【作者】 田国兵；

【导师】 杨明；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2011， 硕士

【摘要】 BTT飞行器因其气动稳定性好,升阻比大等优点受到国内外广泛关注,很多学者都对BTT飞行器的相关技术进行研究,其中制导控制问题已经成为主要的研究问题之一。如何充分发挥飞行器机动性能,提高制导精度,越来越多的学者建议进行制导控制一体化设计。本文围绕BTT飞行器制导控制一体化设计完成落角与控制回路动态的制导律设计方法和带落角约束的制导控制一体化设计方法初步研究。主要包括以下内容:首先,建立平面地球假设下的飞行器运动模型、目标运动模型和弹目相对运动模型,考虑BTT飞行器高速飞行时地球扁率和自转的影响,在椭球旋转地球假设下建立飞行器数学模型,为以后的设计和仿真奠定模型基础。其次,针对BTT飞行器末制导段存在的主要制导控制问题,给出带落角约束并考虑控制回路动态的制导律设计方法。基于视线坐标系内弹目相对运动模型,推导出与BTT飞行器控制特性相适应的相对运动模型,结合控制回路动态特性,建立考虑控制回路动态的制导律设计模型,应用变结构控制理论设计带落角约束并考虑控制回路动态的制导律,通过3自由度仿真对该制导律进行分析验证。再次,针对BTT飞行器末制导过程中可能出现的频谱分离条件无法满足的问题,给出带终端角度约束的制导控制一体化设计方法。结合前面相对运动模型和简化的BTT飞行器运动模型,建立一种BTT飞行器制导控制一体化设计模型。应用多滑模面滑模控制理论设计带落角约束的制导控制一体化规律。通过标称情况下的6自由度仿真对制导控制一体化规律的有效性进行分析验证。最后,综合全文内容对带落角约束并考虑控制回路动态的制导律和制导控制一体化规律进行仿真验证和对比分析。仿真结果表明,标称和各种偏差情况下带落角约束并考虑控制回路动态的制导律与制导控制一体化规律均能满足位置偏差和落角约束指标要求,其中制导控制一体化规律有更好的制导控制性能。更多还原

【Abstract】 In recent years, BTT missile receives extensive attentions, considering its outstanding aerodynamic stability and high lift-to-drag ratio. The techniques pertinent to BTT missile are investigated by many researchers. Among these techniques, guidance and control is one of the most important. Integrated guidance and control design is proposed by researchers to enhance maneuver capability and improve guidance precision. In this paper, design method for guidance law with impact angle constraint and control loop dynamics is researched. Then, an integrated guidance and control method with impact angle constraint for BTT missile are presented. The contents are listed as follows:First, models of target and missile, as well as missile-target engagement geometry model are established in a planet-fixed coordinate frame for guidance law design. Then, the motion of missile is formulated mathematically considering the curvature and self-rotation of Earth to support the guidance and control demonstration.Second, design method for BTT missile guidance law with impact angle constraint and control loop dynamics is proposed. Based on the missile-target engagement geometry model defined in line-of-sight coordinate frame and BTT concept, a guidance law design model is formulated. Using sliding mode control theory, guidance law with impact angle constraint and control loop dynamic is designed. The above guidance law is demonstrated via 3DOF simulation.Third, an integrated guidance and control method for BTT missile with impact angle constraint using multiple sliding surface control theory is presented. Based on the aforementioned missile-target engagement geometry model and the motion model of BTT missile, an integrated guidance and control model is presented. According to multiple sliding surfaces control theory, integrated guidance and control laws are designed. 6DOF simulation is conducted under nominal conditions to validated the integrated guidance and control method.Finally, numerical simulation are conducted to demonstrate the guidance law with impact angle constraint and control loop dynamic, as well as integrated guidance and control law under various conditions. Pertinent analysis is given at the end of this paper. Simulation result suggests that both the guidance law and integrated guidance and control law can satisfy the requirement of miss distance and angle constraint, the integrated guidance and control law shows better guidance and control performances.更多还原