CN112013726A - Three-order model-based full strapdown guidance control integrated design method - Google Patents
Three-order model-based full strapdown guidance control integrated design method Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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Abstract
The invention discloses a three-order model-based full strapdown guidance control integrated design method, which comprises the following steps of: firstly, establishing a three-order guidance control integrated design model; secondly, a design task of a guidance control integrated algorithm for all strapdown seeker view field constraint is explicitly considered; thirdly, constructing an auxiliary system, designing a first layer expected virtual control quantity etadAnd processing the control signal by an approximate saturation function to obtain a first layer of virtual control quantity etac(ii) a The fourth step: designing a second-layer virtual control quantity omega by using a Barrier Lyapunov functionzc(ii) a Fifthly, designing an actual rudder deflection angle instructionz(ii) a Sixthly, integrating the third step to the fifth step to obtain a guidance control integrated algorithm considering the field constraint; and seventhly, checking the performance of the guidance control integrated algorithm. The method can realize accurate striking on the target and ensure the full strapdown seekerThe field of view constraint is satisfied.
Description
Technical Field
The invention belongs to the field of aerospace, relates to a guidance and control integrated design method, and particularly relates to a guidance and control integrated design method considering the field-of-view constraint of a full strapdown seeker based on a third-order model.
Background
The development of guidance control integrated design research under a full strapdown detection guidance system has very important significance for developing low-cost and high-performance tactical missiles. One important issue in the design of full strapdown guidance control integration is to deal with seeker field of view constraints. From the perspective of the established guidance control integrated design model, the main progress in the field at present comprises a fourth-order model method and a second-order model method. The four-order model method is represented by a guidance control integrated design method considering the field of view constraint of a full strapdown seeker in document 1, a three-dimensional guidance control integrated design method considering the field of view constraint of the full strapdown seeker in China, 2017-01-13, CN201710023831.4 and a three-dimensional guidance control integrated design method considering the field of view constraint of the full strapdown seeker in document 2, and China, 2019-01-29 and CN 2019100834420.3. Such methods use the stereo view angle, the view angular rate, the attack angle (sideslip angle, roll angle) and the pitch (yaw, roll) angular rate as state variables for a fourth-order model. There are two main problems with this type of process: firstly, the state variables of the pitching (yawing) angular rate are taken as bounded interference to be processed, and strict system stability guarantee is lacked; secondly, the model order is higher, which causes the designed integrated algorithm to be relatively complex. The second order model method is represented by document 2, "Integrated guide and control for missing with narrow field-of-view Strapdown seek, ISA Transactions,2020, https:// doi.org/10.1016/j.isatra.2020.06.012". The document establishes a second-order guidance control integrated design model taking a stereoscopic view angle and a change rate thereof as states, and enables the stereoscopic view angle change rate to track a negative missile pitch angle rate signal by designing a pitching rudder deflection angle instruction, thereby realizing accurate target striking. However, the missile pitch angle rate signal is not an independent external signal but is directly controlled by a pitch rudder deflection angle command, so the design method has the problem of cyclic design of a controller essentially.
Disclosure of Invention
In order to overcome the defects of the existing guidance control integrated design method based on a fourth-order model and a second-order model and considering the field-of-view constraint of a full strapdown seeker, the invention provides a full strapdown guidance control integrated design method based on a third-order model. The method can realize accurate striking on the target and ensure that the visual field constraint of the full strapdown seeker is met.
The purpose of the invention is realized by the following technical scheme:
a three-order model-based full strapdown guidance control integrated design method comprises the following steps:
firstly, establishing a three-order guidance control integrated design model:
in the formula,
lambda is theta-is missile speed tracking error angle, theta is missile trajectory inclination angle and is sight inclination angle,
is a missile angle of attack,
is missile pitch angle, omegazFor the missile pitch angle rate,zis missile pitching rudder deflection angle, m is missile mass, V is missile speed, P is missile engine thrust, q is missile dynamic pressure head, S is missile characteristic area, g is gravity acceleration,
coefficient of lift of missileyPartial derivative of alpha, L being the missile characteristic length, JzIs the rotational inertia of the missile around the z-axis of the missile,
respectively the missile pitching moment coefficient mzWith respect to the alpha, the alpha is,zpartial derivatives of (d);
and step two, specifically considering the design task of a guidance control integrated algorithm of the full strapdown seeker view field constraint, wherein the specific requirements are as follows:
according to the three-order guidance control integrated design model established in the first step, a rudder deflection angle instruction of the missile is designed to enable the missile speed tracking error angle lambda to be converged to zero as soon as possible, and meanwhile, the condition that the view field constraint of a full strapdown seeker is met is ensured to be met, namely:
wherein,
represents the maximum allowable value of the body line-of-sight angle, and η ═ λ + α represents the projectile line-of-sight angle;
thirdly, constructing an auxiliary system, designing a first layer expected virtual control quantity etadAnd processing the control signal by an approximate saturation function to obtain a first layer of virtual control quantity etac；
Fourthly, designing a second layer virtual control quantity omega by using a BarrierLyapunov functionzc；
Fifthly, designing an actual rudder deflection angle instructionz；
And sixthly, integrating the third step to the fifth step to obtain a guidance control integrated algorithm considering the field restriction of the full strapdown seeker:
wherein, the value range of the design parameter is as follows: k is a radical ofe＞0，＞0，
ki＞0,i＝1,2,3；
Seventhly, checking the performance of the guidance control integrated algorithm:
after the design parameters are selected in the allowed range, carrying out simulation calculation and performance inspection by means of computer numerical calculation and simulation software, and finishing the design if the performance of the guidance control integrated algorithm meets the requirements; otherwise, the design parameters need to be adjusted, and the simulation calculation is carried out again and the performance inspection is carried out.
Compared with the prior art, the invention has the following advantages:
the method solves the problems of controller complexity and system stability caused by higher model order of the existing guidance control integrated design method based on a fourth-order model and considering the full strapdown seeker field of view constraint, and also solves the problem of controller cycle design of the guidance control integrated design method based on a second-order model and considering the full strapdown seeker field of view constraint.
Drawings
FIG. 1 is a flow chart of the three-order model-based integrated design of full strapdown guidance control of the present invention;
FIG. 2 is a longitudinal plane intercept geometry;
FIG. 3 is a diagram showing a variation curve of the bullet-eye relative distance;
FIG. 4 is a variation curve of missile velocity tracking error angle;
FIG. 5 is a diagram showing the variation of the projectile body line-of-sight angle;
FIG. 6 is a change curve of the pitching rudder deflection angle of the missile.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings, but not limited thereto, and any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention shall be covered by the protection scope of the present invention.
The invention provides a three-order model-based full strapdown guidance control integrated design method, which comprises the following design steps as shown in figure 1:
the first step is as follows: and establishing a three-order guidance control integrated design model.
The interception geometry in the longitudinal plane is shown in fig. 2, where M denotes the missile, T denotes the target, LOS denotes the line of sight, denotes the line of sight inclination, r denotes the missile-to-eye relative distance, and V denotes the missileVelocity x ofbThe longitudinal axis of the projectile body of the missile is shown,
representing the missile pitch angle, theta representing the missile trajectory inclination angle,
expressing missile attack angle, lambda is theta-expressing missile speed tracking error angle, eta is lambda + alpha expressing missile body visual line angle, VtRepresenting target speed, thetatRepresenting the target ballistic inclination angle.
According to the speed tracking guidance principle, in order to realize accurate striking of a target, only the speed direction of the missile is required to be pointed to the target to fly, namely the missile speed tracking error angle lambda is converged to zero as soon as possible. Therefore, taking λ as the first state variable, there are:
the trajectory inclination angle theta of the missile satisfies the following dynamic equation:
in the formula, m is the missile mass, P is the missile engine thrust, g is the gravity acceleration, Y is the missile lifting force,
wherein q is a dynamic pressure head (q is 0.5 ρ V)2Rho is the air density of the height of the missile), S is the characteristic area of the missile,zis the deflection angle of the pitching rudder of the missile,
respectively, coefficient of missile liftyFor the case of a, the number of,zpartial derivatives of (a). Because the lift experienced by the missile is generated primarily by the projectile, i.e. by the projectile
Meanwhile, when the attack angle is not large, sin α ≈ α, so that:
selecting the attack angle alpha and pitch angle rate omega of the missilezAs state variables, the control system model of the missile can be established as follows:
wherein L represents the missile characteristic length, JzRepresenting the moment of inertia of the missile about the z-axis of the missile,
respectively representing missile pitching moment coefficient mzWith respect to the alpha, the alpha is,zpartial derivatives of (a).
Definition of
Then there are:
the formula (6) is a three-order guidance control integrated design model.
The second step is that: and (3) clearly considering the design task of the guidance control integrated algorithm of the full strapdown seeker view field constraint.
The design task of the guidance control integrated algorithm considering the full strapdown seeker view field constraint can be described as follows: according to the systemAnd (3) designing a guidance and control integrated design model (6), designing a rudder deflection angle instruction of the guided missile, so that the guided missile speed tracking error angle lambda converges to zero as soon as possible, and simultaneously ensuring that the view field constraint of a full strapdown seeker is met, namely:
wherein
Representing the maximum allowable value of the stereoscopic angle.
The third step: and constructing an auxiliary system, designing the expected virtual control quantity of the first layer, and processing the expected virtual control quantity of the first layer through an approximate saturation function to obtain the virtual control quantity of the first layer.
Constructing an auxiliary system:
wherein k iseGreater than 0 as a design parameter, ηdExpectation of a virtual control quantity, eta, for the first layer to be solvedcIs etadAnd the output after the following saturation approximation function is carried out, namely the first layer virtual control quantity:
wherein the design parameter is more than 0,
satisfies the following conditions:
according to the formula, the compound has the advantages of,
definition of z1λ -e, then:
the expected virtual control quantity of the first layer is constructed as follows:
wherein k is1More than 0 is a design parameter; and define z2＝η-ηcThen, there are:
definition of
Then there are:
the fourth step: and designing a second layer virtual control quantity by using a BarrierLyapunov function.
Consider that
Wherein, ω iszcAnd the second layer virtual control quantity to be solved.
And constructing a second layer virtual control quantity as follows:
wherein k is2More than 0 is a design parameter; and define z3＝ωz-ωzcThen, there are:
definition of
Then there are:
the fifth step: and designing an actual rudder deflection angle command.
Consider that
And constructing a rudder deflection angle control command as follows:
wherein k is3If > 0 is a design parameter, then:
defining the Lyapunov function as
Then there are:
from the above formula, if the initial value z is2(0)＜kbThen there is z2＜kbAnd z isiI is 1,2,3 converges asymptotically to zero. Thus, there are:
i.e. the seeker field of view constraints are satisfied. Further, when etacThe generation link of (2) strictly reduces the satietyAnd, after that, e will converge asymptotically to zero, and thus λ will also converge asymptotically to zero.
And a sixth step: and synthesizing the third step to the fifth step to obtain a guidance control integrated algorithm considering the field of view constraint of the full strapdown seeker. The final integrated algorithm for guidance control is as follows:
wherein, the value range of the design parameter is as follows: k is a radical ofe＞0，＞0，
kiMore than 0, i is 1,2 and 3, and the specific value of the design parameter needs to be carried out by carrying out nonlinear numerical simulation in combination with a specific application scene.
The seventh step: and checking the performance of the guidance control integration algorithm.
In order to check the performance of the designed guidance control integrated algorithm considering the field-of-view constraint of the full strapdown seeker, the method needs to be applied to a non-linear guidance and control system of the missile in a longitudinal plane, and the performance is performed by means of common computer numerical calculation and simulation software such as Matlab/Simulink and the like. And after the design parameters are selected within the allowable range, carrying out simulation calculation and carrying out performance inspection. If the performance of the guidance control integrated algorithm meets the requirements, the design is finished; otherwise, the design parameters need to be adjusted, and the simulation calculation is carried out again and the performance inspection is carried out.
Example (b):
the design in the solution according to the invention is further illustrated here by way of a description of a certain representative embodiment.
The designed guidance control integrated algorithm considering the field-of-view constraint of the full strapdown seeker is applied to a non-linear guidance and control system of the missile in the longitudinal plane as shown in the specification:
in the formula, the missile is subjected to resistance X, lift Y and pitching moment MzThe calculation formula of (2) is as follows:
wherein, cx0The resistance coefficient of the material is zero liter,
respectively the coefficient of resistance with respect to alpha,zpartial derivatives of (a).
In the simulation, the structure and the pneumatic parameters of the missile are respectively set as follows: s is 0.42m2，L＝0.68m，m＝1200Kg，Jz＝5600Kg·m2，P＝5000N，
Setting the target as ground slow moving target with speed Vt10m/s, target trajectory inclination angle thetatSetting the initial speed of the missile as V as 250m/s and the initial pitch angle of the missile as 0 deg
The initial value of the pitch angle speed of the missile is omegazThe initial value of the trajectory inclination angle of the missile is theta at 6 DEG/s0The initial value of the bullet-mesh relative distance is R at-27 DEG03000m, the initial value of the line of sight inclination is0-30 °, the field constraint is set to
The design parameters are selected as follows: k is a radical ofe＝2，＝0.1，
k1＝1，k2＝1，k31. Considering practical physical constraints, the maximum allowable rudder deflection angle of the missile is set to 30 °. Meanwhile, when the missile-mesh relative distance is less than 50m, the missile seeker entersAnd (4) entering a blind area, keeping the deflection angle of the missile rudder unchanged, and entering an uncontrolled flight state until the simulation is finished. And stopping simulation when the bullet-eye relative distance is less than 1 m.
The variation curve of the missile-target relative distance is shown in figure 3, the miss distance of the missile is less than 1m, and the missile can accurately hit a target. During the controlled flight phase of the missile (i.e. the missile-target relative distance is not less than 50 m), the velocity tracking error angle variation curve of the missile is shown in fig. 4, and the velocity tracking error angle lambda of the missile gradually converges and is kept near zero. The variation curve of the stereo view angle eta of the missile is shown in figure 5, the stereo view angle satisfies | eta | ≦ 20 °, namely the view field restriction of the seeker is satisfied. The variation curve of the pitching rudder deflection angle of the missile is shown in figure 6. The simulation result shows the effectiveness of the proposed guidance control integration algorithm considering the field-of-view constraint of the full strapdown seeker.
Claims (3)
1. A three-order model-based full strapdown guidance control integrated design method is characterized by comprising the following steps:
firstly, establishing a three-order guidance control integrated design model:
in the formula,
lambda is theta-is missile speed tracking error angle, theta is missile trajectory inclination angle and is sight inclination angle,
is a missile angle of attack,
is missile pitch angle, omegazFor the missile pitch angle rate,zis missile pitching rudder deflection angle, m is missile mass, V is missile speed, P is missile engine thrust, q is missile dynamic pressure head, S is missile characteristic area, g is gravity acceleration,
coefficient of lift of missileyPartial derivative of alpha, L being the missile characteristic length, JzIs the rotational inertia of the missile around the z-axis of the missile,
respectively the missile pitching moment coefficient mzWith respect to the alpha, the alpha is,zpartial derivatives of (d);
secondly, a design task of a guidance control integrated algorithm for all strapdown seeker view field constraint is explicitly considered;
thirdly, constructing an auxiliary system, designing a first layer expected virtual control quantity etadAnd processing the control signal by an approximate saturation function to obtain a first layer of virtual control quantity etac；
Fifthly, designing an actual rudder deflection angle instructionz；
And sixthly, integrating the third step to the fifth step to obtain a guidance control integrated algorithm considering the field restriction of the full strapdown seeker:
wherein, the value range of the design parameter is as follows: k is a radical ofe＞0，＞0，
ki＞0,i＝1,2,3；
Seventhly, checking the performance of the guidance control integrated algorithm: after the design parameters are selected in the allowed range, carrying out simulation calculation and performance inspection by means of computer numerical calculation and simulation software, and finishing the design if the performance of the guidance control integrated algorithm meets the requirements; otherwise, the design parameters need to be adjusted, and the simulation calculation is carried out again and the performance inspection is carried out.
2. The three-order model-based full strapdown guidance control integrated design method according to claim 1, wherein the specific requirements of the second step are as follows:
according to the three-order guidance control integrated design model established in the first step, a rudder deflection angle instruction of the missile is designed to enable the missile speed tracking error angle lambda to be converged to zero as soon as possible, and meanwhile, the condition that the view field constraint of a full strapdown seeker is met is ensured to be met, namely:
wherein,
represents the maximum allowable value of the body line-of-sight angle, and η ═ λ + α represents the projectile line-of-sight angle.
3. The three-order model-based full strapdown guidance control integrated design method according to claim 1, wherein in the third step, the auxiliary system is:
wherein k iseGreater than 0 as a design parameter, ηdExpectation of a virtual control quantity, eta, for the first layer to be solvedcIs etadAnd the output after the following saturation approximation function is carried out, namely the first layer virtual control quantity:
wherein the design parameter is more than 0,
satisfies the following conditions:
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| CN115421501A (en) * | 2022-09-14 | 2022-12-02 | 中国科学院声学研究所 | Method and system for estimating limited time signal of underwater vehicle |
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