气动力/直接力复合控制拦截弹制导与控制方法研究
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摘要
随着现代战争中导弹技术的飞速发展,拦截弹作为一种先进的反导武器受到了越来越多的关注。为了提高拦截弹的作战能力,以应对突防能力不断增强的战术弹道导弹,需要增强拦截弹自身的机动能力。气动力/直接力复合控制技术作为增强拦截弹机动能力的有效途径,引起了反导系统研究领域的重视。在这一背景下,本文研究了姿控式气动力/直接力复合控制自旋拦截弹的制导与控制问题。
首先建立了姿控式气动力/直接力复合控制自旋拦截弹的数学模型。定义了研究姿控式气动力/直接力复合控制自旋拦截弹所需要的坐标系,并且给出了相应的坐标转换关系;在此基础上给出了姿控式气动力/直接力复合控制自旋拦截弹的数学模型,其中包括姿控式气动力/直接力复合控制自旋拦截弹的质心运动方程、绕质心运动方程、空气舵模型和脉冲推力器模型,并使用喷流交感因子描述了脉冲推力器所产生的直接力的喷流交感效应,为后续的研究奠定了基础。
其次研究了姿控式气动力/直接力复合控制自旋拦截弹的制导方法。在视线坐标系中建立了三维空间内拦截弹与目标之间的相对运动模型,为制导规律的设计奠定了基础;设计了滑模制导规律,给出了拦截弹与目标之间相对距离的估算方法,并给出了滑模制导规律中切换项系数的确定方法和切换项的修正方法,克服了滑模制导方法易产生抖动的缺陷。仿真结果验证了该制导方法的有效性。
然后研究了姿控式气动力/直接力复合控制自旋拦截弹的控制方法。提出了气动力控制与直接力控制的复合策略,仅在末端对气动力控制和直接力控制进行分配,不仅能够充分发挥空气舵的作用,而且能够保证空气舵、副翼和脉冲推力器的控制能量之和最小;在建立拦截弹控制模型的基础上,给出了姿控式气动力/直接力复合控制自旋拦截弹的动态逆控制方法;并且使用增广状态观测器对系统的未建模特性和未知扰动进行了估计,克服了动态逆控制方法依赖于被控对象精确数学模型的缺陷。仿真结果验证了该控制方法的有效性。
而后研究了脉冲推力器的点火算法。给出了脉冲推力器在不同点火原理下的点火算法,并分析了不同点火算法的优势和缺陷,在此基础上提出了一种新的脉冲推力器点火算法,考虑了弹体自旋运动对直接力分量的影响,进而补偿了对点火指令的跟踪偏差;并对常规遗传算法的遗传操作进行了适当改进,基于改进后的遗传算法对脉冲推力器的点火数量进行了离线优化,根据优化结果进行在线查找,保证了脉冲推力器的直接力控制精度,并在此基础上给出了脉冲推力器点火算法的操作过程。仿真结果验证了该点火算法的有效性。
最后研究了姿控式气动力/直接力复合控制自旋拦截弹的制导控制仿真平台。在分析仿真平台需求的基础上,设计了仿真平台的结构,并建立了姿控式气动力/直接力复合控制自旋拦截弹的制导控制仿真平台,针对姿控式气动力/直接力复合控制自旋拦截弹进行了制导控制仿真试验,仿真结果验证了姿控式气动力/直接力复合控制自旋拦截弹的制导方法、控制方法和脉冲推力器点火算法的可行性和有效性。
本文的研究工作为研究姿控式气动力/直接力复合控制自旋拦截弹的制导与控制问题提供了方案,并且为相关问题的进一步研究奠定了基础。
With the rapid development of missile technology, the interceptor missile as a kind of advanced antimissile weapons got more and more attention during the modern warfare. It was necessary for interceptor missile to enhance maneuverability, which to copewith the threat from tactical ballistic missile. It was a most effective solution to augment the maneuver of endo-atmosphre interceptor missile in antimissile system by using aerodynamics and lateral thrust blended and that is getting more regards. In this paper, the guidance and control problems of interceptor missile with aerodynamics and lateral thrust blended was researched.
Firstly, the mathematical models of interceptor missile with aerodynamics and lateral thrust blended were constituted. It was definited that requisite reference frame and transform relation of reference frame, on which movement equations were presented based for interceptor missile with aerodynamics and lateral thrust blended. These equations established the groundwork for the successive research, which included the model of aerodynamical rudders, the model of pulse thrusters, the jet interaction effect of pulse thruster using jet interference factor.
Secondly, the guidance method was presented for the interceptor missile with aerodynamics and lateral thrust blended. The interceptor missile-target relative geometry relation in three-dimensional space was constituted. A sliding mode guidance law was designed including the method to compute relative distance between interceptor missile with aerodynamics and lateral thrust blended and target and the method to count the coefficient of switching function and the method to amend of switching function in order to overcome the chattering of sliding mode guidance method. The simulation results proved the validity of this guidance method.
Thirdly, the control method was presented for the interceptor missile with aerodynamics and lateral thrust blended. The blended control strategy just only distributed aerodynamics and lateral thrust with the terminal of guidance, not only made use of the fuction of aerodynamical rudders but also ensuured optimal of aerodynamical rudders and flap and pulse thrusts. Basing on the control model of interceptor missile with aerodynamics and lateral thrust blended, the dynamics inverse control method of interceptor missile with aerodynamics and lateral thrust blended was presented, anding an extended state observer to estimate unknown disturbance, which overcome the dynamics inverse method’s defect on precise meth model. The simulation results proved the validity of this control method.
Fourthly, the fire algorithm of pulse thrusters was presented for spinning interceptor missile with aerodynamics and lateral thrust blended. According to different fire principles, the new fire algorithms of pulse thrusters were presented, and which analyzed the advantage and defects of this fire algorithms.
Considering the effect of spinning motion of interceptor missile with aerodynamics and lateral thrust blended to lateral thrust, the track error of fire command was compensated and the genetic operation of simple genetic algorithm was improved. Optimizetion of fine quantity of pulse thrusters used the improved genetic algorithm. And then searching online depended on optimize results ensure precise of lateral thrust of pulse thruster. For these bases, the opration progresses of fire algorithm of pulse thrusters were presented. The simulation results proved the validity of this fire algorithm.
Finally, the guidance and control simulation platform was designed for the interceptor missile with aerodynamics and lateral thrust blended. Analyzed the requirement of guidance and control simulation platform and designed the framework of the guidance and control simulation platform and constituted the guidance and control simulation platform of interceptor missile with aerodynamics and lateral thrust blended. The guidance and control simulation test was realized through the platform for the interceptor missile with aerodynamics and lateral thrust blended. The simulation results demonstrate the feasibility and validity of guidance and control methods of interceptor missile with aerodynamics and lateral thrust blended.
The research work provided an effective solution for guidance and control problems of interceptor missile with aerodynamics and lateral thrust blended, which estimated the academic base of further research.
首先建立了姿控式气动力/直接力复合控制自旋拦截弹的数学模型。定义了研究姿控式气动力/直接力复合控制自旋拦截弹所需要的坐标系,并且给出了相应的坐标转换关系;在此基础上给出了姿控式气动力/直接力复合控制自旋拦截弹的数学模型,其中包括姿控式气动力/直接力复合控制自旋拦截弹的质心运动方程、绕质心运动方程、空气舵模型和脉冲推力器模型,并使用喷流交感因子描述了脉冲推力器所产生的直接力的喷流交感效应,为后续的研究奠定了基础。
其次研究了姿控式气动力/直接力复合控制自旋拦截弹的制导方法。在视线坐标系中建立了三维空间内拦截弹与目标之间的相对运动模型,为制导规律的设计奠定了基础;设计了滑模制导规律,给出了拦截弹与目标之间相对距离的估算方法,并给出了滑模制导规律中切换项系数的确定方法和切换项的修正方法,克服了滑模制导方法易产生抖动的缺陷。仿真结果验证了该制导方法的有效性。
然后研究了姿控式气动力/直接力复合控制自旋拦截弹的控制方法。提出了气动力控制与直接力控制的复合策略,仅在末端对气动力控制和直接力控制进行分配,不仅能够充分发挥空气舵的作用,而且能够保证空气舵、副翼和脉冲推力器的控制能量之和最小;在建立拦截弹控制模型的基础上,给出了姿控式气动力/直接力复合控制自旋拦截弹的动态逆控制方法;并且使用增广状态观测器对系统的未建模特性和未知扰动进行了估计,克服了动态逆控制方法依赖于被控对象精确数学模型的缺陷。仿真结果验证了该控制方法的有效性。
而后研究了脉冲推力器的点火算法。给出了脉冲推力器在不同点火原理下的点火算法,并分析了不同点火算法的优势和缺陷,在此基础上提出了一种新的脉冲推力器点火算法,考虑了弹体自旋运动对直接力分量的影响,进而补偿了对点火指令的跟踪偏差;并对常规遗传算法的遗传操作进行了适当改进,基于改进后的遗传算法对脉冲推力器的点火数量进行了离线优化,根据优化结果进行在线查找,保证了脉冲推力器的直接力控制精度,并在此基础上给出了脉冲推力器点火算法的操作过程。仿真结果验证了该点火算法的有效性。
最后研究了姿控式气动力/直接力复合控制自旋拦截弹的制导控制仿真平台。在分析仿真平台需求的基础上,设计了仿真平台的结构,并建立了姿控式气动力/直接力复合控制自旋拦截弹的制导控制仿真平台,针对姿控式气动力/直接力复合控制自旋拦截弹进行了制导控制仿真试验,仿真结果验证了姿控式气动力/直接力复合控制自旋拦截弹的制导方法、控制方法和脉冲推力器点火算法的可行性和有效性。
本文的研究工作为研究姿控式气动力/直接力复合控制自旋拦截弹的制导与控制问题提供了方案,并且为相关问题的进一步研究奠定了基础。
With the rapid development of missile technology, the interceptor missile as a kind of advanced antimissile weapons got more and more attention during the modern warfare. It was necessary for interceptor missile to enhance maneuverability, which to copewith the threat from tactical ballistic missile. It was a most effective solution to augment the maneuver of endo-atmosphre interceptor missile in antimissile system by using aerodynamics and lateral thrust blended and that is getting more regards. In this paper, the guidance and control problems of interceptor missile with aerodynamics and lateral thrust blended was researched.
Firstly, the mathematical models of interceptor missile with aerodynamics and lateral thrust blended were constituted. It was definited that requisite reference frame and transform relation of reference frame, on which movement equations were presented based for interceptor missile with aerodynamics and lateral thrust blended. These equations established the groundwork for the successive research, which included the model of aerodynamical rudders, the model of pulse thrusters, the jet interaction effect of pulse thruster using jet interference factor.
Secondly, the guidance method was presented for the interceptor missile with aerodynamics and lateral thrust blended. The interceptor missile-target relative geometry relation in three-dimensional space was constituted. A sliding mode guidance law was designed including the method to compute relative distance between interceptor missile with aerodynamics and lateral thrust blended and target and the method to count the coefficient of switching function and the method to amend of switching function in order to overcome the chattering of sliding mode guidance method. The simulation results proved the validity of this guidance method.
Thirdly, the control method was presented for the interceptor missile with aerodynamics and lateral thrust blended. The blended control strategy just only distributed aerodynamics and lateral thrust with the terminal of guidance, not only made use of the fuction of aerodynamical rudders but also ensuured optimal of aerodynamical rudders and flap and pulse thrusts. Basing on the control model of interceptor missile with aerodynamics and lateral thrust blended, the dynamics inverse control method of interceptor missile with aerodynamics and lateral thrust blended was presented, anding an extended state observer to estimate unknown disturbance, which overcome the dynamics inverse method’s defect on precise meth model. The simulation results proved the validity of this control method.
Fourthly, the fire algorithm of pulse thrusters was presented for spinning interceptor missile with aerodynamics and lateral thrust blended. According to different fire principles, the new fire algorithms of pulse thrusters were presented, and which analyzed the advantage and defects of this fire algorithms.
Considering the effect of spinning motion of interceptor missile with aerodynamics and lateral thrust blended to lateral thrust, the track error of fire command was compensated and the genetic operation of simple genetic algorithm was improved. Optimizetion of fine quantity of pulse thrusters used the improved genetic algorithm. And then searching online depended on optimize results ensure precise of lateral thrust of pulse thruster. For these bases, the opration progresses of fire algorithm of pulse thrusters were presented. The simulation results proved the validity of this fire algorithm.
Finally, the guidance and control simulation platform was designed for the interceptor missile with aerodynamics and lateral thrust blended. Analyzed the requirement of guidance and control simulation platform and designed the framework of the guidance and control simulation platform and constituted the guidance and control simulation platform of interceptor missile with aerodynamics and lateral thrust blended. The guidance and control simulation test was realized through the platform for the interceptor missile with aerodynamics and lateral thrust blended. The simulation results demonstrate the feasibility and validity of guidance and control methods of interceptor missile with aerodynamics and lateral thrust blended.
The research work provided an effective solution for guidance and control problems of interceptor missile with aerodynamics and lateral thrust blended, which estimated the academic base of further research.
引文
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