直接力闭环下的直气复合控制研究
发布时间：2018-07-14 12:56
【摘要】：近年来,以高超声速飞行器为代表的高速、大机动目标给防空拦截带来了新的挑战,传统的气动控制效果已无法与之匹配。新一代直气复合制导控制系统在原有气动力的基础上引入直接力,加快了过载响应速度,受到了世界各国的广泛关注。本文以轨控式直气复合制导控制系统为研究对象,针对直接力闭环所带来的力矩干扰及气动参数摄动等问题,研究了直气复合制导系统的姿态控制与末制导律设计方法。研究内容可以概括为以下几个方面:首先,对轨控式直气复合制导控制系统进行了数学建模。推导出直接力闭环下的绕质心旋转方程和质心运动学方程,进而推导出姿态控制模型和制导控制模型,为后续制导控制问题的研究奠定了基础。其次,基于LQR/SDRE设计了直气复合制导控制系统的姿态控制器。首先,对直接力闭环下的直气复合制导控制系统的姿态控制问题进行了描述,提出了一种基于LQR/SDRE和PI的组合控制策略;然后,分别从线性和非线性控制的角度出发,给出了基于LQR/SDRE的姿态控制方法;在此基础之上,考虑直接力闭环下的气动参数摄动影响,对两种控制方法进行了仿真验证和对比,仿真结果表明,两种方法均能够实现纵向平面和侧向平面过载指令的快速、准确跟踪以及滚转角的快速稳定,对气动参数的摄动具有较强的鲁棒性。除此之外,仿真结果表明,SDRE能够以较小的控制量得到与LQR相同的控制效果,过载跟踪误差更小,滚转角收敛到零的速度更快。再次,对直接力闭环下的直气复合制导控制系统进行了末制导律设计。首先,对直接力闭环下的直气复合制导控制系统的末制导律设计问题进行了描述;然后,针对直接力系统和气动力系统相互耦合问题,提出了一种近似解耦的气动力系统ADRC制导组合直接力系统闭环修正的末制导策略;接着,设计了基于ESO的目标机动估计方法,并给出了带有目标机动补偿的ADRC末制导律;在此基础之上,根据目标机动估计结果对末制导的非零效脱靶量进行预测,从而生成直接力控制指令,将直接力闭环对末制导进行修正;最后,分别针对目标正弦机动与方波机动,对比例导引、气动力ADRC制导和直接力闭环修正进行了仿真,验证了本文所设计的末制导策略的有效性,并通过对比得出了直接力闭环修正相对于单纯气动力ADRC制导的优越性。最后,对直接力闭环下的直气复合制导控制系统进行了综合仿真。首先,给出了仿真参数及制导控制系统设计指标;然后,分别对理想情况及存在外部干扰和量测噪声情况下的直气复合制导控制系统性能进行了仿真分析,仿真结果验证了本文所提出的制导控制方法的有效性和鲁棒性;最后,针对MATLAB交互效果不佳的问题,基于LabVIEW搭建了一种新型的综合仿真平台,在平台中同时引入干扰力矩、量测噪声以及气动参数摄动等多种干扰项,对直接力闭环下的直气复合制导控制系统进行了综合仿真。
[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.
【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】：2017
【分类号】：V448;TJ765;TP273
本文编号：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.
【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】：2017
【分类号】：V448;TJ765;TP273
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1 李守岩;直接力闭环下的直气复合控制研究[D];哈尔滨工业大学;2017年
，本文编号：2121719
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