A rapid projectile multi-source force combined control method

Abstract

This invention proposes a rapid missile-launch multi-source force combined control method, which can improve the missile's agile turning performance, reduce the turning radius, shorten the turning time, reduce energy consumption, and lower product costs. The control method of this invention incorporates new control techniques, designs new geometric configurations, designs new agile turning processes, establishes new dynamic models, and designs new controllers. These advancements in control techniques, geometric configurations, dynamic models, and controllers lay the foundation for improving the missile's agile turning performance.

Description

Technical Field

[0001] This invention relates to the field of missile dynamics modeling and control technology, specifically to a rapid missile-launch multi-source force combination control method. Background Technology

[0002] The basic principle of agile turning in traditional agile missiles is to install a direct force jet device on the missile's nose cone, away from its center of mass, to generate a direct force control torque. This torque, together with the control torque generated by aerodynamic rudders, rapidly changes the missile's attitude. In recent years, research on agile turning in missiles has focused on the implementation of direct force / aerodynamic composite control systems, control allocation, tracking error convergence speed, and dynamic compensation for uncertainties.

[0003] Recent research on agile missiles has primarily focused on widely used dynamic models and algorithmic strategies aimed at improving agile turning performance. While these approaches have enhanced agile turning capabilities to some extent, further improvements are constrained by geometric configurations and dynamic models. Furthermore, the performance improvements achieved through control algorithms often increase the energy consumption of direct force devices, thereby raising product costs. Additionally, the performance improvements sought through control algorithms often require larger usable pitch velocities, but in practical engineering, the missile body and its components impose constraints on the maximum permissible pitch velocities.

[0004] In addition, in recent years, parachute systems have been widely used in the aviation, aerospace and weapons industries, such as spacecraft recovery, astronaut emergency escape, precision airdrop of combat equipment and stable deceleration of air-to-ground munitions.

[0005] Research on parachute-object / parachute-missile systems mainly focuses on the dynamic modeling of uncontrolled parachute-object / parachute-missile systems, the influence of apparent mass, and the impact of initial state and various disturbances on the trajectory of uncontrolled systems. A smaller portion of research focuses on the controllability mechanism of flexible, controllable circular parachutes. When considering the active control of the parachute, the object / missile is generally only considered in terms of gravity. The established models are based on single rigid body models with the parachute as the main component, built using the Newton-Euler method or the Koschhoff method, which cannot accurately describe the missile's motion.

[0006] Traditional parachute systems / parachute missile systems mainly rely on the deceleration and spin reduction effects of parachutes on missiles, and there has been no evidence of applying parachutes to the field of high missile maneuverability. Summary of the Invention

[0007] In view of this, the present invention proposes a rapid missile multi-source force combination control method, which can improve the missile's agile turning performance, reduce the turning radius, shorten the turning time, reduce energy consumption, and lower product costs.

[0008] To achieve the above objectives, the technical solution of the present invention is as follows:

[0009] A method for controlling a rapid-fire projectile using a multi-source force combination includes the following steps:

[0010] Design the geometry of a rapid-fire missile, considering a type of flexible, controllable circular umbrella mounted at the tail of a traditional agile missile. b For the missile's center of mass, O p For the center of mass of the umbrella, O t O is the center of the missile tail section. b X b Y b Let O be the projectile coordinate system. p X p Y p Use the umbrella coordinate system;

[0011] Design the agile turning process of the swift projectile;

[0012] A quantitative description method for the flexible force exerted by the parachute on the missile is provided;

[0013] Establish a dynamic model of the entire process of a swift rocket turning;

[0014] Establish the state equation of the swift projectile's agile turning control object to obtain a multi-source force combination controller for the entire process of the swift projectile's agile turning; among them, in the establishment of the state equation of the control object, design the controller for the trajectory tilt channel and the controller for the pitch channel.

[0015] Set the parameters of the multi-source power combination controller and use the multi-source power combination controller to solve the control commands;

[0016] Control the swift projectile, determine whether the state quantity has reached the expected value. If so, complete the swift turn; otherwise, recalculate the control command and control until the state quantity reaches the expected value.

[0017] The agile turning process of the designed swift projectile is as follows:

[0018] At the initial moment of the swift projectile's agile turn, the geometric configuration of the swift projectile, the control forces include the aerodynamic force of the aerodynamic rudder, the flexible force of the flexible and controllable canopy, and the direct force of the direct force device. This stage is defined as the first stage of the swift projectile's agile turn process.

[0019] When the missile pitch angle reaches the set value, the parachute is jettisoned, and the missile configuration is the geometric configuration of a traditional agile missile. The control forces include the aerodynamic force of the aerodynamic rudder and the direct force of the direct force device. This stage is defined as the second stage of the agile turning process of the swift missile.

[0020] When the missile's angle of attack reaches the set value, the speed-increasing engine is ignited. The control forces include the aerodynamic force of the aerodynamic rudder, the direct force of the direct force device, and the thrust of the speed-increasing engine. This stage is defined as the third stage of the rapid missile's agile turning process.

[0021] Specifically, the state equations of the first-stage control object and the second and third-stage control objects for the agile turning of the swift projectile are established, resulting in a multi-source force combination controller for the entire agile turning process of the swift projectile. In the establishment of the state equations of the first-stage control object, controllers for the trajectory inclination channel and the pitch channel are designed. In the establishment of the state equations of the second and third-stage control objects, controllers for the pitch channel are designed.

[0022] The quantitative description method for the flexible force exerted by the parachute on the missile is as follows:

[0023] The sum of the force that decelerates the missile when the flexible, controllable circular umbrella is undeformed and the maneuvering force generated by the rope's extension and retraction is equivalent to the angle η between the flexible, controllable circular umbrella and the backward extension of the missile's velocity, which does not exceed η. max A controllable flexible force, and η max The value is related to the ability of a flexible, controllable circular umbrella to generate maneuvering force through the extension and retraction of ropes;

[0024] Define the magnitude of the flexible force exerted by the umbrella on the missile as follows:

[0025]

[0026] In the formula: d p C is the nominal diameter of the umbrella. p is the flexibility force coefficient; Q is the missile dynamic pressure.

[0027] Among them, a dynamic model of the entire process of the swift projectile's agile turning is established, as follows:

[0028] Based on the traditional dynamic model of agile missiles, the aforementioned flexible force and its generated flexible torque are added. According to the three designed stages, a dynamic model of the entire agile turning process of the rapid missile and rocket is established as follows:

[0029]

[0030] In the formula: V is the missile velocity; Q = ρV 2 / 2 is the missile's dynamic pressure; ρ is the air density; T is the thrust of the speed-increasing engine; u T ∈{0,1} is the ignition switch for the speed-up engine; C x These are the aerodynamic parameters of missile drag; C nα These are the aerodynamic parameters of the missile's lift generated by its angle of attack; C nδ These are the aerodynamic parameters of the missile's lift generated by the aerodynamic rudders; Cmδ These are the aerodynamic parameters of the missile's torque generated by the aerodynamic rudder; g is the acceleration due to gravity; S b δ is the characteristic area of ​​the missile; L is the characteristic length of the missile; m is the mass of the missile; I is the moment of inertia of the missile; θ is the elevation angle of the missile; α is the angle of attack of the missile; γ is the trajectory angle of the missile; q is the angular velocity of the missile; X and Y are the coordinates of the missile's center of mass; |δ|≤δ max It is the aerodynamic rudder deflection angle; δ max It is the maximum deflection angle that the aerodynamic rudder can achieve; F R It is the maximum thrust of the direct-force jet device; L R It is the distance from the direct force jet device to the missile's center of gravity; F p It is the controllable flexible force provided by the umbrella; u p ∈{0,1} is the parachute ejection switch; |η|≤η max It is the angle between the controllable flexible force and the backward extension of the projectile velocity; η max M is the maximum angle that the controllable flexible force and the projectile velocity's backward extension can achieve; M is the restoring torque generated by the projectile's angle of attack.

[0031]

[0032] In the formula: C m These are the aerodynamic parameters of the missile's torque generated by the angle of attack; C N For the missile's normal aerodynamic parameters at high angles of attack; L CP This is the distance from the missile's center of mass to its center of pressure.

[0033] Based on the design of the rapid turning process of the swift projectile, the parachute jettison switch and the speed-up engine ignition switch are respectively...

[0034]

[0035]

[0036] In the formula: θ0 is a preset value, when θ>θ0 the parachute is jettisoned; α0 is a preset value, when α>α0 the engine is ignited to increase speed.

[0037] Specifically, the establishment of the state equation for the swift projectile agile turning control object, including the establishment of the state equation for the first stage control object of the swift projectile agile turning, is as follows:

[0038] Based on the obtained rapid projectile dynamics model, the state equation of the first-stage control object is established.

[0039]

[0040] In the formula: d γ d qIt is the sum of internal uncertainties and external disturbances of the system, which satisfies |d γ |≤D γ 、|d q |≤D q D γ >0、D q >0 is the upper bound of the sum of internal and external disturbances; f γ f q They are respectively

[0041]

[0042]

[0043] The design of the first-stage trajectory tilt channel controller for the swift missile is as follows:

[0044] For the ballistic inclination channel subsystem, the extended state observer is designed as follows:

[0045]

[0046] In the formula: They are γ and d respectively γ The estimated value; This is the estimation error; 0.5 <m1<1;m2=2m1-1;n1=1 / m1;n2=n1+m1-1;σ1> 1; σ²>1; c1>0; c2>0; sgn(·) is the sign function; sgmf(E) is

[0047]

[0048] In the formula: μ>0, τ>0;

[0049] For the ballistic inclination channel subsystem, design a linear sliding surface S1 = γ - γ c In the formula γ c It is the desired trajectory inclination angle;

[0050] For the ballistic inclination channel subsystem, the virtual control law is designed as follows: In the formula, k3>0;

[0051] The design of the first-stage elevation angle channel controller for the rapid-fire missile is as follows:

[0052] For the pitch angle channel subsystem, the extended state observer is designed as follows:

[0053]

[0054] In the formula: They are q and d respectively q The estimated value; is the estimation error; 0.5 < m3 < 1; m4 = 2m3 - 1; n3 = 1 / m3; n4 = n3 + m3 - 1; σ3 > 1; σ4 > 1; c3 > 0; c4 > 0;

[0055] For the pitch angle channel subsystem, a non-singular terminal sliding mode surface is designed where β > 0; 1 < p / q < 2; p, q are positive odd numbers;

[0056] For the pitch angle channel subsystem, the virtual control law is designed as:

[0057]

[0058] where: k1 > 0; k2 > 0; a1 > 1; 0 < a2 < 1;

[0059] Based on the controllers of the first-stage ballistic inclination angle channel and the pitch channel, the actual control command of the control mechanism for the first stage of the Swift missile is obtained. Let the aerodynamic rudder not work in the first stage, that is, δ = 0 (θ ≤ θ0);

[0060] Based on the virtual control of the first-stage ballistic inclination angle channel and the pitch channel of the Swift missile, the actual control command of the control mechanism is designed as

[0061] When the missile jettisons the parachute, the Swift missile makes an agile turn and enters the second and third stages. The control inputs are the aerodynamic rudder and the direct force, and the control output is only the pitch angle. The state equation of the control object for the second and third stages of the Swift missile's agile turn is established as Among them, for the pitch angle channel of the second and third stages of the Swift missile, the controller is designed as:

[0062]

[0063]

[0064] Beneficial effects:

[0065] 1. In the control method of the present invention, a new control method is added, a new geometric configuration is designed, a new agile turn process is designed, and a new dynamic model is established, laying a foundation for improving the agile turn performance of the missile in terms of control method, geometric configuration, and dynamic model.

[0066] 2. Compared with traditional agile missiles, the Swift missile reduces the turning radius, shortens the turning time, greatly improves the agile turn performance of the missile, significantly reduces the energy consumption, reduces the product cost, and while not affecting the pitch angle tracking effect, the Swift missile achieves the tracking control of the ballistic inclination angle.

[0067] 3. Traditional agile missiles primarily improve their agile turning performance by increasing the convergence speed of the controller's tracking error, which is constrained by the maximum usable pitch velocity allowed by the missile body. The multi-source force combination control method for rapid missiles and rockets proposed in this invention improves agile turning performance by increasing the available normal overload, and is not constrained by the maximum usable pitch velocity.

[0068] 4. This invention designs a multi-source force combination controller for the entire three-stage process of the rapid projectile and rocket. The proposed multi-source force combination control method can ensure high robustness and high tracking performance even under large internal and external system disturbances. Attached Figure Description

[0069] Figure 1 This is a schematic diagram of the control method of the present invention.

[0070] Figure 2 This is a schematic diagram of a type of direct force device in this invention.

[0071] Figure 3 This is a schematic diagram of a type of flexible controllable circular umbrella according to the present invention.

[0072] Figure 4 This is a schematic diagram illustrating the agile turning process of the swift projectile of the present invention. Detailed Implementation

[0073] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0074] This invention provides a multi-source force combined control method for rapid missile-launch systems. It establishes a parachute-missile dynamic model with the missile as the main research subject and the aim of improving the missile's agile turning performance. This dynamic model should accurately describe the missile's attitude motion and incorporate the control characteristics of a flexible, controllable circular parachute. Based on the established dynamic model, a multi-source force combined control method is proposed. This control method should improve the missile's agile turning performance, reduce the turning radius, shorten the turning time, reduce energy consumption, and lower product costs.

[0075] The process of this invention is as follows Figure 1 As shown, this involves the geometric configuration, agile turning process, dynamic model, and multi-source force combination controller of the swift projectile. The specific steps are as follows:

[0076] Step 1: Design the geometric configuration of a traditional agile missile, as follows:

[0077] Consider a direct force device installed at the projectile's center of mass O. b Previously, such as Figure 2 As shown, this device can operate in the O coordinate system of the projectile. b Y b Shaft and O b Z bThe shaft provides a variable, continuously adjustable direct force, and the valve opening of the direct force jet device is defined as u. R u R ∈[-1,1], along O b Y b Shaft and O b Z b The axis is positive.

[0078] Step 2, design the geometric configuration of the swift projectile, as follows:

[0079] Consider a type of flexible, controllable circular umbrella, installed at the tail of a traditional agile missile, such as... Figure 3 As shown, O b For the missile's center of mass, O p For the center of mass of the umbrella, O t O is the center of the missile tail section. b X b Y b Let O be the projectile coordinate system. p X p Y p The coordinate system is the umbrella body. In this invention, to distinguish it from traditional agile missiles, a new term "swift missile-rocket" is defined to describe the missile-rocket configuration of this invention. This configuration is proposed for the first time, and subsequent research will be based on this configuration. This invention refers to the flexible and controllable circular umbrella-agile missile configuration as the swift missile-rocket configuration.

[0080] Step 3, design the agile turning process of the swift projectile, such as... Figure 4 As shown, the details are as follows:

[0081] At the initial moment of the swift projectile's agile turn, the projectile configuration is the geometric configuration of the swift projectile obtained in step 2. The control forces include the aerodynamic force of the aerodynamic rudder, the flexible force of the flexible and controllable circular umbrella, and the direct force of the direct force device. This stage is defined as the first stage of the swift projectile's agile turn process.

[0082] When the missile's pitch angle reaches the set value, the parachute is jettisoned, and the missile configuration becomes the geometric configuration of a conventional agile missile obtained in step 1. The control forces include the aerodynamic forces of the aerodynamic rudder and the direct forces of the direct force device. This stage is defined as the second stage of the agile turning process of the swift missile.

[0083] When the missile's angle of attack reaches the set value, the speed-increasing engine is ignited. The control forces include the aerodynamic force of the aerodynamic rudder, the direct force of the direct force device, and the thrust of the speed-increasing engine. This stage is defined as the third stage of the rapid missile's agile turning process.

[0084] Step 4: Provide a quantitative description method for the flexible force applied to the missile by the flexible and controllable circular umbrella:

[0085] The deployment and retraction of the ropes cause deformation of the parachute canopy, generating a flexible and controllable force, the magnitude of which is related to the length of the ropes deployed or retracted. The force acting on the parachute is the sum of the uncontrollable force experienced by the canopy when it is not deformed and the flexible and controllable force generated after deformation.

[0086] The sum of the force that decelerates the missile when the flexible, controllable circular umbrella is undeformed and the control force generated by the ropes is approximately equivalent to the angle η between the flexible, controllable circular umbrella and the backward extension of the missile's velocity, which does not exceed η. max A controllable flexible force, and η max The value is related to the ability of the flexible, controllable parachute to generate maneuvering force through the deployment and retraction of ropes. The magnitude of the flexible force exerted by the parachute on the missile is defined as...

[0087]

[0088] In the formula: d p C is the nominal diameter of the umbrella. p is the flexibility force coefficient; Q is the missile dynamic pressure.

[0089] Step 5: Establish a dynamic model of the entire process of the swift projectile's agile turning, as follows:

[0090] Based on the traditional dynamic model of agile missiles, the flexible force described in step 4 and the flexible torque it generates are added. Following the three stages designed in step 3, a dynamic model of the entire agile turning process of the swift missile and rocket is established as follows:

[0091]

[0092] In the formula: V is the missile velocity; Q = ρV 2 / 2 is the missile's dynamic pressure; ρ is the air density; T is the thrust of the speed-increasing engine; u T ∈{0,1} is the ignition switch for the speed-up engine; C x These are the aerodynamic parameters of missile drag; C nα These are the aerodynamic parameters of the missile's lift generated by its angle of attack; C nδ These are the aerodynamic parameters of the missile's lift generated by the aerodynamic rudders; C mδ These are the aerodynamic parameters of the missile's torque generated by the aerodynamic rudder; g is the acceleration due to gravity; S b δ is the characteristic area of ​​the missile; L is the characteristic length of the missile; m is the mass of the missile; I is the moment of inertia of the missile; θ is the elevation angle of the missile; α is the angle of attack of the missile; γ is the trajectory angle of the missile; q is the angular velocity of the missile; X and Y are the coordinates of the missile's center of mass; |δ|≤δ max It is the aerodynamic rudder deflection angle; δ max It is the maximum deflection angle that the aerodynamic rudder can achieve; F R It is the maximum thrust of the direct-force jet device; L R It is the distance from the direct force jet device to the missile's center of gravity; Fp It is the controllable flexible force provided by the umbrella; u p ∈{0,1} is the parachute ejection switch; |η|≤η max It is the angle between the controllable flexible force and the backward extension of the projectile velocity; η max M is the maximum angle that the controllable flexible force and the projectile velocity's backward extension can achieve; M is the restoring torque generated by the projectile's angle of attack.

[0093]

[0094] In the formula: C m These are the aerodynamic parameters of the missile's torque generated by the angle of attack; C N For the missile's normal aerodynamic parameters at high angles of attack; L CP This is the distance from the missile's center of mass to its center of pressure.

[0095] Based on the agile turning process of the swift projectile designed in step 3, the parachute jettison switch and the speed-up engine ignition switch are respectively...

[0096]

[0097]

[0098] In the formula: θ0 is a preset value, when θ>θ0 the parachute is jettisoned; α0 is a preset value, when α>α0 the engine is ignited to increase speed.

[0099] Step 6: Establish the state equations of the first-stage control object and the second and third-stage control objects for the agile turning of the swift projectile, and obtain the multi-source force combination controller for the entire process of the agile turning of the swift projectile; in the establishment of the state equations of the first-stage control object, design the controllers for the trajectory inclination channel and the pitch channel; in the establishment of the state equations of the second and third-stage control objects, design the controllers for the pitch channel.

[0100] Specifically, the state equation for the control object in the first stage of the swift arrow's agile turning is established as follows:

[0101] Based on the rapid projectile dynamics model obtained in step 5, the state equations of the first-stage control object are established.

[0102]

[0103]

[0104] d γ d q It is the sum of internal uncertainties and external disturbances of the system, which satisfies |d γ |≤D γ 、|dq |≤D q D γ >0、D q >0 is the upper bound of the sum of internal and external disturbances; f γ f q They are respectively

[0105]

[0106]

[0107] The design of the first-stage trajectory tilt channel controller for the swift missile is as follows:

[0108] For the ballistic inclination channel subsystem, the extended state observer is designed as follows:

[0109]

[0110] In the formula: They are γ and d respectively γ The estimated value; This is the estimation error; 0.5 <m1<1;m2=2m1-1;n1=1 / m1;n2=n1+m1-1;σ1> 1; σ²>1; c1>0; c2>0; sgn(·) is the sign function; sgmf(E) is

[0111]

[0112] In the formula: μ>0, τ>0.

[0113] For the ballistic inclination channel subsystem, design a linear sliding surface S1 = γ - γ c In the formula γ c It is the desired trajectory inclination angle;

[0114] For the ballistic inclination channel subsystem, the virtual control law is designed as follows: In the formula, k3>0.

[0115] The design of the first-stage elevation angle channel controller for the rapid-fire missile is as follows:

[0116] For the pitch angle channel subsystem, the extended state observer is designed as follows:

[0117]

[0118] In the formula: They are q and d respectively q The estimated value; This is the estimation error; 0.5 <m3<1;m4=2m3-1;n3=1 / m3;n4=n3+m3-1;σ3> 1; σ4>1; c3>0; c4>0.

[0119] For the pitch angle channel subsystem, a non-singular terminal sliding surface is designed. where β>0; 1<p / q<2; p and q are positive odd numbers;

[0120] For the pitch angle channel subsystem, the virtual control law is designed as:

[0121]

[0122] where: k1>0; k2>0; a1>1; 0<a2<1.

[0123] Based on the controller of the first-stage ballistic inclination angle channel and the controller of the pitch channel, the actual control instruction of the control mechanism for the first stage of the Swift rocket is obtained. Let the aerodynamic rudder not work in the first stage, that is, δ = 0 (θ ≤ θ0);

[0124] Based on the virtual control of the first-stage ballistic inclination angle channel and the pitch channel of the Swift rocket, the actual control instruction of the control mechanism is designed as

[0125] When the missile jettisons the parachute, the Swift rocket makes an agile turn and enters the second and third stages. The control inputs are the aerodynamic rudder and direct force, and the control output is only the pitch angle. The state equation of the control object for the second and third stages of the Swift rocket's agile turn is established as Among them, for the pitch angle channel of the second and third stages of the Swift rocket, the controller is designed as:

[0126]

[0127]

[0128] Step 7, set the parameters of the multi-source force combination controller and use the multi-source force combination controller to solve the control instruction;

[0129] Control the Swift rocket, judge whether the state quantity reaches the expected value. If so, complete the agile turn; otherwise, re-solve the control instruction and perform control until the state quantity reaches the expected value.

[0130] In summary, the above is only the preferred embodiment of the present invention and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling a multi-source force combination of a swift arrow, characterized in that, Includes the following steps: The geometry of the agile missile is designed, wherein a flexible controllable circular parachute is installed at the tail of the traditional agile missile, for the center of mass of the missile, for the center of mass of the parachute, for the center of the tail section of the missile, for the body coordinate system of the missile, for the body coordinate system of the parachute; Design the agile turning process of the swift projectile; A quantitative description method for the flexible force exerted by the parachute on the missile is provided; Establish a dynamic model of the entire process of a swift rocket turning; Establish the state equation of the swift projectile's agile turning control object to obtain a multi-source force combination controller for the entire process of the swift projectile's agile turning; among them, in the establishment of the state equation of the control object, design the controller for the trajectory tilt channel and the controller for the pitch channel. Set the parameters of the multi-source power combination controller and use the multi-source power combination controller to solve the control commands; Control the swift arrow, determine whether the state quantity has reached the expected value. If so, complete the swift turn; otherwise, recalculate the control command and control until the state quantity reaches the expected value. A dynamic model of the entire process of a swift rocket turning is established, as follows: Based on the traditional dynamic model of agile missiles, the aforementioned flexible force and its generated flexible torque are added. According to the three designed stages, a dynamic model of the entire agile turning process of the rapid missile and rocket is established as follows: In the formula: It's the missile's speed; It is missile dynamic pressure; It is air density; It is the thrust of the speed-up engine; It is the ignition switch for the speed-up engine; These are the aerodynamic parameters of missile drag; These are the aerodynamic parameters of the missile's lift generated by its angle of attack; These are the aerodynamic parameters of the missile's lift generated by the aerodynamic rudders; These are the aerodynamic parameters of the torque generated by the missile's aerodynamic rudder; It is gravitational acceleration; It is the characteristic area of ​​the missile; It is the missile's characteristic length; It is the mass of the missile; It is the missile's moment of inertia; It is the missile's elevation angle; It is the missile's angle of attack; It is the missile's trajectory inclination angle; It is the missile's pitch rate; , These are the coordinates of the missile's center of mass; It is the aerodynamic rudder deflection angle; That is the maximum deflection angle that the aerodynamic rudder can achieve; It is the maximum thrust of the direct-force jet device; It is the distance from the direct force jet device to the missile's center of gravity; It is the controllable flexible force provided by the umbrella; It's the parachute jettison switch; It is the angle between the controllable flexible force and the backward extension of the projectile velocity; It is the maximum angle that the controllable flexible force and the projectile velocity backward extension line can reach; The restoring torque is generated by the projectile's angle of attack. In the formula: These are the aerodynamic parameters of the torque generated by the missile's angle of attack; These are the missile's normal aerodynamic parameters at high angles of attack. This is the distance from the missile's center of mass to its center of pressure. Based on the design of the rapid turning process of the swift projectile, the parachute jettison switch and the speed-up engine ignition switch are respectively... In the formula: For a preset value, when Discard the parachute at that time; For a preset value, when Ignition speed-up engine.

2. The method as described in claim 1, characterized in that, The agile turning process of the designed swift projectile is as follows: At the initial moment of the swift projectile's agile turn, the geometric configuration of the swift projectile, the control forces include the aerodynamic force of the aerodynamic rudder, the flexible force of the flexible and controllable canopy, and the direct force of the direct force device. This stage is defined as the first stage of the swift projectile's agile turn process. When the missile pitch angle reaches the set value, the parachute is jettisoned, and the missile configuration is the geometric configuration of a traditional agile missile. The control forces include the aerodynamic force of the aerodynamic rudder and the direct force of the direct force device. This stage is defined as the second stage of the agile turning process of the swift missile. When the missile's angle of attack reaches the set value, the speed-increasing engine is ignited. The control forces include the aerodynamic force of the aerodynamic rudder, the direct force of the direct force device, and the thrust of the speed-increasing engine. This stage is defined as the third stage of the rapid missile's agile turning process.

3. The method as described in claim 2, characterized in that, The state equations of the first-stage control object and the second and third-stage control objects for the rapid turning of the rocket are established, resulting in a multi-source force combination controller for the entire rapid turning process. In the establishment of the state equations of the first-stage control object, controllers for the trajectory inclination channel and the pitch channel are designed. In the establishment of the state equations of the second and third-stage control objects, controllers for the pitch channel are designed.

4. The method according to any one of claims 1-3, characterized in that, The quantitative description method for the flexible force exerted by the parachute on the missile is as follows: The sum of the force exerted by the flexible, controllable circular umbrella when it is undeformed, which decelerates the missile, and the control force generated by the rope's extension and retraction, can be equated to the angle between the flexible, controllable circular umbrella and the backward extension of the missile's velocity. No more than A controllable flexible force, and The value is related to the ability of a flexible, controllable circular umbrella to generate maneuvering force through the extension and retraction of ropes; Define the magnitude of the flexible force exerted by the umbrella on the missile as follows: In the formula: The nominal diameter of the umbrella; This is the flexibility force coefficient; It is missile dynamic pressure.

5. The method as described in claim 1, characterized in that, In establishing the state equation of the swift projectile agile turning control object, the state equation of the first stage control object for swift projectile agile turning is established as follows: Based on the obtained rapid projectile dynamics model, the state equation of the first-stage control object is established. In the formula: , , , , , ; , It is the sum of internal uncertainties and external disturbances of the system, which satisfies , , , It is the upper bound of the sum of internal and external disturbances; , They are respectively The design of the first-stage trajectory tilt channel controller for the swift missile is as follows: For the ballistic inclination channel subsystem, the extended state observer is designed as follows: In the formula: , They are , The estimated value; It is an estimation error; ; ; ; ; ; ; ; ; It is a symbolic function; for In the formula: ; For the ballistic inclination channel subsystem, design a linear sliding surface. In the formula It is the desired trajectory inclination angle; For the ballistic inclination channel subsystem, the virtual control law is designed as follows: In the formula ; The design of the first-stage elevation angle channel controller for the rapid-fire missile is as follows: For the pitch angle channel subsystem, the extended state observer is designed as follows: In the formula: , They are , The estimated value; It is an estimation error; ; ; ; ; ; ; ; ; For the pitch angle channel subsystem, design a non-single terminal sliding surface. In the formula ; ; is a positive odd number; For the pitch angle channel subsystem, the virtual control law is designed as follows: In the formula: ; ; ; ; Based on the controllers of the first-stage trajectory inclination channel and the pitch channel, the actual control commands of the virtual control design control mechanism for the first stage of the rapid-fire projectile are obtained, causing the aerodynamic rudders to be inactive in the first stage. , ; Based on the virtual control of the first stage of the rapid-fire projectile obtained from the controllers of the first-stage trajectory inclination channel and the elevation channel, the actual control commands of the control mechanism are designed as follows: After the missile jettisons its parachute, the rapid-fire missile agilely turns into the second and third stages. The control inputs include aerodynamic rudders and direct forces, while the control output is only the pitch angle. The state equations for the controlled object in the second and third stages of the rapid-fire missile agile turn are established as follows: Specifically, the controller for the second and third stage elevation angle channels of the swift projectile is designed as follows:

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