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Affine guidance and control integrated control method

A control method and form of technology, applied in the field of missile model automation control, can solve the problems of synchronous control of the guidance loop and the control loop, low control accuracy, etc., and achieve the effect of consistent final boundedness

Active Publication Date: 2022-07-29
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem that the existing guidance and control integration is a non-affine model, the guidance loop and the control loop cannot realize synchronous control within one simulation step, and the control accuracy is low, and an affine form of guidance control is proposed. Integrated Control Method

Method used

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  • Affine guidance and control integrated control method

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specific Embodiment approach 1

[0036] Embodiment 1: Combining figure 1 This embodiment is described. An affine form of an integrated control method for guidance and control described in this embodiment includes the following steps:

[0037] Step 1. According to the missile attack target model and the projection equation that projects the aerodynamic acceleration of the missile in the velocity system to the line-of-sight coordinate system, the relative kinematics model of the missile target, the kinematic equations of the ballistic inclination and the ballistic declination, and the attitude of the missile are obtained. kinetic model;

[0038] Step 2. According to the relative kinematics model of the missile target, the relative kinematics model of the missile target, the attitude dynamics model of the missile, the system interference caused by the deviation of aerodynamic parameters, the system interference caused by the installation deviation of the steering gear, and the measurement by the missile inertial...

specific Embodiment approach 2

[0208] Specific embodiment 2: This embodiment further defines an affine form of guidance and control integrated control method described in specific embodiment 1. In this embodiment, in step 1, the missile attack target model is expressed as:

[0209]

[0210]

[0211]

[0212] In the formula, a tR , a tθ and a tφ Represents the three acceleration components of the target in the velocity coordinate system, a mR , a mθ and a mφ represent the three acceleration components of the missile in the velocity coordinate system, is the second derivative with respect to R, for the pair θ L The second derivative of ,

[0213] The projection equation that projects the aerodynamic acceleration of the missile on the velocity system to the line-of-sight coordinate system is expressed as:

[0214]

[0215] In the formula, a my ,a mz is the aerodynamic acceleration of the missile in the velocity system, Z′=Y sinγ V +Zcosγ V , Y′=Y cosγ V -Z sinγ V -mg cosθ, is ...

specific Embodiment approach 3

[0233] Specific embodiment 3: This embodiment further defines an affine form of guidance and control integrated control method described in specific embodiment 2. In this embodiment, in step 3, the affine form of guidance and control integration is controlled. u, d' in the model 1 , d 2 and d 3 , obtain x in the affine form of the guidance and control integration model 1 , x 2 and x 3 The specific process is:

[0234] Step 31: Obtain the derivative of the first Lyapunov equation according to the synovial surface, the affine-form integrated guidance and control model and the first Lyapunov equation;

[0235] According to the synovial surface, the integrated model of guidance and control in affine form, and the set first-order virtual error S 2 and the second Lyapunov equation to get the derivative of the second Lyapunov equation;

[0236] According to the synovial surface, the integrated model of guidance and control in affine form, the first-order virtual error S 2 , t...

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Abstract

The invention discloses an affine guidance and control integrated control method, and belongs to the field of missile model automation control. The problems that an existing guidance and control integrated non-affine model is adopted, a guidance loop and a control loop cannot achieve synchronous control within one simulation step length, and the control precision is low are solved. According to a missile target relative kinematics model, a missile target relative kinematics model, a missile attitude dynamics model, system interference caused by pneumatic parameter deviation, system interference caused by steering engine installation deviation and system interference caused by missile inertial navigation equipment measurement errors, establishing an affine-form guidance and control integrated model; and by controlling u, d '1, d2 and d3 in the affine-form guidance and control integrated model, boundaries of x1, x2 and x3 in the affine-form guidance and control integrated model are obtained, and the boundaries of x1, x2 and x3 are utilized to control a real missile. The method is used for acting on a real missile, and small miss distance is achieved.

Description

technical field [0001] The invention relates to a control method for a model, and belongs to the field of automatic control of missile models. Background technique [0002] In recent years, with the rapid development of hypersonic aircraft, researches on the control of hypersonic aircraft at home and abroad are emerging one after another. In order to reduce the complexity of model building and meet the design requirements of control algorithms, traditional guided weapons usually design the guidance loop and control loop separately. The inner loop is the autopilot control loop, which generates the desired flight procedure angle by changing the rudder deflection command; the outer loop is the guidance loop that generates the acceleration command. However, hypersonic weapons usually fly at a speed above Mach 5, especially in the terminal guidance stage, which has the characteristics of fast time-varying, strong coupling, strong nonlinearity and strong uncertainty, these factor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/107Y02T90/00
Inventor 张禹琛宋申民杨小艳
Owner HARBIN INST OF TECH
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