【摘要】：為了盡可能加大再入飛行器對(duì)目標(biāo)的毀傷程度,在設(shè)計(jì)末制導(dǎo)規(guī)律時(shí)需要考慮飛行器的終端約束。本文針對(duì)再入飛行器,考慮終端角度、速度約束,對(duì)其末制導(dǎo)律的設(shè)計(jì)問題展開以下的研究工作:首先,研究了再入飛行器的運(yùn)動(dòng)特性,給出了質(zhì)心運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)方程、速度、彈道傾角及彈道偏角、大氣密度、飛行高度的計(jì)算公式,同時(shí)建立了俯沖和轉(zhuǎn)彎平面的相對(duì)運(yùn)動(dòng)方程組,利用飛行器和目標(biāo)之間的相對(duì)運(yùn)動(dòng)信息給出了導(dǎo)航計(jì)算模型。以上數(shù)學(xué)模型是后續(xù)所要研究的問題的基礎(chǔ)。其次,研究了再入飛行器帶有落角約束的末制導(dǎo)律的設(shè)計(jì)問題,本文提出了一種能夠?qū)崿F(xiàn)落角約束的制導(dǎo)律的設(shè)計(jì)方法,主要思路是利用最優(yōu)制導(dǎo)律解算出最優(yōu)狀態(tài)下的視線角速率,與當(dāng)前的視線角速率作差,得到一個(gè)偏差,再利用有限時(shí)間控制理論,對(duì)偏差進(jìn)行補(bǔ)償修正,使得系統(tǒng)在具有最佳制導(dǎo)性能的同時(shí)又能夠快速收斂且具有較強(qiáng)的魯棒性。在有無干擾的情況下,對(duì)最優(yōu)制導(dǎo)律、變結(jié)構(gòu)制導(dǎo)律、最優(yōu)變結(jié)構(gòu)制導(dǎo)律以及所提出的最優(yōu)有限時(shí)間收斂制導(dǎo)律進(jìn)行仿真比較與分析。由仿真結(jié)果可知所提出的制導(dǎo)律可以實(shí)現(xiàn)較好的制導(dǎo)精度。然后,研究了再入飛行器帶有落速約束的末制導(dǎo)律的設(shè)計(jì)問題,本文首先根據(jù)所研究飛行器的特點(diǎn),按照彈道傾角分段設(shè)計(jì)一條期望的速度曲線,然后通過垂直增加攻角使得速度降低至期望速度曲線上。以最為簡(jiǎn)單的比例導(dǎo)引律為例,結(jié)合所設(shè)計(jì)的速度控制律,針對(duì)期望速度曲線、控制律中的參數(shù)變化以及有無速度控制進(jìn)行仿真驗(yàn)證與分析。由仿真結(jié)果可知所提出的控制律能夠較好地實(shí)現(xiàn)減速。最后,結(jié)合上述提出的帶有落角約束的制導(dǎo)律和落速約束的制導(dǎo)律,對(duì)整個(gè)末制導(dǎo)過程在有無干擾情況下進(jìn)行仿真,通過觀察仿真結(jié)果可以看出,所提出的最優(yōu)有限時(shí)間收斂制導(dǎo)律結(jié)合速度控制,能夠以較高的精度擊中目標(biāo),同時(shí)滿足落角和落速的要求和過程約束,且具有較好的魯棒性。
[Abstract]:In order to increase the damage degree of reentry vehicle to target as much as possible, the terminal constraint of aircraft should be considered in the design of terminal guidance law. In this paper, considering the terminal angle and velocity constraints, the design of the terminal guidance law is studied as follows: firstly, the kinematics and dynamics equations of the reentry vehicle are studied, and the kinematics and dynamics equations of the center of mass are given. The calculation formulas of velocity, trajectory inclination angle, ballistic deflection angle, atmospheric density and flight altitude are given. The equations of relative motion of subduction and turning plane are established, and the navigation calculation model is given by using the relative motion information between the aircraft and the target. The above mathematical model is the basis of the problems to be studied in the future. Secondly, the design of terminal guidance law with falling angle constraint for reentry vehicle is studied. In this paper, a design method of guidance law which can realize the falling angle constraint is proposed. The main idea is to use the optimal guidance law to calculate the angular rate of sight in the optimal state, which is different from the current rate of the angle of sight, and get a deviation, and then use the theory of finite time control to compensate the deviation. The system has the best guidance performance and fast convergence and strong robustness. With or without interference, the optimal guidance law, variable structure guidance law, optimal variable structure guidance law and the optimal finite-time convergence guidance law are simulated and analyzed. The simulation results show that the proposed guidance law can achieve better guidance accuracy. Then, the design of terminal guidance law with falling velocity constraint for reentry vehicle is studied. Firstly, according to the characteristics of the aircraft studied, a desired velocity curve is designed according to the trajectory inclination angle. Then the velocity is reduced to the desired velocity curve by increasing the angle of attack vertically. Taking the most simple proportional guidance law as an example, combined with the designed speed control law, the simulation and analysis of the expected velocity curve, the parameter change in the control law and the existence of speed control are carried out. The simulation results show that the proposed control law can achieve better deceleration. Finally, combining the guidance law with drop angle constraint and the guidance law with falling velocity constraint, the whole terminal guidance process is simulated under the condition of whether there is interference or not, and the simulation results can be seen by observing the simulation results. The proposed optimal finite-time convergent guidance law combined with speed control can hit the target with high accuracy, satisfy the requirements of falling angle and velocity and process constraints, and has good robustness.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：V249

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