高超声速滑翔飞行器机动技术研究
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摘要
高超声速滑翔飞行器具有远程快速到达和大范围横向机动能力,能够实现远程快速投送、大范围区域覆盖、远程精确定点着落、以及在较为宽泛的高度和速度范围内精确投放有效载荷,已成为当前远程快速到达和精确投送等应用领域的研究热点。
本文以高超声速滑翔飞行器为研究对象,围绕与其机动能力密切相关的关键技术展开深入研究与探讨,主要包括气动布局、动力学特性、BTT控制、控制面设计、机动轨迹优化等关键技术,初步建立了高超声速滑翔飞行器的概念设计方案。
在气动布局设计与研究中,研究了基于乘波构型的高升阻比气动布局设计与分析方法,提出了基于边界层修正的乘波构型设计方法,改进进化算法应用于乘波构型多目标优化设计,注重升阻比、容积、容积率、压心位置等工程实用性指标;综合考虑气动力和气动热设计指标,开展了乘波构型边缘钝化设计研究,分析表明,应合理选择钝化方案,使乘波构型在设计与非设计状态均具有良好的气动性能。
在动力学特性研究中,研究了高超声速滑翔飞行器的动力学特性。分析了乘波构型动导数产生的机理,提出了动导数计算方法;研究了高超声速滑翔飞行器长周期的动力学特性,分析了平衡滑翔弹道和跳跃弹道的产生机理,得到了跳跃次数、衰减速度等特征参数的表达式,与数值解对比验证了方法的正确性;根据滑翔飞行器的典型飞行轨迹,研究了攻角振荡阻尼和周期特性;针对阻尼偏小的特征,设计了俯仰阻尼器,仿真结果验证了阻尼器的有效性。
在控制面设计中,引入全动舵、嵌入式控制面以及RCS控制系统,设计了高超声速滑翔飞行器的气动布局;研究了所设计气动布局的配平特性,利用配平舵面保持飞行器的稳定性,提高容积利用率。引入控制面后的气动布局具有良好的气动性能;研究了全动舵及嵌入式控制面参数对气动性能的影响,分析表明控制面在配平和控制方面具有较高的效率。
在BTT控制系统设计与研究中,建立了高超声速滑翔飞行器的控制模型;基于轨迹线性化方法设计了控制律,针对多控制面布局特性,研究了基于优化的最小舵面偏转角控制分配方法,并针对倾斜转弯相关参数进行了分析;在控制器中引入非线性干扰观测器,通过对系统不确定的有效估计,设计补偿控制律以提高原有方法的控制性能;引进非线性状态观测器对测量噪声进行处理,基于轨迹线性化方法设计了状态观测器,仿真结果验证了状态观测器的去噪能力,降低了对控制执行机构的要求。
在机动轨迹优化设计与研究中,建立了高超声速滑翔飞行器轨迹优化的数学模型,包括考虑地球自转的再入运动方程、再入过程约束、终端约束模型以及轨迹优化目标;提出了基于Akima样条插值的直接优化方法,进行了滑翔轨迹的多目标优化分析,验证了方法的有效性;在直接法基础上,采用基于网格自适应的多分辨率技术进行轨迹优化,并对航路点和禁飞区约束提出了处理策略;结合设计的气动控制面和控制系统,进行包含控制律的轨迹仿真分析,研究了气动参数不确定性以及存在测量误差情况下控制系统的性能。仿真结果表明,所设计的控制系统具有较好的鲁棒性。
论文围绕高超声速滑翔飞行器的机动关键技术开展研究,建立了基于乘波构型的新型气动布局和控制面布局飞行器设计方法,形成了对短周期和长周期的再入动力学特征认识,设计了鲁棒性较强的BTT控制系统,验证了多分辨率技术在机动轨迹优化设计中的有效性。可为新型高超声速滑翔飞行器的气动布局设计、机动控制、实际应用提供理论支持,对高超声速远程飞行器的关键技术研究具有一定的参考价值。
Hypersonic gliding vehicle has the capability of large downrange and cross range, it can land precisely with a prescribed position, reach a long-range quickly and deliver a load precisely with a large scope of height and velocity, which make it the reasearch focus about the hypersonic vehicle at present.
This paper focuses on hypersonic gliding vehicle. The technology that influences the manuverability of hypersonic gliding vehicle is studied and discussed, such as the aerodynamic design, dynamic characteristic, bank-to-turn control, the design of control face, trajectory optimization and etc. The elementary concept model of a new hypersonic gliding vehicle is established.
In the aerodynamic design and analysis, the generation method of waverider is studied. The cone derived waverider is chosen as the reference configuration for gliding vehicle. A new generation method based on reshaping of boundary layer is put forward, which is verified through CFD techniques. The reshaped configuration has a higher lift-to-drag ratio than the original configuration. Consiedeing the engineering consideration such as lift-to-drag ratio, volume, volume efficiency and the position of pressure, the waverider is optimized with improved differential evolutionary algorithm. For the purpose of pratical use, the blunting the leading edge’s influence on the aerodynamic/aerothermodynamic performance of waverider is studied. When designing the waverider, one should consider both the aerodynamic and aerothermodynamic factors to select an appropriate blunt radius.
The dynamic characteristic of hypersonic gliding vehicle is studied. The generation mechanism of dynamic derivatives is analyzed and a calculation method is put forward. The phugoid dynamics of the hypersonic gliding vehicle is studied, which show that the equilibrium gliding is the fixed state of the renerty trajectory, when the initial states do not satisfy equilibrium glide condition or perturbation occurs, a damped oscillation along the equilibrium glide trajectory, viz. skip trajectory, could be observed. The characteristic parameters such as the damping and the number of oscillations are analyzed. The dynamics of angle-of-attack is studied based on a typical reentry trajectory; the damping, period of the oscillation is studied. To improve the damping characteristic, a pitch damper is designed. The damper’s influence on aerodynamic parameter and dynamic characteristic are studied. The damper provides an effective way to improve the damping characteristics of the waverider, which can be referenced in similar designs.
A collectivity aerodynamic configuration with embed control faces, all-moving wing and reaction control system was designed. The trim characteristic of the designed configuration is analyzed, due to its unique aerodynamic characteristic, the centroid of the whole vehicle could be placed at the rear part of the vehicle, and the stability is achieved through the trim contral faces, which improve the usage of the volume. The aerodynamic analysis shows that the vehicle retains the good aerodynamic efficiency after the control faces are introduced. The parameters of the all-moving wing and the embed control faces' influence to the aerodynamic characteristic is analyzed. The main contributions of the introduced wings are the control ability and trim efficiency.
An Bank-to-Turn control system for hypersonic gliding vehicle is designed. The control model is established, the control system is based on trajectory linearization control method. Considering the characteristic of multi-control-faces, a control allocation method based on optimized minimum deflection angle is studied. The bank-to-turn parameters are analyzed. A nonlinear disturbance observer is used to estimate the uncertainties and integrated with the TLC method, which improve the efficiency of the controller. A state observer based on trajectory linearization method is introduced and integrated with TLC. The observer error is found to be exponentially stable and simulation results verify the excellent performance and robustness of the proposed method, the method also reduces the requirement of the actuator of the controller.
The maneuver trajectory optimization method for hypersonic gliding vehicle is studied; the flight dynamic model was set up, considering the rotation of the earth, reentry path constraints and terminal constraints. A direct method based on Akima spline interpolation is proposed and simulation results verify the validity of the method. A multiresolution technique that based on the grid self adapting was applied to trajectory optimization; the corresponding tactic deal with the waypoint constraint is suggested. A practical trajectory optimization application that including waypoint, no-fly zones and terminal constraints is presented. Finally, the optimized trajectory and designed control system is integrated and simulatied. The uncertainty of the aerodynamic parameter and the measurement error are introduced respectively to study the efficiency of the control system. The simulation results show trajectory optimization method is effective and the control scheme is reasonable.
This dissertation focuses on the key technology relative to the manuverability of hypersonic gliding vehicle. The theoretical researches in this dissertation sustain the aerodynamic design, trajectory optimization and the control design for hypersonic gliding vehicle, which is a good reference to the development of the new type of hypersonic glide-reentry vehicle in the future.
本文以高超声速滑翔飞行器为研究对象,围绕与其机动能力密切相关的关键技术展开深入研究与探讨,主要包括气动布局、动力学特性、BTT控制、控制面设计、机动轨迹优化等关键技术,初步建立了高超声速滑翔飞行器的概念设计方案。
在气动布局设计与研究中,研究了基于乘波构型的高升阻比气动布局设计与分析方法,提出了基于边界层修正的乘波构型设计方法,改进进化算法应用于乘波构型多目标优化设计,注重升阻比、容积、容积率、压心位置等工程实用性指标;综合考虑气动力和气动热设计指标,开展了乘波构型边缘钝化设计研究,分析表明,应合理选择钝化方案,使乘波构型在设计与非设计状态均具有良好的气动性能。
在动力学特性研究中,研究了高超声速滑翔飞行器的动力学特性。分析了乘波构型动导数产生的机理,提出了动导数计算方法;研究了高超声速滑翔飞行器长周期的动力学特性,分析了平衡滑翔弹道和跳跃弹道的产生机理,得到了跳跃次数、衰减速度等特征参数的表达式,与数值解对比验证了方法的正确性;根据滑翔飞行器的典型飞行轨迹,研究了攻角振荡阻尼和周期特性;针对阻尼偏小的特征,设计了俯仰阻尼器,仿真结果验证了阻尼器的有效性。
在控制面设计中,引入全动舵、嵌入式控制面以及RCS控制系统,设计了高超声速滑翔飞行器的气动布局;研究了所设计气动布局的配平特性,利用配平舵面保持飞行器的稳定性,提高容积利用率。引入控制面后的气动布局具有良好的气动性能;研究了全动舵及嵌入式控制面参数对气动性能的影响,分析表明控制面在配平和控制方面具有较高的效率。
在BTT控制系统设计与研究中,建立了高超声速滑翔飞行器的控制模型;基于轨迹线性化方法设计了控制律,针对多控制面布局特性,研究了基于优化的最小舵面偏转角控制分配方法,并针对倾斜转弯相关参数进行了分析;在控制器中引入非线性干扰观测器,通过对系统不确定的有效估计,设计补偿控制律以提高原有方法的控制性能;引进非线性状态观测器对测量噪声进行处理,基于轨迹线性化方法设计了状态观测器,仿真结果验证了状态观测器的去噪能力,降低了对控制执行机构的要求。
在机动轨迹优化设计与研究中,建立了高超声速滑翔飞行器轨迹优化的数学模型,包括考虑地球自转的再入运动方程、再入过程约束、终端约束模型以及轨迹优化目标;提出了基于Akima样条插值的直接优化方法,进行了滑翔轨迹的多目标优化分析,验证了方法的有效性;在直接法基础上,采用基于网格自适应的多分辨率技术进行轨迹优化,并对航路点和禁飞区约束提出了处理策略;结合设计的气动控制面和控制系统,进行包含控制律的轨迹仿真分析,研究了气动参数不确定性以及存在测量误差情况下控制系统的性能。仿真结果表明,所设计的控制系统具有较好的鲁棒性。
论文围绕高超声速滑翔飞行器的机动关键技术开展研究,建立了基于乘波构型的新型气动布局和控制面布局飞行器设计方法,形成了对短周期和长周期的再入动力学特征认识,设计了鲁棒性较强的BTT控制系统,验证了多分辨率技术在机动轨迹优化设计中的有效性。可为新型高超声速滑翔飞行器的气动布局设计、机动控制、实际应用提供理论支持,对高超声速远程飞行器的关键技术研究具有一定的参考价值。
Hypersonic gliding vehicle has the capability of large downrange and cross range, it can land precisely with a prescribed position, reach a long-range quickly and deliver a load precisely with a large scope of height and velocity, which make it the reasearch focus about the hypersonic vehicle at present.
This paper focuses on hypersonic gliding vehicle. The technology that influences the manuverability of hypersonic gliding vehicle is studied and discussed, such as the aerodynamic design, dynamic characteristic, bank-to-turn control, the design of control face, trajectory optimization and etc. The elementary concept model of a new hypersonic gliding vehicle is established.
In the aerodynamic design and analysis, the generation method of waverider is studied. The cone derived waverider is chosen as the reference configuration for gliding vehicle. A new generation method based on reshaping of boundary layer is put forward, which is verified through CFD techniques. The reshaped configuration has a higher lift-to-drag ratio than the original configuration. Consiedeing the engineering consideration such as lift-to-drag ratio, volume, volume efficiency and the position of pressure, the waverider is optimized with improved differential evolutionary algorithm. For the purpose of pratical use, the blunting the leading edge’s influence on the aerodynamic/aerothermodynamic performance of waverider is studied. When designing the waverider, one should consider both the aerodynamic and aerothermodynamic factors to select an appropriate blunt radius.
The dynamic characteristic of hypersonic gliding vehicle is studied. The generation mechanism of dynamic derivatives is analyzed and a calculation method is put forward. The phugoid dynamics of the hypersonic gliding vehicle is studied, which show that the equilibrium gliding is the fixed state of the renerty trajectory, when the initial states do not satisfy equilibrium glide condition or perturbation occurs, a damped oscillation along the equilibrium glide trajectory, viz. skip trajectory, could be observed. The characteristic parameters such as the damping and the number of oscillations are analyzed. The dynamics of angle-of-attack is studied based on a typical reentry trajectory; the damping, period of the oscillation is studied. To improve the damping characteristic, a pitch damper is designed. The damper’s influence on aerodynamic parameter and dynamic characteristic are studied. The damper provides an effective way to improve the damping characteristics of the waverider, which can be referenced in similar designs.
A collectivity aerodynamic configuration with embed control faces, all-moving wing and reaction control system was designed. The trim characteristic of the designed configuration is analyzed, due to its unique aerodynamic characteristic, the centroid of the whole vehicle could be placed at the rear part of the vehicle, and the stability is achieved through the trim contral faces, which improve the usage of the volume. The aerodynamic analysis shows that the vehicle retains the good aerodynamic efficiency after the control faces are introduced. The parameters of the all-moving wing and the embed control faces' influence to the aerodynamic characteristic is analyzed. The main contributions of the introduced wings are the control ability and trim efficiency.
An Bank-to-Turn control system for hypersonic gliding vehicle is designed. The control model is established, the control system is based on trajectory linearization control method. Considering the characteristic of multi-control-faces, a control allocation method based on optimized minimum deflection angle is studied. The bank-to-turn parameters are analyzed. A nonlinear disturbance observer is used to estimate the uncertainties and integrated with the TLC method, which improve the efficiency of the controller. A state observer based on trajectory linearization method is introduced and integrated with TLC. The observer error is found to be exponentially stable and simulation results verify the excellent performance and robustness of the proposed method, the method also reduces the requirement of the actuator of the controller.
The maneuver trajectory optimization method for hypersonic gliding vehicle is studied; the flight dynamic model was set up, considering the rotation of the earth, reentry path constraints and terminal constraints. A direct method based on Akima spline interpolation is proposed and simulation results verify the validity of the method. A multiresolution technique that based on the grid self adapting was applied to trajectory optimization; the corresponding tactic deal with the waypoint constraint is suggested. A practical trajectory optimization application that including waypoint, no-fly zones and terminal constraints is presented. Finally, the optimized trajectory and designed control system is integrated and simulatied. The uncertainty of the aerodynamic parameter and the measurement error are introduced respectively to study the efficiency of the control system. The simulation results show trajectory optimization method is effective and the control scheme is reasonable.
This dissertation focuses on the key technology relative to the manuverability of hypersonic gliding vehicle. The theoretical researches in this dissertation sustain the aerodynamic design, trajectory optimization and the control design for hypersonic gliding vehicle, which is a good reference to the development of the new type of hypersonic glide-reentry vehicle in the future.
引文
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