小灵巧炸弹末制导关键技术研究
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摘要
小灵巧炸弹(Small Smart Bomb, SSB)是一种轻型、小巧的面对称航空制导弹药。它采用大展弦比气动外形,可以在防区外投射。SSB采用卫星定位结合低成本惯性组件作为中制导方式、低成本电视导引头作为末制导的复合制导体制。本文针对电视制导小灵巧炸弹末制导阶段系统设计中的若干关键技术进行了深入的研究,主要内容如下：
(1)研究了小灵巧炸弹系统概念,研究了电视导引头图像处理装置的设计与实现、倾斜转弯(BTT)自动驾驶仪设计、基于电视制导的三维导引律设计和SSB全系统六自由度数字仿真及精度分析等末制导系统设计中的四项关键技术。
(2)针对SSB电视制导问题,分析、明确了电视制导目标跟踪算法的设计思路。通过模板分割置信度加权修正方法提出了一种具有高精度与鲁棒性的改进NProd相关度量算法——PWNPRod算法；通过基于Kalman滤波的目标运动轨迹预估在提高实时性能的同时进一步加强了快速目标跟踪的鲁棒性能；通过提出一种基于子模板相关度误差的遮挡判定准则并将其结合到自适应模板更新策略之中,最终设计了完整的目标跟踪算法。实验表明该算法对于成像噪声、灰度变化、目标旋转以及部分遮挡具有很强的鲁棒性。最后通过合理的软硬件设计以及系统优化,将目标跟踪算法移植到基于C64xDSP的嵌入式系统中。
(3)分析了SSB的自动驾驶仪设计问题,根据动力学方程组建立了数学模型,并采用两种控制理论分别设计了BTT自动驾驶仪。基于古典控制理论频域设计方法,分别设计三个独立通道,通过加入协调支路补偿三通道之间的交叉耦合,构造了基于PID控制的协调解耦自动驾驶仪。基于现代控制理论中的鲁棒H∞设计方法,采用内外双回路,通过LQR内回路抑制等效模型不确定性,通过混合灵敏度H∞状态反馈器实现鲁棒控制,构造了鲁棒H∞自动驾驶仪。通过在多个特征点下进行三通道联合仿真,验证结果表明两个控制器在全弹道上满足控制性能指标要求。
(4)分析了电视制导与BTT控制方式对末制导系统的影响,提出了一种适用于SSB的三维BTT制导规律。通过在三维空间中建立SSB弹目相对运动方程,推导了三维纯比例制导规律与带重力补偿的BTT制导指令；针对大侧风环境下可能导致的导引头碰框问题,提出了一种基于姿态时变修正的视线角速率偏置项。通过加入该偏置项可以使三维BTT制导律实现导引头框架角约束。弹道仿真表明：所设计的三维制导律满足弹道性能指标要求。
(5)建立了包括电视导引头、SSB六自由度运动模型、BTT自动驾驶仪、末制导规律等子系统数学模型的电视制导小灵巧炸弹末制导数字仿真系统。通过模拟电视导引头指令特点、加入过载信号噪声、过载指令延迟、侧风干扰并设置不同的战场环境,对SSB在末制导阶段的弹道性能与命中精度进行了仿真试验。仿真结果表明本文所设计的制导与控制系统满足弹道性能指杯要求,适用于小灵巧炸弹。
本文的研究成果为小灵巧炸弹全系统设计奠定了理论基础,并提供了重要的技术支撑。
The Small Smart Bomb (SSB) is a kind of light and smart symmetrical guided bomb with high aspect ratio and stand off attacking ability. SSB adopts a method of compound guidance with INS/GPS for navigation phase and TV seeker for terminal phase. In this dissertation, some key technique of SSB guidance and control system designing for terminal phase are studied. The thesis mainly consists of the following five parts:
(1)At the beginning of this dissertation, the system concept of SSB, TV guidance technique and Bank-To-Tum (BTT) control technique is studied. On the basis of these results, four key technique of system designing for SSB terminal guidance phase are concluded and analyzed.
(2)Aiming at the issue of TV guidance for SSB, the thought of target tracking algorithm is made clear. Firstly, an improved correlation matching algorithm with high precision and robustness is proposed by using the methods of template partition and weighted similarity correction; after that, the real time ability and robustness for high mobility targets are both improved by using Kalman filtering for motion estimation; a self-adaptive template updating strategy and an occlusion detecting method is also proposed, and the complete target tracking algorithm is designed. The experimental results have shown the high robustness for interference such as noises, brightness change, target rotation and occlusion. Finally, the tracking algorithm is recompiled and written into embedded system of C64xDSP by software/hardware designing and system optimizing.
(3)The issue of autopilot designing for SSB is analyzed, the mathematical model of SSB is established and two BTT autopilots are designed based on different control theory. By introducing a coordinated loop to constrain the coupling among the three channels, a PID decoupling autopilot is constructed based on classical control theory. By using linear quadratic regular (LQR) method in inner loop, the error between actual model and nominal model is bounded; by using mixed weight sensitivity H∞state feedback controller in outer loop, a robust H∞autopilot is constructed. The combining simulation results of three-channel at multiple characteristic points have indicated that both of the two controllers satisfy the requirement on the whole trajectory. Finally, advantages and disadvantages of the two controllers are analyzed.
(4)By analyzing the affection of TV guidance and BTT control method for terminal guidance system, a three-dimensional BTT guidance law for SSB is proposed. By constructing relative motion equations of SSB in 3D space, a 3D pure proportional law (3DPPNG) and BTT acceleration commands with gravity compensation are derived. Aiming at the frame angle constraint problem, a line of sight (LOS) rate biased item based on the thought of time-varying is proposed. By using this biased item in the 3DPPNG, the frame angle constraint is realized. Simulation results have indicated that the proposed guidance law can satisfy capability requirements.
(5)The TV guidance SSB mathematical model including TV seeker,6DOF motion model, BTT autopilot, guidance law for terminal phase is constructed. By simulating TV guidance commands, adding signal noises and delay, adding wind disturbance and setting different battlefields, different 6DOF simulations are conducted. The results have indicated that the control and guidance system can satisfy the capability requirements and is suitable for SSB.
The achievements of this dissertation have established the foundation of SSB system design and provided the necessary technique supports.
(1)研究了小灵巧炸弹系统概念,研究了电视导引头图像处理装置的设计与实现、倾斜转弯(BTT)自动驾驶仪设计、基于电视制导的三维导引律设计和SSB全系统六自由度数字仿真及精度分析等末制导系统设计中的四项关键技术。
(2)针对SSB电视制导问题,分析、明确了电视制导目标跟踪算法的设计思路。通过模板分割置信度加权修正方法提出了一种具有高精度与鲁棒性的改进NProd相关度量算法——PWNPRod算法；通过基于Kalman滤波的目标运动轨迹预估在提高实时性能的同时进一步加强了快速目标跟踪的鲁棒性能；通过提出一种基于子模板相关度误差的遮挡判定准则并将其结合到自适应模板更新策略之中,最终设计了完整的目标跟踪算法。实验表明该算法对于成像噪声、灰度变化、目标旋转以及部分遮挡具有很强的鲁棒性。最后通过合理的软硬件设计以及系统优化,将目标跟踪算法移植到基于C64xDSP的嵌入式系统中。
(3)分析了SSB的自动驾驶仪设计问题,根据动力学方程组建立了数学模型,并采用两种控制理论分别设计了BTT自动驾驶仪。基于古典控制理论频域设计方法,分别设计三个独立通道,通过加入协调支路补偿三通道之间的交叉耦合,构造了基于PID控制的协调解耦自动驾驶仪。基于现代控制理论中的鲁棒H∞设计方法,采用内外双回路,通过LQR内回路抑制等效模型不确定性,通过混合灵敏度H∞状态反馈器实现鲁棒控制,构造了鲁棒H∞自动驾驶仪。通过在多个特征点下进行三通道联合仿真,验证结果表明两个控制器在全弹道上满足控制性能指标要求。
(4)分析了电视制导与BTT控制方式对末制导系统的影响,提出了一种适用于SSB的三维BTT制导规律。通过在三维空间中建立SSB弹目相对运动方程,推导了三维纯比例制导规律与带重力补偿的BTT制导指令；针对大侧风环境下可能导致的导引头碰框问题,提出了一种基于姿态时变修正的视线角速率偏置项。通过加入该偏置项可以使三维BTT制导律实现导引头框架角约束。弹道仿真表明：所设计的三维制导律满足弹道性能指标要求。
(5)建立了包括电视导引头、SSB六自由度运动模型、BTT自动驾驶仪、末制导规律等子系统数学模型的电视制导小灵巧炸弹末制导数字仿真系统。通过模拟电视导引头指令特点、加入过载信号噪声、过载指令延迟、侧风干扰并设置不同的战场环境,对SSB在末制导阶段的弹道性能与命中精度进行了仿真试验。仿真结果表明本文所设计的制导与控制系统满足弹道性能指杯要求,适用于小灵巧炸弹。
本文的研究成果为小灵巧炸弹全系统设计奠定了理论基础,并提供了重要的技术支撑。
The Small Smart Bomb (SSB) is a kind of light and smart symmetrical guided bomb with high aspect ratio and stand off attacking ability. SSB adopts a method of compound guidance with INS/GPS for navigation phase and TV seeker for terminal phase. In this dissertation, some key technique of SSB guidance and control system designing for terminal phase are studied. The thesis mainly consists of the following five parts:
(1)At the beginning of this dissertation, the system concept of SSB, TV guidance technique and Bank-To-Tum (BTT) control technique is studied. On the basis of these results, four key technique of system designing for SSB terminal guidance phase are concluded and analyzed.
(2)Aiming at the issue of TV guidance for SSB, the thought of target tracking algorithm is made clear. Firstly, an improved correlation matching algorithm with high precision and robustness is proposed by using the methods of template partition and weighted similarity correction; after that, the real time ability and robustness for high mobility targets are both improved by using Kalman filtering for motion estimation; a self-adaptive template updating strategy and an occlusion detecting method is also proposed, and the complete target tracking algorithm is designed. The experimental results have shown the high robustness for interference such as noises, brightness change, target rotation and occlusion. Finally, the tracking algorithm is recompiled and written into embedded system of C64xDSP by software/hardware designing and system optimizing.
(3)The issue of autopilot designing for SSB is analyzed, the mathematical model of SSB is established and two BTT autopilots are designed based on different control theory. By introducing a coordinated loop to constrain the coupling among the three channels, a PID decoupling autopilot is constructed based on classical control theory. By using linear quadratic regular (LQR) method in inner loop, the error between actual model and nominal model is bounded; by using mixed weight sensitivity H∞state feedback controller in outer loop, a robust H∞autopilot is constructed. The combining simulation results of three-channel at multiple characteristic points have indicated that both of the two controllers satisfy the requirement on the whole trajectory. Finally, advantages and disadvantages of the two controllers are analyzed.
(4)By analyzing the affection of TV guidance and BTT control method for terminal guidance system, a three-dimensional BTT guidance law for SSB is proposed. By constructing relative motion equations of SSB in 3D space, a 3D pure proportional law (3DPPNG) and BTT acceleration commands with gravity compensation are derived. Aiming at the frame angle constraint problem, a line of sight (LOS) rate biased item based on the thought of time-varying is proposed. By using this biased item in the 3DPPNG, the frame angle constraint is realized. Simulation results have indicated that the proposed guidance law can satisfy capability requirements.
(5)The TV guidance SSB mathematical model including TV seeker,6DOF motion model, BTT autopilot, guidance law for terminal phase is constructed. By simulating TV guidance commands, adding signal noises and delay, adding wind disturbance and setting different battlefields, different 6DOF simulations are conducted. The results have indicated that the control and guidance system can satisfy the capability requirements and is suitable for SSB.
The achievements of this dissertation have established the foundation of SSB system design and provided the necessary technique supports.
引文
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