旋转制导炮弹飞行弹道及控制系统设计方法研究
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摘要
现代战争要求制导炮弹达到“远射程、大落角、高精度”的战术技术指标要求,且实际的制导炮弹飞行过程是一个非线性耦合的、时变的、有约束的和受外界随机干扰影响的控制过程,因而需要对其飞行弹道和控制系统进行良好地设计。本文主要围绕鸭式布局的制导炮弹飞行弹道、控制系统设计理论与技术问题展开分析和研究。
1)根据鸭式布局制导炮弹的气动特性和运动特点,建立了其六自由度飞行动力学模型；根据刚体坐标系关系,建立了滚转炮弹的姿态控制系统模型；基于“瞬时平衡”假设,建立了纵向平面内炮弹飞行的质点运动方程。为对制导炮弹的方案弹道设计、弹体动态特性分析、控制系统设计作提供基础。
2)采用“方案弹道+末制导”导引方法作为远程大落角精确命中目标的手段,研究了制导炮弹的弹道设计问题。基于纵向平面内的制导炮弹质点弹道模型、飞行状态约束条件与最大射程目标函数,建立了增程弹道优化模型。将变尺度的非均匀参数化方法和序列二次规划(SQP)方法相结合,对制导炮弹的增程方案弹道进行优化。以三维质点弹道模型为基础,利用微分几何理论设计了满足落角约束的三维非线性制导律。分析了炮弹在末段弹道时的攻击性能,给出了攻击目标的最短距离计算方法。相比传统方法,设计的方案弹道具有更强的弹道性能优势,末制导律使得制导炮弹在攻击不同目标时表现出较强的适应能力。
31分别利用了具有测量值修正形式的卡尔曼滤波器、平滑器和龙伯格观测器作为重构工具,研究了关于制导炮弹阻力系数、攻角和侧滑角的弹道重构问题。对于从含有噪声的飞行试验数据中提取阻力系数的问题,提出了基于无迹平滑器(URTSS)的阻力系数事后重构算法,获得了阻力系数关于马赫数的函数,并且大大提高了对其他弹道参数的测量精度。探讨了受实际条件限制,难以获得攻角、侧滑角等精确测量值的情况时,在降阶观测系统模型的基础上,提出了一种基于坐标变换的攻角、侧滑角龙伯格观测器,实现了对攻角、侧滑角的高动态估计。研究结果对实际中难以获得的这些弹道参数提供了参考处理方法。
4)研究了制导炮弹的非线性控制方法。基于反馈线性化理论,提出了适用于滚转炮弹的质心和姿态非线性滑模控制器。理论分析和仿真结果均表明,非线性滑模控制能保证制导炮弹模型存在误差时的鲁棒飞行控制性能。当制导炮弹动力学参数含有较人未知误差时,纯滑模控制需要保守地设置较大的切换增益,表现为产生更大的舵面控制量,同时在控制过程中会引发较强抖振或显著跟踪误差。为更有效地处理动力学参数的不确定性问题,通过分析滚转炮弹的气动对称特性,引入了考虑边界层的参数自适应方法,基于李雅普诺夫稳定性原理设计了一种适用于制导炮弹的非线性自适应滑模控制器。仿真表明,在取得较好跟踪性能的前提下,自适应滑模控制系统消除了较大参数误差引发的强烈抖振现象。
5)研究了制导炮弹非线性离散滑模控制方法。介绍了非线性连续系统的精确离散化,利用反馈线性化方法将复杂的非线性系统等效地转化为两个标准的子系统,然后对子系统作离散化处理,并结合滑模控制原理设计了制导炮弹的离散控制器。分析得到离散趋近律参数和系统不确定性是离散滑模控制系统的产生抖振的主要原因。在切换增益、趋近律系数确定的情况下,较大的控制采样时间和制导炮弹气动参数不确定性将造成离散控制系统的跟踪误差,并引发较强的抖振现象。为了降低参数不确定性带来的抖振现象,引入了离散的参数自适应算法,设计了适用于制导炮弹的非线性离散自适应滑模控制器。仿真表明,离散自适应滑模控制能有效处理制导炮弹气动参数的不确性问题,改善了控制性能。
6)分析了各种扰动因素对制导炮弹飞行弹道的影响,研究了制导炮弹外弹道飞行控制系统的性能。为了降低启控点偏差造成弹道跟踪控制段的舵面饱和现象,设计了过渡参考弹道,并给出了光滑的控制指令信息,使制导炮弹能够沿过渡参考弹道飞行至增程方案弹道上。由于自适应滑模控制的强鲁棒性,制导炮弹可适应各种干扰情况,具有较好的弹道性能,能够在远程发射并以大落角姿态精确命中目标。
The guided projectiles are demanded to satisfy the tactical and technical index of "large range, big tenninal angle, high accuracy" in modern wars. As the actual flight process is a nonlinear, coupling, time-varying, constrained and effected by random outside disturbance control process, the flight trajectory and control system need to be designed well. Some theoretical and technical problems regarding the flight trajectory and control system design for canard guided projectiles are analyzed and studied in this paper.
1) According to the aerodynamic, motion characteistics and rigid coordinate systems relationship of the canard configuration guided projectiles, the six degree of feedom flight dynamic model and attiude control system model are established. Based on instantaneous balance assumption, the longtitudinal particle trajectory equation of projectiles is proposed.
2) A guidance scheme consisting of programmed guidance and terminal guidance is applied to achieve the tactical guideline of "large range, big hitting angle, high accuracy" effectively, the flight trajectory design is researched. Base on the guided projectile longitudinal partile trajectory equation, constraint conditions and the maximal range objective function, the extend range trajectory optimal model is established. The guided projectile optimal trajectory is obtained by parametric method combined with sequadratic programming. Based on3-DOF mass trajectory equation, the3-DOF nonlinear terminal guidance law with angle constraint is designed via differential geometry theory. The ballistic performance of guided projectiles in the terminal trajectory is analysed, the condition of minimum distance to hit the target is provided. Compared with traditional methods, the project trajectory has more advantages of ballistic performance, and the terminal guidance make the guided projectiles show some adaptability to different objects.
3) Problems of trajectory reconstruction about drag coefficients, angle-of-attack and sideslip angle of guided projectiles are investigated using Kalman filter, smoother and Luenberger observer. Aiming at extracting drag coefficients from flight test data containing large measurement noise, a post reconstruction algorithm based on URTSS is proposed. Then the drag coefficients function of mach number is obtained, and the precision of other ballistic parameters is improved. A nonlinear Luenberger observer based on coordinate transformation for guided projectiles has also been designed for estimating the angle-of-attack and slideslip angle. The results provide some reference methods for these ballistic paramters that can not be acquired easily.
4) The nonlinear control method for guided projectiles is studied. Based on feedback linearization, the mass point and attitude nonlinear sliding mode controllers for rolling projectiles are proposed. Theoretical analysis and simulations indicate that the nonlinear sliding mode control is robust with respect to guided projectiles model error. However, lack of unkown dynamic parameters demand that the pure sliding mode control need to set big switching gain conservatively, which induce large control authority requirement, chattering or significant tracking error. In order to deal with dynamic parameters error, the symmetry property of rolling projectiles is analysed, parameter adaptive method considering boundary layer is introduced. Then an adaptive sliding mode controller (ASMC) applied to projectiles is proposed via Lyapunov stability principle. Simulation demonstrates that ASMC has good performance, and eliminates chattering caused by large paramter uncertainty.
5) The discrete nonlinear control method for guided projectiles is studied. The accurate discretization method for nonlinear continuous system is introduced, the complex nonlinear systerm is converted to two standard subsystems equivalently via feedback linearization, then the subsystems are transformed into discrete-time systems, and a nonlinear discrete-time controller for guided projectiles is designed based on sliding mode control principle. Analysis shows, parameters of discrete reaching law and system uncertainties are the main source of chattering. In the case of other parameters certain, large contol sampling time or dynamic parameter uncertainties induce the tracking error and strong chattering. To reduce chattering caused by dynamic parameters uncertainties, the desceret parameter adaptive algorithm is introduced, then a discrete adaptive sliding mode controller (DASMC) applied to projectiles is proposed. Simulation demonstrates that DASMC can deal with large dynamic paramter uncertainties of guided projectiles, and improve control performance.
6) The influence of various disturbance resources during the flight of projectiles is analyzed, and the performance of flight control is investigated. To reduce the rudder saturation caused by initial point deviation during the trajectory tracking segment, a transitional reference trajectory is designed. The smooth command information is derived by programming trajectory that guided projectiles fly along. Because of strong robustness of adaptive sliding mode control, guided projectiles are adapt to various situation with disturbance, also have good ballistic performance, and can hit the target with long-distance launching, big impact angle and high precision.
1)根据鸭式布局制导炮弹的气动特性和运动特点,建立了其六自由度飞行动力学模型；根据刚体坐标系关系,建立了滚转炮弹的姿态控制系统模型；基于“瞬时平衡”假设,建立了纵向平面内炮弹飞行的质点运动方程。为对制导炮弹的方案弹道设计、弹体动态特性分析、控制系统设计作提供基础。
2)采用“方案弹道+末制导”导引方法作为远程大落角精确命中目标的手段,研究了制导炮弹的弹道设计问题。基于纵向平面内的制导炮弹质点弹道模型、飞行状态约束条件与最大射程目标函数,建立了增程弹道优化模型。将变尺度的非均匀参数化方法和序列二次规划(SQP)方法相结合,对制导炮弹的增程方案弹道进行优化。以三维质点弹道模型为基础,利用微分几何理论设计了满足落角约束的三维非线性制导律。分析了炮弹在末段弹道时的攻击性能,给出了攻击目标的最短距离计算方法。相比传统方法,设计的方案弹道具有更强的弹道性能优势,末制导律使得制导炮弹在攻击不同目标时表现出较强的适应能力。
31分别利用了具有测量值修正形式的卡尔曼滤波器、平滑器和龙伯格观测器作为重构工具,研究了关于制导炮弹阻力系数、攻角和侧滑角的弹道重构问题。对于从含有噪声的飞行试验数据中提取阻力系数的问题,提出了基于无迹平滑器(URTSS)的阻力系数事后重构算法,获得了阻力系数关于马赫数的函数,并且大大提高了对其他弹道参数的测量精度。探讨了受实际条件限制,难以获得攻角、侧滑角等精确测量值的情况时,在降阶观测系统模型的基础上,提出了一种基于坐标变换的攻角、侧滑角龙伯格观测器,实现了对攻角、侧滑角的高动态估计。研究结果对实际中难以获得的这些弹道参数提供了参考处理方法。
4)研究了制导炮弹的非线性控制方法。基于反馈线性化理论,提出了适用于滚转炮弹的质心和姿态非线性滑模控制器。理论分析和仿真结果均表明,非线性滑模控制能保证制导炮弹模型存在误差时的鲁棒飞行控制性能。当制导炮弹动力学参数含有较人未知误差时,纯滑模控制需要保守地设置较大的切换增益,表现为产生更大的舵面控制量,同时在控制过程中会引发较强抖振或显著跟踪误差。为更有效地处理动力学参数的不确定性问题,通过分析滚转炮弹的气动对称特性,引入了考虑边界层的参数自适应方法,基于李雅普诺夫稳定性原理设计了一种适用于制导炮弹的非线性自适应滑模控制器。仿真表明,在取得较好跟踪性能的前提下,自适应滑模控制系统消除了较大参数误差引发的强烈抖振现象。
5)研究了制导炮弹非线性离散滑模控制方法。介绍了非线性连续系统的精确离散化,利用反馈线性化方法将复杂的非线性系统等效地转化为两个标准的子系统,然后对子系统作离散化处理,并结合滑模控制原理设计了制导炮弹的离散控制器。分析得到离散趋近律参数和系统不确定性是离散滑模控制系统的产生抖振的主要原因。在切换增益、趋近律系数确定的情况下,较大的控制采样时间和制导炮弹气动参数不确定性将造成离散控制系统的跟踪误差,并引发较强的抖振现象。为了降低参数不确定性带来的抖振现象,引入了离散的参数自适应算法,设计了适用于制导炮弹的非线性离散自适应滑模控制器。仿真表明,离散自适应滑模控制能有效处理制导炮弹气动参数的不确性问题,改善了控制性能。
6)分析了各种扰动因素对制导炮弹飞行弹道的影响,研究了制导炮弹外弹道飞行控制系统的性能。为了降低启控点偏差造成弹道跟踪控制段的舵面饱和现象,设计了过渡参考弹道,并给出了光滑的控制指令信息,使制导炮弹能够沿过渡参考弹道飞行至增程方案弹道上。由于自适应滑模控制的强鲁棒性,制导炮弹可适应各种干扰情况,具有较好的弹道性能,能够在远程发射并以大落角姿态精确命中目标。
The guided projectiles are demanded to satisfy the tactical and technical index of "large range, big tenninal angle, high accuracy" in modern wars. As the actual flight process is a nonlinear, coupling, time-varying, constrained and effected by random outside disturbance control process, the flight trajectory and control system need to be designed well. Some theoretical and technical problems regarding the flight trajectory and control system design for canard guided projectiles are analyzed and studied in this paper.
1) According to the aerodynamic, motion characteistics and rigid coordinate systems relationship of the canard configuration guided projectiles, the six degree of feedom flight dynamic model and attiude control system model are established. Based on instantaneous balance assumption, the longtitudinal particle trajectory equation of projectiles is proposed.
2) A guidance scheme consisting of programmed guidance and terminal guidance is applied to achieve the tactical guideline of "large range, big hitting angle, high accuracy" effectively, the flight trajectory design is researched. Base on the guided projectile longitudinal partile trajectory equation, constraint conditions and the maximal range objective function, the extend range trajectory optimal model is established. The guided projectile optimal trajectory is obtained by parametric method combined with sequadratic programming. Based on3-DOF mass trajectory equation, the3-DOF nonlinear terminal guidance law with angle constraint is designed via differential geometry theory. The ballistic performance of guided projectiles in the terminal trajectory is analysed, the condition of minimum distance to hit the target is provided. Compared with traditional methods, the project trajectory has more advantages of ballistic performance, and the terminal guidance make the guided projectiles show some adaptability to different objects.
3) Problems of trajectory reconstruction about drag coefficients, angle-of-attack and sideslip angle of guided projectiles are investigated using Kalman filter, smoother and Luenberger observer. Aiming at extracting drag coefficients from flight test data containing large measurement noise, a post reconstruction algorithm based on URTSS is proposed. Then the drag coefficients function of mach number is obtained, and the precision of other ballistic parameters is improved. A nonlinear Luenberger observer based on coordinate transformation for guided projectiles has also been designed for estimating the angle-of-attack and slideslip angle. The results provide some reference methods for these ballistic paramters that can not be acquired easily.
4) The nonlinear control method for guided projectiles is studied. Based on feedback linearization, the mass point and attitude nonlinear sliding mode controllers for rolling projectiles are proposed. Theoretical analysis and simulations indicate that the nonlinear sliding mode control is robust with respect to guided projectiles model error. However, lack of unkown dynamic parameters demand that the pure sliding mode control need to set big switching gain conservatively, which induce large control authority requirement, chattering or significant tracking error. In order to deal with dynamic parameters error, the symmetry property of rolling projectiles is analysed, parameter adaptive method considering boundary layer is introduced. Then an adaptive sliding mode controller (ASMC) applied to projectiles is proposed via Lyapunov stability principle. Simulation demonstrates that ASMC has good performance, and eliminates chattering caused by large paramter uncertainty.
5) The discrete nonlinear control method for guided projectiles is studied. The accurate discretization method for nonlinear continuous system is introduced, the complex nonlinear systerm is converted to two standard subsystems equivalently via feedback linearization, then the subsystems are transformed into discrete-time systems, and a nonlinear discrete-time controller for guided projectiles is designed based on sliding mode control principle. Analysis shows, parameters of discrete reaching law and system uncertainties are the main source of chattering. In the case of other parameters certain, large contol sampling time or dynamic parameter uncertainties induce the tracking error and strong chattering. To reduce chattering caused by dynamic parameters uncertainties, the desceret parameter adaptive algorithm is introduced, then a discrete adaptive sliding mode controller (DASMC) applied to projectiles is proposed. Simulation demonstrates that DASMC can deal with large dynamic paramter uncertainties of guided projectiles, and improve control performance.
6) The influence of various disturbance resources during the flight of projectiles is analyzed, and the performance of flight control is investigated. To reduce the rudder saturation caused by initial point deviation during the trajectory tracking segment, a transitional reference trajectory is designed. The smooth command information is derived by programming trajectory that guided projectiles fly along. Because of strong robustness of adaptive sliding mode control, guided projectiles are adapt to various situation with disturbance, also have good ballistic performance, and can hit the target with long-distance launching, big impact angle and high precision.
引文
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