉冲末修迫弹飞行弹道模型,编制了弹道计算程序,对迫弹无控状态下末段弹道诸元的变化规律及最大射程条件下的落点散布等进行了仿真分析；在设定的脉冲控制参数条件下,对有控弹道特性进行了仿真分析；在此基础上,通过对迫弹的绕心运动进行合理简化,建立了其在脉冲作用下的攻角运动方程,推导出其相应的解析解,提出了可用于指导脉冲冲量大小及轴向偏心距离设计的飞行稳定性约束条件。
(3)脉冲参数对修正弹道的影响。分析了脉冲参数(启控点、单脉冲冲量、脉冲作用个数、脉冲持续作用时间及多脉冲点火模式等)和脉冲布局(单排周向和双排周向布局)对修正弹道的影响；弹体自旋是实施脉冲修正的基础,为此,分析了弹体平衡转速对修正弹道的影响；在考虑脉冲发动机径向偏心距的条件下,研究了脉冲控制引起的转速变化对弹道的影响,结果表明,转速变化对弹道修正效果和飞行稳定性有较大的影响,在工程研制中应尽量减小脉冲发动机径向偏心距引起的转速变化。
(4)脉冲末修迫弹参数优化设计模型及求解。针对脉冲末修迫弹的弹道特性,选取了优化设计变量,确定了目标函数和约束条件,建立了脉冲末修迫弹参数优化设计数学模型；提出了适于求解该优化模型的改进粒子群算法。仿真结果表明,该算法能够快速、可靠地求得最优解,为该类迫弹的参数设计提供了理论依据。
(5)激光半主动体制下的末段控制方案设计。通过对激光半主动末修迫弹武器系统的组成、作用过程及末段修正原理进行分析,推导出采用捷联激光导引头的迫弹在弹道末段的目标捕获域公式；提出了一种根据激光导引头所提供的角度测量信息进行脱靶量预测的方法,采用衰减记忆滤波法对滚转角测量数据进行了降噪处理,在此基础上设计了适配的控制方案。仿真结果表明,采用本文的设计方案对迫弹实施末段弹道修正,可以大幅度提高其射击精度,满足设计要求。
(6)卫星定位体制下的末段控制方案设计。针对卫星定位系统对迫弹的测量数据(三维位置和速度),构建了非线性弹道滤波器；基于对三自由度质点弹道模型的近似求解,提出了一种通过估算剩余飞行时间预测落点的方法,在此基础上设计了适配的控制方案。仿真结果表明,采用该方案对迫弹实施末段修正,能够大幅减小迫弹的落点散布,相同条件下其精度好于激光半主动体制下的弹道控制精度。
Developing low cost guided mortar projectiles is one of the most important approaches to fundamentally improve the firing accuracy for mortar guns. In this dissertation, a type of terminal trajectory correction mortar projectile is considered as the subject. This projectile is equipped with impulses and is of high accuracy by utilizeing the simple control technology. The problems concerning the ballistic characteristics and control scheme design for this type of projectiles are investigated. The main research work is listed as follows:
(1) Study on the dynamic model for the terminal trajectory correction mortar peojectile equipped with lateral impulses. Aming to the mechanical action process of impulse engines and their specified characteristics, the model of transient impulse control force is established by using the rectangular wave function. The model of equivalent average impulse control force is also proposed based on the principle that the impulse is equal. In terms of Newton's second law and the theorem of moment of momentum, two kinds of 6D rigid trajectory mod-els are established. One is using the model of transient impulse control force and the other is utilizing the model of equivalent average impulse control force. The former is used to predict the trajectory and the latter is used to theoretically analyze the angular and translational mo-tion of the mortar projectile under the action of impulse engines.
(2) Analysis on ballistic characteristics for the terminal trajectory correction mortar peo-jectile equipped with lateral impulses. According to the dynamic model, the code for predict-ing the trajectory of 6D model is programmed. The variation law of flight trajectory without control and the impact point dispersion under the condition of maximum range are both simu-lated and analyzed. The controlled trajectory characteristics are preliminarily analyzed based on several determined impulse parameters. By simplifying the dynamic equation of motion around the point mass, the equation of angle of attack for mortar projectiles with the action of impulse is established. And the corresponding analytical solution is deduced. The constraint condition of flight stability is proposed which can be used to guide the design of impulse magnitude and axial eccentricity.
(3) The effect of impulse parameters on the trajectory. The effect of the impulse pa-rameters (including starting point, single impulse magnitude and the number of impulse en-gines, impulse duration and multi-impulses ignition mode) and the layout on the trajectory are analyzed. Due to the fact that the projectile should be spin axially so as to realize the im-pulse correction, the influence of different equilibrium spin rates on the correction effective- ness is also analyzed. With the consideration of the radial eccentricity of impulse engines, the effect of the change of spin rate caused by the action of impulse on the trajectory is studied. The result indicates that the change of spin rate can largely influence the trajectory correction and flight stability. The change of spin rate caused by the radial eccentricity should be re-duced in the process of engineering research.
(4) Modeling and soluting of the optimal design for the terminal trajectory correction mortar peojectile. According to the ballistic characteristics, several optimal design variables are selected and both of the constraint conditions and the objective function are determined. An optimal model for designing the relative parameters is established. A type of modified Particle Swarm Optimization which is suitable for solving the optimal model is proposed. The simulation results show that this modified Particle Swarm Optimization can be used to obtain the optimal solution rapidly and reliably which provides theoretical basis for the pa-rameters design of this type of mortat projectile.
(5) Design of terminal trjectiry control scheme under laser semi-active system. By in-troduing and analyzing the composition and principle of the terminal trajectory correction mortar projectile weapon system under the laser semi-active system, the target capture field formula of the mortar projectile equipped with strap-down laser seeker during the terminal trajectory is deduced. A method for predicting the miss distance just using the angle informa-tion provided by the laser seeker is proposed. A Fading-Memory Filter is utilized to reduce the measurement noise of the spin angle data. Based on the previous work, a suitable control scheme is designed. Simulaiton results indicate that the accuracy can be improved by adopt-ing this control scheme which is in accordance with the design purpose.
(6) Design of terminal trjectiry control scheme under satellite position. Based on the measurement data (three dimensional positions and velocities) provided by satellite, the state equation and measurement equation are built respectively. By solving the 3D point mass tra-jectory model analytically, an accurate and rapid method for predicting the impact point through estimating the time-to-go is proposed. Based on the work above, a suitable control scheme is designed. Simulation results show that this control scheme can also cut down the impact point dispersion effectively and its accuracy is better than that of the control scheme based on the laser semi-active system under same conditions.
引文
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