直接力閉環(huán)下的直氣復合控制研究
發(fā)布時間：2018-07-14 12:56
【摘要】：近年來,以高超聲速飛行器為代表的高速、大機動目標給防空攔截帶來了新的挑戰(zhàn),傳統(tǒng)的氣動控制效果已無法與之匹配。新一代直氣復合制導控制系統(tǒng)在原有氣動力的基礎(chǔ)上引入直接力,加快了過載響應速度,受到了世界各國的廣泛關(guān)注。本文以軌控式直氣復合制導控制系統(tǒng)為研究對象,針對直接力閉環(huán)所帶來的力矩干擾及氣動參數(shù)攝動等問題,研究了直氣復合制導系統(tǒng)的姿態(tài)控制與末制導律設(shè)計方法。研究內(nèi)容可以概括為以下幾個方面:首先,對軌控式直氣復合制導控制系統(tǒng)進行了數(shù)學建模。推導出直接力閉環(huán)下的繞質(zhì)心旋轉(zhuǎn)方程和質(zhì)心運動學方程,進而推導出姿態(tài)控制模型和制導控制模型,為后續(xù)制導控制問題的研究奠定了基礎(chǔ)。其次,基于LQR/SDRE設(shè)計了直氣復合制導控制系統(tǒng)的姿態(tài)控制器。首先,對直接力閉環(huán)下的直氣復合制導控制系統(tǒng)的姿態(tài)控制問題進行了描述,提出了一種基于LQR/SDRE和PI的組合控制策略;然后,分別從線性和非線性控制的角度出發(fā),給出了基于LQR/SDRE的姿態(tài)控制方法;在此基礎(chǔ)之上,考慮直接力閉環(huán)下的氣動參數(shù)攝動影響,對兩種控制方法進行了仿真驗證和對比,仿真結(jié)果表明,兩種方法均能夠?qū)崿F(xiàn)縱向平面和側(cè)向平面過載指令的快速、準確跟蹤以及滾轉(zhuǎn)角的快速穩(wěn)定,對氣動參數(shù)的攝動具有較強的魯棒性。除此之外,仿真結(jié)果表明,SDRE能夠以較小的控制量得到與LQR相同的控制效果,過載跟蹤誤差更小,滾轉(zhuǎn)角收斂到零的速度更快。再次,對直接力閉環(huán)下的直氣復合制導控制系統(tǒng)進行了末制導律設(shè)計。首先,對直接力閉環(huán)下的直氣復合制導控制系統(tǒng)的末制導律設(shè)計問題進行了描述;然后,針對直接力系統(tǒng)和氣動力系統(tǒng)相互耦合問題,提出了一種近似解耦的氣動力系統(tǒng)ADRC制導組合直接力系統(tǒng)閉環(huán)修正的末制導策略;接著,設(shè)計了基于ESO的目標機動估計方法,并給出了帶有目標機動補償?shù)腁DRC末制導律;在此基礎(chǔ)之上,根據(jù)目標機動估計結(jié)果對末制導的非零效脫靶量進行預測,從而生成直接力控制指令,將直接力閉環(huán)對末制導進行修正;最后,分別針對目標正弦機動與方波機動,對比例導引、氣動力ADRC制導和直接力閉環(huán)修正進行了仿真,驗證了本文所設(shè)計的末制導策略的有效性,并通過對比得出了直接力閉環(huán)修正相對于單純氣動力ADRC制導的優(yōu)越性。最后,對直接力閉環(huán)下的直氣復合制導控制系統(tǒng)進行了綜合仿真。首先,給出了仿真參數(shù)及制導控制系統(tǒng)設(shè)計指標;然后,分別對理想情況及存在外部干擾和量測噪聲情況下的直氣復合制導控制系統(tǒng)性能進行了仿真分析,仿真結(jié)果驗證了本文所提出的制導控制方法的有效性和魯棒性;最后,針對MATLAB交互效果不佳的問題,基于LabVIEW搭建了一種新型的綜合仿真平臺,在平臺中同時引入干擾力矩、量測噪聲以及氣動參數(shù)攝動等多種干擾項,對直接力閉環(huán)下的直氣復合制導控制系統(tǒng)進行了綜合仿真。
[Abstract]:In recent years, large maneuvering targets, represented by hypersonic vehicles, have brought new challenges to air defense interception. The traditional aerodynamic control effect has not been matched. The new generation of direct gas compound guidance control system introduces direct force on the basis of the original aerodynamic force and accelerates the speed of overload response, and has been widely used by all countries in the world. This paper studies the attitude control and terminal guidance law design method of the direct gas compound guidance system. The research content can be summarized as follows: first, the rail control type direct gas recovery is summarized. The mathematical modeling of the integrated guidance and control system is carried out. The centroid rotation equation and the centroid kinematic equation are derived from the direct force closed loop, and the attitude control model and the guidance control model are derived, which lays the foundation for the study of the following guidance and control problems. Secondly, the attitude control of the direct gas compound guidance control system is designed based on LQR/SDRE. First, the attitude control problem of the direct gas compound guidance control system under direct force closed loop is described, and a combination control strategy based on LQR/SDRE and PI is proposed. Then, from the angle of linear and nonlinear control, the attitude control method based on LQR/SDRE is given, and the direct force is closed on this basis. Two kinds of control methods are simulated and compared. The simulation results show that the two methods can achieve fast, accurate and fast stability of the longitudinal plane and lateral plane overload instructions, and have strong robustness to the perturbation of the aerodynamic parameters. In addition, the simulation results are obtained. It shows that SDRE can get the same control effect as LQR with smaller control quantity, the overload tracking error is smaller and the roll angle converges to zero faster. Thirdly, the terminal guidance law is designed for the direct gas compound guidance control system under the direct force closed loop. First, the terminal guidance law of the direct gas compound guidance control system under the direct force closed loop. The design problem is described. Then, in view of the mutual coupling problem of the direct force system and the aerodynamic system, an approximate decoupling terminal guidance strategy for the closed loop correction of the ADRC guidance combined direct force system is proposed. Then, a target maneuver based on ESO is designed, and the end of the ADRC with the target maneuver compensation is given. Guidance law; on this basis, the non zero effect miss distance of terminal guidance is predicted according to the result of target maneuver estimation, and direct force control instruction is generated, and direct force closed loop is corrected for terminal guidance. Finally, the target sinusoidal maneuver and square wave maneuver, contrast case guidance, aerodynamic ADRC guidance and direct force closed loop correction are introduced. The effectiveness of the terminal guidance strategy designed in this paper is verified by the simulation, and the superiority of the direct force closed-loop correction to the pure aerodynamic ADRC guidance is obtained by comparison. Finally, a comprehensive simulation of the direct gas compound guidance control system under the direct force closed loop is carried out. First, the simulation parameters and the guidance and control system are designed. Then, the performance of the direct gas compound guidance control system under the condition of the ideal situation and the presence of external interference and measurement noise is simulated and analyzed. The simulation results verify the effectiveness and robustness of the guidance and control method proposed in this paper. Finally, a kind of LabVIEW is built based on the problem of the poor mutual effect of MATLAB. A comprehensive simulation platform is used to simulate the direct gas compound guidance and control system under the direct force closed loop, and the interference moment, measurement noise and aerodynamic parameter perturbation are introduced in the platform.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：V448;TJ765;TP273
本文編號：2121719
[Abstract]:In recent years, large maneuvering targets, represented by hypersonic vehicles, have brought new challenges to air defense interception. The traditional aerodynamic control effect has not been matched. The new generation of direct gas compound guidance control system introduces direct force on the basis of the original aerodynamic force and accelerates the speed of overload response, and has been widely used by all countries in the world. This paper studies the attitude control and terminal guidance law design method of the direct gas compound guidance system. The research content can be summarized as follows: first, the rail control type direct gas recovery is summarized. The mathematical modeling of the integrated guidance and control system is carried out. The centroid rotation equation and the centroid kinematic equation are derived from the direct force closed loop, and the attitude control model and the guidance control model are derived, which lays the foundation for the study of the following guidance and control problems. Secondly, the attitude control of the direct gas compound guidance control system is designed based on LQR/SDRE. First, the attitude control problem of the direct gas compound guidance control system under direct force closed loop is described, and a combination control strategy based on LQR/SDRE and PI is proposed. Then, from the angle of linear and nonlinear control, the attitude control method based on LQR/SDRE is given, and the direct force is closed on this basis. Two kinds of control methods are simulated and compared. The simulation results show that the two methods can achieve fast, accurate and fast stability of the longitudinal plane and lateral plane overload instructions, and have strong robustness to the perturbation of the aerodynamic parameters. In addition, the simulation results are obtained. It shows that SDRE can get the same control effect as LQR with smaller control quantity, the overload tracking error is smaller and the roll angle converges to zero faster. Thirdly, the terminal guidance law is designed for the direct gas compound guidance control system under the direct force closed loop. First, the terminal guidance law of the direct gas compound guidance control system under the direct force closed loop. The design problem is described. Then, in view of the mutual coupling problem of the direct force system and the aerodynamic system, an approximate decoupling terminal guidance strategy for the closed loop correction of the ADRC guidance combined direct force system is proposed. Then, a target maneuver based on ESO is designed, and the end of the ADRC with the target maneuver compensation is given. Guidance law; on this basis, the non zero effect miss distance of terminal guidance is predicted according to the result of target maneuver estimation, and direct force control instruction is generated, and direct force closed loop is corrected for terminal guidance. Finally, the target sinusoidal maneuver and square wave maneuver, contrast case guidance, aerodynamic ADRC guidance and direct force closed loop correction are introduced. The effectiveness of the terminal guidance strategy designed in this paper is verified by the simulation, and the superiority of the direct force closed-loop correction to the pure aerodynamic ADRC guidance is obtained by comparison. Finally, a comprehensive simulation of the direct gas compound guidance control system under the direct force closed loop is carried out. First, the simulation parameters and the guidance and control system are designed. Then, the performance of the direct gas compound guidance control system under the condition of the ideal situation and the presence of external interference and measurement noise is simulated and analyzed. The simulation results verify the effectiveness and robustness of the guidance and control method proposed in this paper. Finally, a kind of LabVIEW is built based on the problem of the poor mutual effect of MATLAB. A comprehensive simulation platform is used to simulate the direct gas compound guidance and control system under the direct force closed loop, and the interference moment, measurement noise and aerodynamic parameter perturbation are introduced in the platform.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：V448;TJ765;TP273
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相關(guān)碩士學位論文 前1條
1 李守巖;直接力閉環(huán)下的直氣復合控制研究[D];哈爾濱工業(yè)大學;2017年
，本文編號：2121719
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