弹箭精度智能控制与修正方法研究
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摘要
现代弹箭弹道学、动力学和控制理论的发展及应用体现在研究在带有随机干扰的复杂环境中,通过人工智能控制手段提高弹箭射击精度的方法,其中重要的问题就是研究更新更实用的弹箭弹道修正控制方法。针对该问题,本文以现代弹箭弹道学、最优控制理论和随机过程为研究工具,分析随机干扰因素对射击密集度的影响,研究弹道参数对气动系数灵敏度问题,依据弹道参数实测值对弹道参数和气动系数进行辨识,得到弹箭预估模型自适应最优控制理论和方法,通过舵机实施弹箭控制并修正弹道达到提高弹箭射击精度的目的。主要研究工作如下:
在建立弹箭系统空间六自由度运动飞行动力学模型和随机风场模型的基础上,利用蒙特卡罗法仿真技术预测弹丸落点密集度。以控制系统灵敏度理论为基础建立与选择控制体系技术参数问题相联系的灵敏度函数,研究控制系统灵敏度函数的算法。通过对灵敏度函数的计算,分析气动参数对弹道参数的影响程度。
针对随机因素影响下随机弹道的参数辨识问题,基于灵敏度理论和卡尔曼滤波理论分别对弹道参数和气动系数进行辨识。通过辨识,建立具有更精确弹道参数值的预估数学模型,从而提高弹箭的发射精度。将弹箭预估模型和最优控制广义功极小值原理相结合给出弹箭弹道最优控制方法,合理推导弹道特征参数的控制策略,采用快速计算方法降低计算量,实现自适应控制。
根据某型号弹道修正弹修正控制的需要,设计一套适用于此弹体结构的修正执行机构电动舵机控制系统。对弹道修正弹的修正执行机构进行选择,舵机伺服系统中的伺服电机采用一种以小体积、高性能的永磁无刷直流电机作为执行机构的电动舵机伺服系统,使永磁无刷直流电机的诸多优点与弹道修正技术结合。进而确定舵机系统模型结构和相关参数,完成了控制器的设计。
以Matlab为计算平台,对文中数学模型进行程序设计,形成完整计算软件。型号仿真计算和靶场试验结果的对比表明,在弹箭设计中应用文中提出的预估模型最优控制方法和弹道修正方法能提高弹箭射击精度。
The development and application of modern missiles ballistics, dynamics and control theory are reflected in researching the method of improving the firing precision by artificial intelligence control means in the complex environment with random disturbance. And one of the important issues is to study the newer and more practical trajectory correction control methods. For this problem, based on modern missiles ballistics, optimal control theory and random processs, intelligence control and correction means of missiles firing precision are studied in the complex environment with random disturbance in this thesis. The impact of random interference factors on firing dispersion is analyzed. Then sensitivity problem of the trajectory parameters to aerodynamic coefficients is studied. And based on the measured value, trajectory parameters and aerodynamic coefficients are identified in order to obtain the prediction model of missiles and adaptive optimal control theory and methods and to control and correct the ballistic of missile so as to enhance the missile firing precision through the control actuator. The main parts are concluded as follows:
Based on 6-DOF motion space flight dynamics model of missiles system and the random wind field model, Monte-Carlo simulation technology is used to forecast the intensity of projectiles impact points. Based on the control system sensitivity theory, the sensitivity function linked to the problems of technical parameters in the control system is established and selected to study the algorithm of the control system sensitivity function. Through calculating sensitivity function, influence of aerodynamic coefficients on trajectory parameters is analyzed.
For the problem of identifying the random trajectory parameters under the influence of random factors, based on the control system sensitivity theory and Kalman filtering theory, ballistic parameters and the aerodynamic coefficients are identified. Through identification, the estimated mathematical model with the more precise ballistic parameters is established so as to enhance the accuracy of the launch of the missiles. Method of missiles ballistic optimal control is given according to the estimated model and optimal control generalized work principle. And reasonable control strategy of trajectory characteristic parameters is derived. Using fast calculation method can reduce computational complexity and achieve adaptive control.
For the need of correct control of the certain type trajectory correction projectile, the electric control actuator system of the correct executing mechanism is designed for the body structures of the trajectory correction projectile, and the correct executing mechanism is designed too. The small volume, high-performance permanent magnet brushless dc motor is used for the servo motor as executing mechanism of the electric control actuator servo system, so that the many advantages of permanent magnet brushless dc motor combine with trajectory correction technologies. The control actuator system model structure and related parameters are determined, and the controller is designed.
Taking Matlab as a computing platform, the mathematical models in the thesis are programmed to form a complete computing software. The comparison of simulation of a certain type and range test results indicates that the optimal control of the estimated model and trajectory correction method presented in this thesis can improve the missile firing precision in design of missiles.
在建立弹箭系统空间六自由度运动飞行动力学模型和随机风场模型的基础上,利用蒙特卡罗法仿真技术预测弹丸落点密集度。以控制系统灵敏度理论为基础建立与选择控制体系技术参数问题相联系的灵敏度函数,研究控制系统灵敏度函数的算法。通过对灵敏度函数的计算,分析气动参数对弹道参数的影响程度。
针对随机因素影响下随机弹道的参数辨识问题,基于灵敏度理论和卡尔曼滤波理论分别对弹道参数和气动系数进行辨识。通过辨识,建立具有更精确弹道参数值的预估数学模型,从而提高弹箭的发射精度。将弹箭预估模型和最优控制广义功极小值原理相结合给出弹箭弹道最优控制方法,合理推导弹道特征参数的控制策略,采用快速计算方法降低计算量,实现自适应控制。
根据某型号弹道修正弹修正控制的需要,设计一套适用于此弹体结构的修正执行机构电动舵机控制系统。对弹道修正弹的修正执行机构进行选择,舵机伺服系统中的伺服电机采用一种以小体积、高性能的永磁无刷直流电机作为执行机构的电动舵机伺服系统,使永磁无刷直流电机的诸多优点与弹道修正技术结合。进而确定舵机系统模型结构和相关参数,完成了控制器的设计。
以Matlab为计算平台,对文中数学模型进行程序设计,形成完整计算软件。型号仿真计算和靶场试验结果的对比表明,在弹箭设计中应用文中提出的预估模型最优控制方法和弹道修正方法能提高弹箭射击精度。
The development and application of modern missiles ballistics, dynamics and control theory are reflected in researching the method of improving the firing precision by artificial intelligence control means in the complex environment with random disturbance. And one of the important issues is to study the newer and more practical trajectory correction control methods. For this problem, based on modern missiles ballistics, optimal control theory and random processs, intelligence control and correction means of missiles firing precision are studied in the complex environment with random disturbance in this thesis. The impact of random interference factors on firing dispersion is analyzed. Then sensitivity problem of the trajectory parameters to aerodynamic coefficients is studied. And based on the measured value, trajectory parameters and aerodynamic coefficients are identified in order to obtain the prediction model of missiles and adaptive optimal control theory and methods and to control and correct the ballistic of missile so as to enhance the missile firing precision through the control actuator. The main parts are concluded as follows:
Based on 6-DOF motion space flight dynamics model of missiles system and the random wind field model, Monte-Carlo simulation technology is used to forecast the intensity of projectiles impact points. Based on the control system sensitivity theory, the sensitivity function linked to the problems of technical parameters in the control system is established and selected to study the algorithm of the control system sensitivity function. Through calculating sensitivity function, influence of aerodynamic coefficients on trajectory parameters is analyzed.
For the problem of identifying the random trajectory parameters under the influence of random factors, based on the control system sensitivity theory and Kalman filtering theory, ballistic parameters and the aerodynamic coefficients are identified. Through identification, the estimated mathematical model with the more precise ballistic parameters is established so as to enhance the accuracy of the launch of the missiles. Method of missiles ballistic optimal control is given according to the estimated model and optimal control generalized work principle. And reasonable control strategy of trajectory characteristic parameters is derived. Using fast calculation method can reduce computational complexity and achieve adaptive control.
For the need of correct control of the certain type trajectory correction projectile, the electric control actuator system of the correct executing mechanism is designed for the body structures of the trajectory correction projectile, and the correct executing mechanism is designed too. The small volume, high-performance permanent magnet brushless dc motor is used for the servo motor as executing mechanism of the electric control actuator servo system, so that the many advantages of permanent magnet brushless dc motor combine with trajectory correction technologies. The control actuator system model structure and related parameters are determined, and the controller is designed.
Taking Matlab as a computing platform, the mathematical models in the thesis are programmed to form a complete computing software. The comparison of simulation of a certain type and range test results indicates that the optimal control of the estimated model and trajectory correction method presented in this thesis can improve the missile firing precision in design of missiles.
引文
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