稀薄流区的多弹协同编队构型生成策略设计

doi:10.3969/j.issn.1001-506X.2020.08.22

摘要/Abstract

摘要：

针对多枚子弹在稀薄大气层的编队飞行控制问题,进行了相关研究。基于反作用控制系统(reaction control system, RCS)的姿轨控制技术,提出一种新的协同编队策略,满足所需的空间构型约束,以实现对目标的精确定位。考虑最优空间构型约束,完成了协同制导方案设计,并利用经典的比例积分微分(proportion integration differentiation, PID)控制律实现了对子弹姿态的稳定跟踪和控制。采用脉宽脉频(pulse width pulse frequency, PWPF)调制技术将连续的控制量转换成等效的喷管开关指令,在保证姿态稳定控制的前提下有效减小了发动机的燃料消耗。仿真结果表明,该协同制导控制策略可保证子弹在飞行过程中的姿态稳定,并使其空间构型逼近最佳构型。

关键词: 多弹编队飞行, 最优空间构型, 反作用控制系统, 脉宽脉频调制, 目标定位

Abstract:

This paper focuses on the formation flight control problem of multiple-missile in the thin flow zone. In order to satisfy the optimal space configuration constraints and achieve the accurate target location, a cooperative formation strategy is proposed based on the attitude and orbit control technology of the reaction control system (RCS). The cooperative guidance scheme is fulfilled considering all constraints. Then, to achieve the flight attitude tracking and stable controlling for missiles, the attitude control scheme is designed by using the classical proportion integration differentiation (PID) technology. At the same time, the pulse width pulse frequency (PWPF) modulator is used to convert continuous control variables into equivalent nozzle control instructions, which can reduce the engine fuel consumption effectively under the premise of maintaining attitude stability control. The simulation results indicate that the cooperative guidance and control strategy can ensure the attitude stability for missiles in the flight process, and make the space configuration approximate to the foptimum.

Key words: multi-missile formation flight, optimal space configuration, reaction control system (RCS), pulse width pulse frequency (PWPF) modulator, target location

中图分类号:

V448.22

魏蓝, 李威, 单家元. 稀薄流区的多弹协同编队构型生成策略设计[J]. 系统工程与电子技术, 2020, 42(8): 1812-1819.

Lan WEI, Wei LI, Jiayuan SHAN. Flight control strategy of multi-missile formation in thin flow zone[J]. Systems Engineering and Electronics, 2020, 42(8): 1812-1819.

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变量	数值
领弹到从弹平面的距离/m	L₀=2 500
从弹基线长度/m	L₂₃=L₂₄=L₃₄=7 000
#1坐标O/m	(0, 0, 0)
#2坐标A/m	(2 500，-4 042, 0)
#3坐标B/m	(2 500, 2 021，3 500)
#4坐标C/m	(2 500, 2 021，-3 500)

通道	状态量	开关指令	发动机工作编号
滚转通道	M_x	+1	Zk2、Zk5
滚转通道	M_x	-1	Zk4、Zk7
偏航通道	M_y	+1	Zk3
偏航通道	M_y	-1	Zk6
俯仰通道	M_z	+1	Zk4、Zk5
俯仰通道	M_z	-1	Zk2、Zk7

M_x	M_y	M_z	发动机工作编号
M_x=+1	-1	-1	Zk2、Zk6
		0	Zk2、Zk5、Zk6
		1	Zk5、Zk6
	0	-1	Zk2
		0	Zk2、Zk5
		1	Zk5
	1	-1	Zk2、Zk3
		0	Zk2、Zk3、Zk5
		1	Zk3、Zk5

参数	符号	数值
飞行时刻/s	t	96
初始高程/km	h	75
初始速度/(m·s^-1)	v	2 735.8
弹目距离/km	d_LoS	897.62
俯仰角/(°)	?	21.39
偏航角/(°)	ψ	-0.4
滚转角/(°)	γ	0.0
俯仰角速度/((°)·s^-1)	w_z	0.0
偏航角速度/((°)·s^-1)	w_y	0.0
滚转角速度/((°)·s^-1)	w_x	0.0

通道	k_p	k_d	k_i	k_m	λ_m	U_on	U_off	U_m
滚转通道	2	10	0	1	1.1	0.04	0.004	1
偏航通道	5	10	0	1	1.1	0.04	0.004	1
俯仰通道	5	10	0	1	1.1	0.04	0.004	1