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Attack angle and attack time control method based on trajectory planning

A technology of trajectory planning and time control, which is applied in the control of finding targets, vehicle position/route/altitude control, attitude control, etc., and can solve the problems of complicated calculation process of remaining time estimation

Active Publication Date: 2017-09-05
YANTAI NANSHAN UNIV +1
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Problems solved by technology

[0003] The purpose of the present invention is to provide a method of attack angle and attack time control based on trajectory planning, which solves the remaining time estimation based on the proportional guidance law / proportional guidance law with angle control and other guidance laws in the case of large lead angles. computationally complex problems

Method used

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  • Attack angle and attack time control method based on trajectory planning
  • Attack angle and attack time control method based on trajectory planning
  • Attack angle and attack time control method based on trajectory planning

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Embodiment Construction

[0089] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0090] The specific implementation steps are as follows:

[0091] The first step is to use an iterative algorithm to approximate the point A(x a ,y a ),Proceed as follows:

[0092] 1). Given the starting point of the missile S(x 0 ,y 0 ), target point T(x T ,y T ), missile flight speed V M ; Specify the missile attack time t f and missile terminal attack angle θ f ; given the accuracy ε of the attack time estimate.

[0093] 2). Calculate k L =tanθ f , η=arctan[(y 0 -y T ) / (x 0 -x T )],

[0094] 3). Calculation

[0095]

[0096] ∠ATS=η-θ f ,

[0097]

[0098]

[0099]

[0100]

[01...

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Abstract

The invention discloses an attack angle and attack time control method based on trajectory planning. Firstly, a planned missile flying trajectory is assumed to be composed of an arc section SA and a line section AT, the arc section SA has a radius of R, and the line section AT passes across a target point T(xT, yT) and the requirement that the tail attack angle of the missile is thetaf is met; the arc section SA starts at the initial position S (x0, y0) of the missile and is tangent to the line section AT at a to-be-determined point A(xa, ya), and the point A(xa, ya) is obtained by specified missile attack time tf through an iterative algorithm. On the basis of trajectory planning, the invention provides a trajectory tracking control algorithm based on a virtual target; a feedforward and feedback composite control scheme is put forward in the arc section, and a sight line angle PD control scheme is put forward in the line section; and the method has a small calculation amount, and engineering implementation is facilitated.

Description

technical field [0001] The invention belongs to the technical field of anti-ship missile attack angle and attack time control, and relates to an attack angle and attack time control method based on trajectory planning. Background technique [0002] In order to solve the remaining time estimation problem of proportional guidance law with angle control in the case of large lead angle, Zhang Youan et al. -GoEstimation.Proceedings of the Institution of Mechanical Engineers, Part G-Journal of Aerospace Engineering, 2014, 228(10):1725-1734, by introducing a self-converging angle α, a class with an attack angle (Impact Angle) is constructed Constrained biased proportional guidance law that is convenient for calculating the remaining time estimation, firstly, under the assumption of small lead angle, by treating the non-homogeneous differential equation of the system under the action of the biased proportional guidance law into a homogeneous differential Equation, the remaining tim...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/08G05D1/10G05D1/12
CPCG05B13/048G05D1/0825G05D1/107G05D1/12
Inventor 张友安梁勇鲍虎孙玉梅张彦飞吴华丽
Owner YANTAI NANSHAN UNIV
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