某型导弹纵向通道控制方法研究
|
摘要
作为当前最为重要的精确制导武器,导弹已经成为现代战场的主角,是各国军事力量发展的重要方向。日益增加的射程及命中精度需求和越来越复杂的系统结构使得传统的控制方法往往不能有效完成导弹的控制任务,研究并设计兼具快速性和鲁棒性的新型导弹控制器成为当前的研究热点。
导弹复杂的运动模型及大量的不确定因素的存在,是控制器设计的主要难点。本文主要针对短周期运动小扰动情况对导弹模型进行了线性化处理,得到了便于控制器设计的导弹纵向通道线性系统模型。并基于该模型研究了传统的PD控制在导弹纵向通道控制中的应用,建立了对应系统模型的性能指标与控制参数的关系,通过数学仿真结果表明传统PD控制器并不能发挥较好作用。
考虑系统的强非线性和不确定性,通过适当构造切换滑模面和到达律,使用饱和函数法进行消抖处理,设计了可用于实际工程的导弹纵向通道的滑模变结构控制器。并通过两个定理给出了控制器参数的选取规则,仿真结果表明了该方法的有效性。
考虑实际作战任务对调节时间的要求,设计了时间最优和模糊控制相结合的控制律。其中前者可发挥执行机构最大能力,在最短时间内将状态向平衡点逼近,但时间最优控制基于精确的对象数学模型,所以在平衡点邻域切换到鲁棒性较强的模糊控制器,两者通过适当构造指标函数进行切换。为了易于工程实际应用,在时间最优控制器的设计中,使用简单的非线性函数代替时间最优轨线,从而得到次时间最优控制器。同时,通过合理设计各变量隶属函数和模糊规则,根据模糊控制的作用区域选定了各量化因子,得到了相应的导弹纵向通道模糊控制器。数学仿真表明,两者结合能够有效发挥各自优点,达到快速精确的控制效果。
As the current most important precision-guided weapons, missiles play a leading role in modern battlefield, thus become an important direction for the development of national military power. The increasing range and accuracy requirements and complex system architecture makes the traditional control methods unable to effectively complete the missile control tasks, many efforts have been put to the design of new missile controller to meet both speed and robustness of the current missile.
Since the missile has complex motion model and a varity of uncertain factors, the main difficulty is the controller design. In this paper, to obtain a simple linear system model for controller design, linearization is performed for the short-periodic motion of small perturbations of the missile model. The application of traditional PD control in the missile pitching movement is investigated, in which the relationship between control parameters and the performance indicators of system model is established. Finally, the the performance of PD controller is validated through mathematical simulation, which shows that it can not play a satisfying perfoamance.
For the problem of strong nonlinear and uncertainty of the system, a practial sliding mode controller for missile pitching movement is devised through appropriately design of the sliding surface and switching law. The saturation function is applied to eliminate chattering and ensure the quality of control system. Besides, two theorems are presented for the controller parameters selection. Simulation results show the effectiveness of the method.
Consider the regulating time requirements in actual combat missions, a new algorithm which combines time optimal control and fuzzy control theory is proposed. The former can export the maximal capacity of the atuators, so that the state can be drived to the equilibrium point in a minimum time. However, the time optimal control is based on accurate mathematical model of the object, hence the system need to switch to fuzzy controllers in equilibrium neighborhood for its strong robustness. For practical engineering applications considerations, a simple non-linear function of time optimal trajectory is adopted instead of the real time optimal one, hence obtained the sub-time optimal controller. Meanwhile, based on rational design of each variable membership function and fuzzy rules, a fuzzy controller for missile pitching movement is introduced. Mathematical simulation results show that the combination them can take good use of all their respective advantages, thus a fast and accurate control effect is achieved.
导弹复杂的运动模型及大量的不确定因素的存在,是控制器设计的主要难点。本文主要针对短周期运动小扰动情况对导弹模型进行了线性化处理,得到了便于控制器设计的导弹纵向通道线性系统模型。并基于该模型研究了传统的PD控制在导弹纵向通道控制中的应用,建立了对应系统模型的性能指标与控制参数的关系,通过数学仿真结果表明传统PD控制器并不能发挥较好作用。
考虑系统的强非线性和不确定性,通过适当构造切换滑模面和到达律,使用饱和函数法进行消抖处理,设计了可用于实际工程的导弹纵向通道的滑模变结构控制器。并通过两个定理给出了控制器参数的选取规则,仿真结果表明了该方法的有效性。
考虑实际作战任务对调节时间的要求,设计了时间最优和模糊控制相结合的控制律。其中前者可发挥执行机构最大能力,在最短时间内将状态向平衡点逼近,但时间最优控制基于精确的对象数学模型,所以在平衡点邻域切换到鲁棒性较强的模糊控制器,两者通过适当构造指标函数进行切换。为了易于工程实际应用,在时间最优控制器的设计中,使用简单的非线性函数代替时间最优轨线,从而得到次时间最优控制器。同时,通过合理设计各变量隶属函数和模糊规则,根据模糊控制的作用区域选定了各量化因子,得到了相应的导弹纵向通道模糊控制器。数学仿真表明,两者结合能够有效发挥各自优点,达到快速精确的控制效果。
As the current most important precision-guided weapons, missiles play a leading role in modern battlefield, thus become an important direction for the development of national military power. The increasing range and accuracy requirements and complex system architecture makes the traditional control methods unable to effectively complete the missile control tasks, many efforts have been put to the design of new missile controller to meet both speed and robustness of the current missile.
Since the missile has complex motion model and a varity of uncertain factors, the main difficulty is the controller design. In this paper, to obtain a simple linear system model for controller design, linearization is performed for the short-periodic motion of small perturbations of the missile model. The application of traditional PD control in the missile pitching movement is investigated, in which the relationship between control parameters and the performance indicators of system model is established. Finally, the the performance of PD controller is validated through mathematical simulation, which shows that it can not play a satisfying perfoamance.
For the problem of strong nonlinear and uncertainty of the system, a practial sliding mode controller for missile pitching movement is devised through appropriately design of the sliding surface and switching law. The saturation function is applied to eliminate chattering and ensure the quality of control system. Besides, two theorems are presented for the controller parameters selection. Simulation results show the effectiveness of the method.
Consider the regulating time requirements in actual combat missions, a new algorithm which combines time optimal control and fuzzy control theory is proposed. The former can export the maximal capacity of the atuators, so that the state can be drived to the equilibrium point in a minimum time. However, the time optimal control is based on accurate mathematical model of the object, hence the system need to switch to fuzzy controllers in equilibrium neighborhood for its strong robustness. For practical engineering applications considerations, a simple non-linear function of time optimal trajectory is adopted instead of the real time optimal one, hence obtained the sub-time optimal controller. Meanwhile, based on rational design of each variable membership function and fuzzy rules, a fuzzy controller for missile pitching movement is introduced. Mathematical simulation results show that the combination them can take good use of all their respective advantages, thus a fast and accurate control effect is achieved.
引文
1张聘义,强涛,翁晓东.巡航导弹发展与现状.红外与激光工程. 2006,35:28~34
2刁琳,秦明,贾利.美军巡航导弹的现状和发展.飞航导弹. 2007,8:16~19
3李长青.导弹控制系统设计研究.哈尔滨工程大学硕士学位论文.2002
4赵曦晶.巡航导弹纵向通道控制方法研究.哈尔滨工业大学硕士学位论文. 2006
5 J. H. Wei, C. Guan. Derivation and Integral Sliding Mode Variable Structure Control of Hydraulic Velocity Tracking System. Chinese Journal of Mechanical Engineering. 2005, 18(2):224~227
6 Y. S. Zhao, Y. Q. Zhang, J.Yang, et al. Enhanced Fuzzy Sliding Mode Controller for Robotic Manipulators. International Journal of Robotics & Automation. 2007, 22(2):170~183
7 Y. Pan, K. Furuta, S. Suzuki, et al. Design of Variable Structure Controller from Sliding Mode to Sliding Sector. Proceedings of the IEEE Conference on Decision and Control. 2000, (2):1685~1690
8 K. K. Shyu, C. Y. Lin. Adaptive Sliding Mode Control for Variable Structure Systems with Constraint Control Input. Dynamics and Control. 1996,6(1):49~61
9 71 Y. A. Hu, Y. Chen. Design and Application of Double-sliding Modes Variable Structure Control Systems. 5th International Symposium on Instrumentation and Control Technology. 2003:635~638
10 W. J. Gu, Y. F. Zhang, C. P. Li. Composite Control of Linear/adaptive Variable Structure Control. Chinese Journal of Aeronautics. 2001, 14(1):49~56
11 Y. J. Huang, H. K.Way. Placing all Closed Loop Poles of Missile Attitude Control Systems in the Sliding Mode Via the Root Locus Technique. ISA Transactions. 2001, 40:330~340
12 Y. H. Wang, Y. Yao, K. M. Ma. Lateral Thrust and Aerodynamics Blended Control System Design Based on Variable Structure Model Following. Proceedings of the 6th World Congress on Intelligent Control and Automation, Jun. 2006:8183~8186
13刘根旺,许化龙.导弹姿态控制伺服系统的变结构控制.上海航天. 2004, 21(6):15~17, 35
14刘根旺,许化龙.新型变结构控制律在导弹姿态控制系统中的应用.系统仿真学报. 2004, 16(10):2264~2265
15史莹晶,马广富,马洪忠.基于变结构理论的巡航导弹复合控制方法研究.弹道学报. 2008,20(4):61~64
16王玮,吴晓燕,陈治湘.某型导弹俯仰运动非线性最优滑模控制器设计.弹道学报. 2008,20(4):69~72
17 X. H. Liao, Z. Sun, Y. D. Song. Chattering-Free Variable Structure Control with Application to Flight Vehicles. Proceedings of the 38th Southeastern Symposium on System Theory Tennessee Technological University Cookeville, USA, Mar. 2006:406~410
18 H. C. Zhao, W. J. Gu, Y. A. Hu, et al. Second-Order Sliding Mode Control for Aerodynamic Missiles Using Backstepping Design. Proc. 5th World Congress on Intelligent Control and Automation, China. 2004, 6:5471~5474
19 A. Thukral, I. Mario. A Sliding Mode Missile Pitch Autopilot Synthesis for High Angle of Attack Maneuvering. IEEE Transactions on Control System. 1998, 6(3):359~371
20周军,周凤岐,冯文剑.基于变结构控制理论的BTT导弹自动驾驶仪的三通道独立设计.宇航学报. 1991, (1):42~47
21 G. Y. Moon, Y. D. Kim, S. B. Cho. Variable Structure Control with Optimized Sliding Surface for Aircraft Control System. AIAA Guidance, Navigation, and Control Conference. 2004, 8:16~19
22李士勇,章钱.变结构控制在导弹制导中的应用研究.控制与制导.2009,7:47~55
23朱志刚,杨文利. BTT导弹协调式耦合变结构自动驾驶仪设计.宇航学报.1997, 18(1):8~12
24 C. K. Liu. Adaptive Fuzzy Control of Bank-to-turn Missiles. Proc. of the Industrial Electronics, Control and Instrumentation, Taiwan. 1996:596~601
25 J. Y. Choi, D. K. Chwa. Adaptive Control Based on a Parametric Affine Model for Tail-controlled Missiles. Proc. 39th IEEE Conference on Decision and Control,Australia. 2000:1471~1476
26 M. B. Mcfarland, A. J. Calise. Adaptive Nonlinear Control of Agile Antiair Missiles Using Neural Networks. IEEE Trans. on Control Systems Technology.2000, 8(5):749~756
27 Lei Zhang, Adaptive Fuzzy-PID Controllers Based on Optimal Fuzzy Reasoning for Missile Terminal Guidance.AIAA-2009-427. 47th AIAA Aerospace Sciences Meeting including The New Horizons Forum and Aerospace Exposition, Orlando, Florida, Jan. 5-8, 2009
28史雪虹,康景利,董巍,等.模糊控制在导弹倾斜稳定系统中的应用.北京理工大学学报. 1999, 19(2):186~189
29史莹晶,马广富.大空域机动巡航导弹的模糊PID控制器设计.弹箭与制导学报. 2006, 26(4): 11~13
30 Y. Q. Jin, W. J. Gu, J. H. Wu, et al. Sliding Mode Control of BTT Missile Based on Fuzzy-Neural Approach. Proceedings of the 5th World Congress on Intelligent Control and Automation, China. 2004:5483~5486
31罗喜霜,张天桥.模糊控制在复合制导中的应用.弹箭与制导学报. 2001,21(2):1~4
32 Atsushi Fujimori, Hidekazu Tsunetomo, Zhen-Yu.Gain-Scheduled Control Using Fuzzy Logic and Its Application to Flight Control. J. GU IDANCE, 1998, 22(1) :175~177
33林枫,刘国刚.最优控制与姿控喷流在导弹姿态控制中的应用.航天控制.2004, 22(3):20~22
34钱杏芳,林瑞雄,赵亚男.导弹飞行力学.北京理工大学出版社, 2006.
35 Utkin V I. Sliding Modes and Their Application in Discontinuous Systems. Automat Remote Control. 1974, 21: 1898-1907
36高为炳.变结构控制的理论及设计方法.中国科学出版社, 1990: 243~254
37李忠娟,张新政.变结构控制理论中抖振问题的研究.五邑大学学报. 2003, 17(3): 66~69
38邹伟全,姚锡凡.滑模变结构控制的抖振问题研究.控制与检测. 2006, 16(1): 53-55
39陈玉宏.滑模控制抖振抑制的新方法.电子科技大学学报. 1997, 26(5): 520~524
40胡寿松,王执铨,胡维礼.最优控制理论与系统,第二版.科学出版社出版.2005
41周叮.二阶阻尼系统的时间最优控制问题.华东工学院学报. 1987,2:34~43
42李士勇.模糊控制、神经控制和智能控制论.哈尔滨工业大学出版社,1998
2刁琳,秦明,贾利.美军巡航导弹的现状和发展.飞航导弹. 2007,8:16~19
3李长青.导弹控制系统设计研究.哈尔滨工程大学硕士学位论文.2002
4赵曦晶.巡航导弹纵向通道控制方法研究.哈尔滨工业大学硕士学位论文. 2006
5 J. H. Wei, C. Guan. Derivation and Integral Sliding Mode Variable Structure Control of Hydraulic Velocity Tracking System. Chinese Journal of Mechanical Engineering. 2005, 18(2):224~227
6 Y. S. Zhao, Y. Q. Zhang, J.Yang, et al. Enhanced Fuzzy Sliding Mode Controller for Robotic Manipulators. International Journal of Robotics & Automation. 2007, 22(2):170~183
7 Y. Pan, K. Furuta, S. Suzuki, et al. Design of Variable Structure Controller from Sliding Mode to Sliding Sector. Proceedings of the IEEE Conference on Decision and Control. 2000, (2):1685~1690
8 K. K. Shyu, C. Y. Lin. Adaptive Sliding Mode Control for Variable Structure Systems with Constraint Control Input. Dynamics and Control. 1996,6(1):49~61
9 71 Y. A. Hu, Y. Chen. Design and Application of Double-sliding Modes Variable Structure Control Systems. 5th International Symposium on Instrumentation and Control Technology. 2003:635~638
10 W. J. Gu, Y. F. Zhang, C. P. Li. Composite Control of Linear/adaptive Variable Structure Control. Chinese Journal of Aeronautics. 2001, 14(1):49~56
11 Y. J. Huang, H. K.Way. Placing all Closed Loop Poles of Missile Attitude Control Systems in the Sliding Mode Via the Root Locus Technique. ISA Transactions. 2001, 40:330~340
12 Y. H. Wang, Y. Yao, K. M. Ma. Lateral Thrust and Aerodynamics Blended Control System Design Based on Variable Structure Model Following. Proceedings of the 6th World Congress on Intelligent Control and Automation, Jun. 2006:8183~8186
13刘根旺,许化龙.导弹姿态控制伺服系统的变结构控制.上海航天. 2004, 21(6):15~17, 35
14刘根旺,许化龙.新型变结构控制律在导弹姿态控制系统中的应用.系统仿真学报. 2004, 16(10):2264~2265
15史莹晶,马广富,马洪忠.基于变结构理论的巡航导弹复合控制方法研究.弹道学报. 2008,20(4):61~64
16王玮,吴晓燕,陈治湘.某型导弹俯仰运动非线性最优滑模控制器设计.弹道学报. 2008,20(4):69~72
17 X. H. Liao, Z. Sun, Y. D. Song. Chattering-Free Variable Structure Control with Application to Flight Vehicles. Proceedings of the 38th Southeastern Symposium on System Theory Tennessee Technological University Cookeville, USA, Mar. 2006:406~410
18 H. C. Zhao, W. J. Gu, Y. A. Hu, et al. Second-Order Sliding Mode Control for Aerodynamic Missiles Using Backstepping Design. Proc. 5th World Congress on Intelligent Control and Automation, China. 2004, 6:5471~5474
19 A. Thukral, I. Mario. A Sliding Mode Missile Pitch Autopilot Synthesis for High Angle of Attack Maneuvering. IEEE Transactions on Control System. 1998, 6(3):359~371
20周军,周凤岐,冯文剑.基于变结构控制理论的BTT导弹自动驾驶仪的三通道独立设计.宇航学报. 1991, (1):42~47
21 G. Y. Moon, Y. D. Kim, S. B. Cho. Variable Structure Control with Optimized Sliding Surface for Aircraft Control System. AIAA Guidance, Navigation, and Control Conference. 2004, 8:16~19
22李士勇,章钱.变结构控制在导弹制导中的应用研究.控制与制导.2009,7:47~55
23朱志刚,杨文利. BTT导弹协调式耦合变结构自动驾驶仪设计.宇航学报.1997, 18(1):8~12
24 C. K. Liu. Adaptive Fuzzy Control of Bank-to-turn Missiles. Proc. of the Industrial Electronics, Control and Instrumentation, Taiwan. 1996:596~601
25 J. Y. Choi, D. K. Chwa. Adaptive Control Based on a Parametric Affine Model for Tail-controlled Missiles. Proc. 39th IEEE Conference on Decision and Control,Australia. 2000:1471~1476
26 M. B. Mcfarland, A. J. Calise. Adaptive Nonlinear Control of Agile Antiair Missiles Using Neural Networks. IEEE Trans. on Control Systems Technology.2000, 8(5):749~756
27 Lei Zhang, Adaptive Fuzzy-PID Controllers Based on Optimal Fuzzy Reasoning for Missile Terminal Guidance.AIAA-2009-427. 47th AIAA Aerospace Sciences Meeting including The New Horizons Forum and Aerospace Exposition, Orlando, Florida, Jan. 5-8, 2009
28史雪虹,康景利,董巍,等.模糊控制在导弹倾斜稳定系统中的应用.北京理工大学学报. 1999, 19(2):186~189
29史莹晶,马广富.大空域机动巡航导弹的模糊PID控制器设计.弹箭与制导学报. 2006, 26(4): 11~13
30 Y. Q. Jin, W. J. Gu, J. H. Wu, et al. Sliding Mode Control of BTT Missile Based on Fuzzy-Neural Approach. Proceedings of the 5th World Congress on Intelligent Control and Automation, China. 2004:5483~5486
31罗喜霜,张天桥.模糊控制在复合制导中的应用.弹箭与制导学报. 2001,21(2):1~4
32 Atsushi Fujimori, Hidekazu Tsunetomo, Zhen-Yu.Gain-Scheduled Control Using Fuzzy Logic and Its Application to Flight Control. J. GU IDANCE, 1998, 22(1) :175~177
33林枫,刘国刚.最优控制与姿控喷流在导弹姿态控制中的应用.航天控制.2004, 22(3):20~22
34钱杏芳,林瑞雄,赵亚男.导弹飞行力学.北京理工大学出版社, 2006.
35 Utkin V I. Sliding Modes and Their Application in Discontinuous Systems. Automat Remote Control. 1974, 21: 1898-1907
36高为炳.变结构控制的理论及设计方法.中国科学出版社, 1990: 243~254
37李忠娟,张新政.变结构控制理论中抖振问题的研究.五邑大学学报. 2003, 17(3): 66~69
38邹伟全,姚锡凡.滑模变结构控制的抖振问题研究.控制与检测. 2006, 16(1): 53-55
39陈玉宏.滑模控制抖振抑制的新方法.电子科技大学学报. 1997, 26(5): 520~524
40胡寿松,王执铨,胡维礼.最优控制理论与系统,第二版.科学出版社出版.2005
41周叮.二阶阻尼系统的时间最优控制问题.华东工学院学报. 1987,2:34~43
42李士勇.模糊控制、神经控制和智能控制论.哈尔滨工业大学出版社,1998