考虑终端约束的末制导方法研究

发布时间：2018-08-16 19:04

【摘要】：为了尽可能加大再入飞行器对目标的毁伤程度,在设计末制导规律时需要考虑飞行器的终端约束。本文针对再入飞行器,考虑终端角度、速度约束,对其末制导律的设计问题展开以下的研究工作:首先,研究了再入飞行器的运动特性,给出了质心运动学和动力学方程、速度、弹道倾角及弹道偏角、大气密度、飞行高度的计算公式,同时建立了俯冲和转弯平面的相对运动方程组,利用飞行器和目标之间的相对运动信息给出了导航计算模型。以上数学模型是后续所要研究的问题的基础。其次,研究了再入飞行器带有落角约束的末制导律的设计问题,本文提出了一种能够实现落角约束的制导律的设计方法,主要思路是利用最优制导律解算出最优状态下的视线角速率,与当前的视线角速率作差,得到一个偏差,再利用有限时间控制理论,对偏差进行补偿修正,使得系统在具有最佳制导性能的同时又能够快速收敛且具有较强的鲁棒性。在有无干扰的情况下,对最优制导律、变结构制导律、最优变结构制导律以及所提出的最优有限时间收敛制导律进行仿真比较与分析。由仿真结果可知所提出的制导律可以实现较好的制导精度。然后,研究了再入飞行器带有落速约束的末制导律的设计问题,本文首先根据所研究飞行器的特点,按照弹道倾角分段设计一条期望的速度曲线,然后通过垂直增加攻角使得速度降低至期望速度曲线上。以最为简单的比例导引律为例,结合所设计的速度控制律,针对期望速度曲线、控制律中的参数变化以及有无速度控制进行仿真验证与分析。由仿真结果可知所提出的控制律能够较好地实现减速。最后,结合上述提出的带有落角约束的制导律和落速约束的制导律,对整个末制导过程在有无干扰情况下进行仿真,通过观察仿真结果可以看出,所提出的最优有限时间收敛制导律结合速度控制,能够以较高的精度击中目标,同时满足落角和落速的要求和过程约束,且具有较好的鲁棒性。
[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.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V249

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