Missile pitching offset channel self-adaptive control method based on online system identification
Through online system identification and acquisition of missile characteristic quantity, designing an adaptive controller to adjust the control parameters of missile pitch and yaw channel, solving the overload jitter problem caused by the aerodynamic differences between pitch and yaw channel in low altitude and high speed state, and improving flight quality and wind resistance.
Patent Information
- Application Number
- CN202410193424.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-21
- Publication Date
- 2025-02-25
AI Technical Summary
At low altitude and high speed state, the aerodynamic differences between missile pitch and yaw channel lead to mismatch in control parameters, which in turn triggers jitter in overload response.
Through online system identification, the overload response characteristic quantities of the missile's Mach number, dynamic pressure, pitch and yaw channel are obtained, and the adaptive controller is designed to adjust the control parameters of the pitch and yaw channel.
It effectively reduces the impact of aerodynamic differences on flight quality, improves wind resistance, solves the problem of channel overload jitter, and improves the robustness of the control system.
Smart Images
Figure CN119509271A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a missile pitch channel adaptive control method based on online system identification, belonging to the technical field of missile flight control. Background Art
[0002] The pitch and yaw channels of traditional axisymmetric missiles often use the same controller. However, at low altitude and high speed, the aerodynamics of the missile pitch and yaw channels often show obvious differences, resulting in mismatched control parameters and then causing jitter in overload response. Therefore, for missiles with large aerodynamic differences in pitch and yaw channels, the overload response to the pitch and yaw channel control parameters is identified online, and an adaptive controller is designed based on the identified feature quantity to solve the problem of channel overload jitter, thereby improving the flight quality of the missile. Summary of the invention
[0003] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide a missile pitch and yaw channel adaptive control method based on online system identification. By designing an online identification function, system identification is performed on the pitch and yaw channels respectively, so as to realize adaptive control through identification characteristic quantities of Mach number, dynamic pressure, pitch and yaw channel overload response.
[0004] The technical solution of the present invention is: a missile pitch channel adaptive control method based on online system identification, comprising:
[0005] Acquire missile characteristic parameters and the missile's pitch overload and yaw overload responses in real time, filter the pitch overload and yaw overload responses, and limit the missile characteristic parameters;
[0006] According to the filtered pitch overload and yaw overload responses, the missile pitch and yaw channel characteristic quantities are identified and limited.
[0007] The pitch and yaw channel control parameters are adjusted according to the missile pitch and yaw channel characteristic quantities after real-time limiting processing and the missile characteristic parameters after limiting processing, so as to realize the missile pitch and yaw channel adaptive control.
[0008] Furthermore, the filter transfer function in the filtering process includes
[0009]
[0010] Among them, T1 and T2 are filtering time constants respectively; ζ1 and ζ2 are structural filter damping coefficients.
[0011] Furthermore, the identification function for identifying the missile pitch and yaw channel characteristic quantities includes
[0012]
[0013]
[0014]
[0015] Where t is time, y is the missile characteristic parameter, y1 is the pitch channel identification characteristic, y2 is the yaw channel identification characteristic, α is the synthetic angle of attack, N y is the pitch overload response, N z is the yaw overload response, k, k1 and k2 are preset parameters.
[0016] Further, the limiting processing of the missile pitch and yaw channel characteristic quantities includes: limiting the missile pitch and yaw channel characteristic quantities to 3 to 30;
[0017] The limiting processing of the missile characteristic parameters includes: limiting the Mach number within the range of 0.5Ma to 5Ma, and limiting the dynamic pressure within the range of 0 to 1400kPa.
[0018] The invention discloses a missile pitch and yaw channel adaptive controller based on online system identification, which obtains input missile characteristic parameters and missile pitch and yaw channel characteristic quantities in real time, adjusts pitch and yaw channel control parameters in real time according to the input, and realizes missile pitch and yaw channel adaptive control.
[0019] Furthermore, the missile pitch and yaw channel characteristic quantities are obtained by identifying the pitch overload and yaw overload responses and performing limiting processing.
[0020] Furthermore, the identification function for identifying the missile pitch and yaw channel characteristic quantities includes
[0021]
[0022]
[0023]
[0024] Where t is time, y is the missile characteristic parameter, y1 is the pitch channel identification characteristic, y2 is the yaw channel identification characteristic, α is the synthetic angle of attack, N y is the pitch overload response, N z is the yaw overload response, k, k1 and k2 are preset parameters.
[0025] Furthermore, the control parameters of the pitch channel include:
[0026] f p (a ij ,b ij ,c ij )=(a ij ×Ma+bij ×a+c ij ) / q+d ij ×y1
[0027] Among them, Ma is the real-time Mach number in flight, α is the synthetic angle of attack, q is the real-time dynamic pressure in flight, y1 is the pitch channel identification feature, a ij is the preset Ma coefficient, b ij is the preset α coefficient, c ij is the preset parameter, d ij is the identification coefficient, y1 is the characteristic value of the missile pitch channel, f p Express functions for control parameters.
[0028] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of a missile pitch channel adaptive control method based on online system identification are implemented.
[0029] A missile pitch channel adaptive control device based on online system identification comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the missile pitch channel adaptive control method based on online system identification are implemented.
[0030] The advantages of the present invention compared with the prior art are:
[0031] The present invention uses the pitch and yaw channel overload responses as characteristic parameters, identifies the characteristic quantities of the pitch and yaw channels online, greatly reduces the influence of aerodynamic difference flight quality, and has good anti-wind disturbance capability; the adaptive controller adaptively adjusts the pitch and yaw channel control parameters according to the missile Mach number, dynamic pressure and identified pitch and yaw channel characteristic quantities, effectively solves the problem of channel overload jitter caused by large aerodynamic differences in the pitch and yaw channels of the missile, and improves the robustness of the control system. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:
[0033] Figure 1 A control structure block diagram provided by the present invention;
[0034] Figure 2 This is a schematic diagram of the pitch channel adaptive controller provided by the present invention. DETAILED DESCRIPTION
[0035] In order to better understand the above technical scheme, the technical scheme of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical scheme of the present invention, rather than limitations on the technical scheme of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.
[0036] The following is a further detailed description of a missile pitch channel adaptive control method based on online system identification provided by an embodiment of the present invention in conjunction with the accompanying drawings of the specification. The specific implementation method may include:
[0037] (1) Obtain characteristic parameters of the missile, such as synthetic angle of attack, Mach number, dynamic pressure, pitch overload, and yaw overload response, and perform limiting processing on characteristic parameters such as Mach number and dynamic pressure;
[0038] (2) Design a structural filter to filter the pitch and yaw channel overload responses obtained in step (1). The center frequency of the filter changes over time, keeping consistent with the change law of the elastic mode, improving the stability of the system under different flight conditions and the ability to suppress high-frequency vibrations.
[0039] (3) designing an identification function according to the filtered pitch and yaw overload response values obtained in step (2), identifying the missile pitch and yaw channel characteristic quantities, and performing a limiting process on the characteristic quantities;
[0040] (4) Design an adaptive controller based on the pitch and yaw channel characteristic quantities obtained after the clipping process in step (3) and the missile characteristic parameters obtained after the clipping process in step (1). The flight envelope of the aircraft is large, and the aerodynamic characteristics at different speeds and altitudes are significantly different. Based on the aerodynamic characteristics in different Mach number ranges, the flight Mach number is graded on the basis of step 1.
[0041] In one possible implementation, the filter transfer function in step (2) is:
[0042]
[0043] Among them, T1 and T2 are filtering time constants respectively; ζ1 and ζ2 are structural filter damping coefficients.
[0044] Furthermore, the identification function of step (3) is:
[0045]
[0046]
[0047]
[0048] Where t represents time, y is the characteristic parameter of the missile system, y1 is the characteristic quantity of pitch channel identification, y2 is the characteristic quantity of yaw channel identification, α is the synthetic angle of attack, N y is the pitch overload response, N z is the yaw overload response, arctan(.) is the inverse tangent function, and k, k1 and k2 are system parameters.
[0049] Furthermore, the control parameters of the controller in step (4) are adaptively changed with the Mach number, dynamic pressure, pitch and yaw channel identification feature quantities.
[0050] In the solution provided in the embodiment of the present invention, the synthetic angle of attack is calculated by the inertial navigation solution unit according to information such as the attitude, speed, angular velocity and overload of the missile.
[0051] The structural filter is designed to filter the overload response of the pitch and yaw channels. The center frequency of the filter changes over time, keeping consistent with the change law of the elastic mode, improving the stability of the system under different flight conditions and the ability to suppress high-frequency vibration.
[0052]
[0053] Among them, T1 and T2 are filtering time constants respectively; ζ1 and ζ2 are structural filter damping coefficients.
[0054] According to the filtered pitch and yaw overload response values, the identification function is designed to identify the missile pitch channel characteristic quantity y1 and yaw channel characteristic quantity y2. The identification function is:
[0055]
[0056]
[0057]
[0058] Where t represents time, y is the characteristic parameter of the missile system, y1 is the characteristic quantity of pitch channel identification, y2 is the characteristic quantity of yaw channel identification, α is the synthetic angle of attack, N y is the pitch overload response, N z is the yaw overload response, arctan(.) is the inverse tangent function, and k, k1 and k2 are system parameters.
[0059] The Mach number and dynamic pressure are limited to protect the upper and lower limits, and the upper and lower limits are determined according to the actual situation of the flight envelope. In this example, the Mach number is limited to the range of 0.5Ma to 5Ma, the dynamic pressure is limited to the range of 0 to 1400kPa, and the characteristic quantities y1 and y2 are limited to the range of 3 to 30.
[0060] The pitch channel adaptive controller is designed separately. Taking the pitch channel adaptive controller as an example, first, the characteristic points are selected according to the Mach number and the resultant angle of attack, and then the control parameters are designed for each characteristic point. Finally, the control parameters are adaptively adjusted according to the identified characteristic quantities. The expression of the control parameters is shown in the following formula.
[0061] f p (a ij ,b ij ,c ij )=(a ij ×Ma+b ij ×a+c ij ) / q+d ij ×y1
[0062] Among them, Ma is the real-time Mach number during flight, α is the synthetic angle of attack, q is the real-time dynamic pressure during flight, and y1 is the pitch channel identification characteristic.
[0063] The same is true for the yaw channel, which will not be elaborated here.
[0064] like Figure 2 Based on the same inventive concept, the present invention also provides a missile pitch and yaw channel adaptive controller based on online system identification, including: real-time acquisition of input missile characteristic parameters and missile pitch and yaw channel characteristic quantities, real-time adjustment of pitch and yaw channel control parameters according to the input, and realization of missile pitch and yaw channel adaptive control.
[0065] The present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer executes Figure 1 The method described.
[0066] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.
[0067] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.
[0068] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.
[0069] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.
[0070] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.
[0071] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.
Claims
1. A missile pitch channel adaptive control method based on online system identification, characterized in that: include: Acquire missile characteristic parameters and the missile's pitch overload and yaw overload responses in real time, filter the pitch overload and yaw overload responses, and limit the missile characteristic parameters; According to the filtered pitch overload and yaw overload responses, the missile pitch and yaw channel characteristic quantities are identified and limited. The pitch and yaw channel control parameters are adjusted according to the missile pitch and yaw channel characteristic quantities after real-time limiting processing and the missile characteristic parameters after limiting processing, so as to realize the missile pitch and yaw channel adaptive control.
2. A missile pitch channel adaptive control method based on online system identification according to claim 1, characterized in that: The filter transfer function in the filtering process includes Among them, T1 and T2 are filtering time constants respectively; ζ1 and ζ2 are structural filter damping coefficients.
3. A missile pitch channel adaptive control method based on online system identification according to claim 1, characterized in that: The identification function for identifying the missile pitch and yaw channel characteristic quantities includes: Where t is time, y is the missile characteristic parameter, y1 is the pitch channel identification characteristic, y2 is the yaw channel identification characteristic, α is the synthetic angle of attack, N y is the pitch overload response, N z is the yaw overload response, k, k1 and k2 are preset parameters.
4. A missile pitch channel adaptive control method based on online system identification according to claim 1, characterized in that: The limiting processing of the missile pitch and yaw channel characteristic quantities includes: limiting the missile pitch and yaw channel characteristic quantities to 3-30; The limiting processing of the missile characteristic parameters includes: limiting the Mach number within the range of 0.5Ma to 5Ma, and limiting the dynamic pressure within the range of 0 to 1400kPa.
5. A missile pitch channel adaptive controller based on online system identification, characterized in that: The input missile characteristic parameters and missile pitch and yaw channel characteristic quantities are obtained in real time, and the pitch and yaw channel control parameters are adjusted in real time according to the input to realize the missile pitch and yaw channel adaptive control.
6. The adaptive controller according to claim 5, characterized in that: The missile pitch and yaw channel characteristic quantities are obtained by identifying the pitch overload and yaw overload responses and performing limiting processing.
7. The adaptive controller according to claim 6, characterized in that: The identification functions for identifying the missile pitch and yaw channel characteristics include Where t is time, y is the missile characteristic parameter, y1 is the pitch channel identification characteristic, y2 is the yaw channel identification characteristic, α is the synthetic angle of attack, N y is the pitch overload response, N z is the yaw overload response, k, k1 and k2 are preset parameters.
8. The adaptive controller according to claim 6, characterized in that: The control parameters of the pitch channel include: f p (a ij ,b ij ,c ij )=(a ij ×Ma+b ij ×a+c ij ) / q+d ij ×y1 Among them, Ma is the real-time Mach number in flight, α is the synthetic angle of attack, q is the real-time dynamic pressure in flight, y1 is the pitch channel identification feature, a ij is the preset Ma coefficient, b ij is the preset α coefficient, c ij is the preset parameter, d ij is the identification coefficient, y1 is the characteristic value of the missile pitch channel, f p Express functions for control parameters.
9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.
10. A missile pitch channel adaptive control device based on online system identification, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.