空地导弹制导与控制关键技术研究
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摘要
本文对电视指令制导空地导弹的制导和控制系统及其作战使用过程相关问题进行了深入的研究,主要内容如下:
一、研究了电视指令制导空地导弹有关制导与控制的各个子系统的建模问题。分析了空地导弹捷联惯导系统误差;建立了电视导引头稳定跟踪模型,实现了对导弹姿态角的解耦控制;对人工捕控过程进行了建模;分析了各种光学干扰对电视导引头作用距离的影响。
二、用两种不同的控制理论和方法,设计了电视指令制导空地导弹的鲁棒飞行控制系统:
1.基于在线神经网络,设计了导弹的自适应动态逆飞行控制系统。采用在线神经网络消除因参数摄动引起的动态逆控制器的求逆误差,并针对导弹作动器的未建模动态对在线神经网络权值调整过程的不利影响,采用伪控制隔离思想改善了存在作动器未建模动态时系统的指令跟踪性能。
2.基于回馈递推思想和滑模控制方法,设计了导弹的鲁棒飞行控制系统。针对一类具有未建模动态和外来扰动的多输入多输出不确定非线性系统,用一个RBF神经网络获得未建模动态和外来扰动的估计值,将回馈递推思想与滑模控制相结合,设计了鲁棒控制器;接着将它用于设计电视指令制导空地导弹的飞行控制系统,考虑到需要克服作动器位置饱和、速率饱和因素对系统性能的不利影响,改进了滑动面的符号函数,并采用模糊逻辑实时调整滑动面的斜率。最后,比较了它与神经网络动态逆控制器在导弹气动参数摄动、外来干扰和作动器纯延时条件下的性能。
三、根据电视指令制导空地导弹作战飞行过程的特点,将其制导过程分为两个阶段——中制导与末制导,分别进行了研究:
1.中制导——根据预先装定的航路点集信息生成实时的航迹角控制指令,再基于逆动力学生成姿态角指令,建立导弹跟随标称航迹的广义误差模型,在此基础上设计了导弹的综合中制导与控制系统。
2.末制导——根据电视指令制导空地导弹的弹载设备特点和作战任务,设计了一种通过时变偏置项获得垂直命中目标能力的修正比例末制导律,研究了将它应用于电视指令制导空地导弹的软硬件需求和可行性,并将它与一种实际应用于某型电视指令制导空地导弹的比例积分末制导律进行了比较,验证了它的优良性能。
四、基于有限状态机理论分析了电视指令制导空地导弹在电磁干扰条件下的攻击过程,编制了导弹全弹道可视化仿真系统,并选取典型战场与目标环境,采用蒙特卡洛方法进行大量全弹道仿真,研究了导弹的制导精度和作战效能。
理论分析与仿真表明,本文设计的导弹鲁棒飞行控制、制导系统以及对于相关内容的研究是有效的。
The guidance and control systems of TV-Command-Homing Air-to-Ground Missile (TVCHAGM), as well as the interrelated problems in combats and deployments, are thoroughly researched in this paper. Mainly, thereinafter several research subjects are involved:
1. The model of each subsystem related to the TVCHAGM’s guidance and control system is researched. The error rules of the strapdown INS are researched. Then the stable track model of the TV seeker is built, and a controller is designed to decouple the seeker’s output from the missile’s gesture angle. Afterwards, the man-in-loop model is built. At last, the effects of various optical factors on the operation distance of the TV seeker are researched.
2. The robust autopilot of the TVCHAGM is designed by two kinds of control theory:
(1) Based on online neural network, an adaptive dynamic inversion autopilot system of the TVCHAGM is designed. An online neural network is adopted to eliminate the inversion error, which originates from the perturbation of the model’s parameters. Afterwards, considering the disadvantageous effects on the update process of the neural network’s weights aroused by the unmodeled dynamics of the actuators, pseudo control hedging is introduced to improve the system’s command following performance when the actuators’unmodeled dynamics exists.
(2) A robust missile autopilot system is designed based on backstepping and sliding mode. Firstly, for a class of multi-input-multi-output uncertain nonlinear system with unmodelled dynamics and external disturbances, a robust controller based on backstepping and sliding mode control was designed. The unknown dynamics and external disturbances were estimated by a RBF neural network. Secondly, the scheme is applied to design the autopilot system of TVCHAGM. Considering the needs to overcome the disadvantageous effect of the actuator’s position saturation and velocity saturation on the system’s performances, the sign function is modified and fuzzy logic is introduced to modulate the slope of the slide surface in real time. Finally, its performance is compared to the neural network dynamic inversion autopilot system on condition of pneumatic parameters perturbation, external disturbances and actuator’s delay.
3. According to the characteristics of the flight process of TVCHAGM, the guidance process is divide into two phases——midcourse guidance phase and terminal guidance phase, which are both researched as follows:
(1) Midcourse guidance phase——The flight path angle commands are created in real time according to the way points loaded before flight. Then the gesture angle commands are created based inverse dynamics. Thereafter, the generalized error model is built. Finally, an integrated midcourse guidance and control system of the TVCHAGM is designed.
(2) Terminal guidance phase——According to the facility specialty and the combat task of the TVCHAGM, and by adding a time variant biasing item, a modified proportion terminal guidance law is designed. It can endow the missile the ability of vertically hitting the target. Then the software and hardware needs and the applicability to the missile are researched. Moreover, it is compared with a proportion plus integration terminal guidance law actually having been applied to a certain kind of TVCHAGM. The simulations show its excellent performance.
4. Based on finite state machine theory, the TVCHAGM attack process under electromagnetic jamming condition is analyzed. And the whole trajectory simulation system of the missile is designed. Then choosing typical targets and battlefield environments and adopting Monte-Carlo method, a great deal of simulation is made. By this way, the missile’s guidance and control precision and combat effectiveness is researched.
The effectiveness of robust autopilot system, guidance system and the related research work presented in this dissertation is verified by theoretical analyses and intensive simulations.
一、研究了电视指令制导空地导弹有关制导与控制的各个子系统的建模问题。分析了空地导弹捷联惯导系统误差;建立了电视导引头稳定跟踪模型,实现了对导弹姿态角的解耦控制;对人工捕控过程进行了建模;分析了各种光学干扰对电视导引头作用距离的影响。
二、用两种不同的控制理论和方法,设计了电视指令制导空地导弹的鲁棒飞行控制系统:
1.基于在线神经网络,设计了导弹的自适应动态逆飞行控制系统。采用在线神经网络消除因参数摄动引起的动态逆控制器的求逆误差,并针对导弹作动器的未建模动态对在线神经网络权值调整过程的不利影响,采用伪控制隔离思想改善了存在作动器未建模动态时系统的指令跟踪性能。
2.基于回馈递推思想和滑模控制方法,设计了导弹的鲁棒飞行控制系统。针对一类具有未建模动态和外来扰动的多输入多输出不确定非线性系统,用一个RBF神经网络获得未建模动态和外来扰动的估计值,将回馈递推思想与滑模控制相结合,设计了鲁棒控制器;接着将它用于设计电视指令制导空地导弹的飞行控制系统,考虑到需要克服作动器位置饱和、速率饱和因素对系统性能的不利影响,改进了滑动面的符号函数,并采用模糊逻辑实时调整滑动面的斜率。最后,比较了它与神经网络动态逆控制器在导弹气动参数摄动、外来干扰和作动器纯延时条件下的性能。
三、根据电视指令制导空地导弹作战飞行过程的特点,将其制导过程分为两个阶段——中制导与末制导,分别进行了研究:
1.中制导——根据预先装定的航路点集信息生成实时的航迹角控制指令,再基于逆动力学生成姿态角指令,建立导弹跟随标称航迹的广义误差模型,在此基础上设计了导弹的综合中制导与控制系统。
2.末制导——根据电视指令制导空地导弹的弹载设备特点和作战任务,设计了一种通过时变偏置项获得垂直命中目标能力的修正比例末制导律,研究了将它应用于电视指令制导空地导弹的软硬件需求和可行性,并将它与一种实际应用于某型电视指令制导空地导弹的比例积分末制导律进行了比较,验证了它的优良性能。
四、基于有限状态机理论分析了电视指令制导空地导弹在电磁干扰条件下的攻击过程,编制了导弹全弹道可视化仿真系统,并选取典型战场与目标环境,采用蒙特卡洛方法进行大量全弹道仿真,研究了导弹的制导精度和作战效能。
理论分析与仿真表明,本文设计的导弹鲁棒飞行控制、制导系统以及对于相关内容的研究是有效的。
The guidance and control systems of TV-Command-Homing Air-to-Ground Missile (TVCHAGM), as well as the interrelated problems in combats and deployments, are thoroughly researched in this paper. Mainly, thereinafter several research subjects are involved:
1. The model of each subsystem related to the TVCHAGM’s guidance and control system is researched. The error rules of the strapdown INS are researched. Then the stable track model of the TV seeker is built, and a controller is designed to decouple the seeker’s output from the missile’s gesture angle. Afterwards, the man-in-loop model is built. At last, the effects of various optical factors on the operation distance of the TV seeker are researched.
2. The robust autopilot of the TVCHAGM is designed by two kinds of control theory:
(1) Based on online neural network, an adaptive dynamic inversion autopilot system of the TVCHAGM is designed. An online neural network is adopted to eliminate the inversion error, which originates from the perturbation of the model’s parameters. Afterwards, considering the disadvantageous effects on the update process of the neural network’s weights aroused by the unmodeled dynamics of the actuators, pseudo control hedging is introduced to improve the system’s command following performance when the actuators’unmodeled dynamics exists.
(2) A robust missile autopilot system is designed based on backstepping and sliding mode. Firstly, for a class of multi-input-multi-output uncertain nonlinear system with unmodelled dynamics and external disturbances, a robust controller based on backstepping and sliding mode control was designed. The unknown dynamics and external disturbances were estimated by a RBF neural network. Secondly, the scheme is applied to design the autopilot system of TVCHAGM. Considering the needs to overcome the disadvantageous effect of the actuator’s position saturation and velocity saturation on the system’s performances, the sign function is modified and fuzzy logic is introduced to modulate the slope of the slide surface in real time. Finally, its performance is compared to the neural network dynamic inversion autopilot system on condition of pneumatic parameters perturbation, external disturbances and actuator’s delay.
3. According to the characteristics of the flight process of TVCHAGM, the guidance process is divide into two phases——midcourse guidance phase and terminal guidance phase, which are both researched as follows:
(1) Midcourse guidance phase——The flight path angle commands are created in real time according to the way points loaded before flight. Then the gesture angle commands are created based inverse dynamics. Thereafter, the generalized error model is built. Finally, an integrated midcourse guidance and control system of the TVCHAGM is designed.
(2) Terminal guidance phase——According to the facility specialty and the combat task of the TVCHAGM, and by adding a time variant biasing item, a modified proportion terminal guidance law is designed. It can endow the missile the ability of vertically hitting the target. Then the software and hardware needs and the applicability to the missile are researched. Moreover, it is compared with a proportion plus integration terminal guidance law actually having been applied to a certain kind of TVCHAGM. The simulations show its excellent performance.
4. Based on finite state machine theory, the TVCHAGM attack process under electromagnetic jamming condition is analyzed. And the whole trajectory simulation system of the missile is designed. Then choosing typical targets and battlefield environments and adopting Monte-Carlo method, a great deal of simulation is made. By this way, the missile’s guidance and control precision and combat effectiveness is researched.
The effectiveness of robust autopilot system, guidance system and the related research work presented in this dissertation is verified by theoretical analyses and intensive simulations.
引文
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