CN103592946A - Active section self-adaptive longitudinal guidance method based on view acceleration measurement - Google Patents

Active section self-adaptive longitudinal guidance method based on view acceleration measurement Download PDF

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CN103592946A
CN103592946A CN201310503680.4A CN201310503680A CN103592946A CN 103592946 A CN103592946 A CN 103592946A CN 201310503680 A CN201310503680 A CN 201310503680A CN 103592946 A CN103592946 A CN 103592946A
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velocity increment
pitch
apparent
axial
apparent velocity
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CN103592946B (en
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刘毅
包一鸣
周峰
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China Academy of Launch Vehicle Technology CALT
Beijing Aerospace Automatic Control Research Institute
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Beijing Aerospace Automatic Control Research Institute
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Abstract

Provided is an active section self-adaptive longitudinal guidance method based on view acceleration measurement. According to an axial view velocity increment cumulative sum, a standard procedure angle is automatically adapted, and it is guaranteed that flying can still be achieved according to a procedure track with high precision under high power deviation. An axial view velocity increment cumulative sum-pitching procedure angle data list is bound in a data mode, a carrier can generate a procedure command just relaying on view acceleration measurement, and other input conditions and complex calculation are not needed; a guidance command changes according to an actual power level in a self-adaptive mode, auxiliary guidance is not needed, and therefore the contradiction of guidance distribution is avoided. In actual use, reliable measures can be carried out on input quantity and output quantity, and it is guaranteed that the method is feasible in engineering application.

Description

A kind of powered phase program self-adaptation longitudinal guidance method of measuring based on apparent acceleration
Technical field
The present invention relates to a kind of method of guidance, particularly a kind of powered phase programed flight self-adaptation longitudinal guidance method.
Background technology
The feature of vehicle flight is to take off vertically, then according to precalculated mission program turning flight, guidance command conventionally and provide with time dependent pitch program angle sequence form, for ease of using, Guidance Parameter is take pitch program angle interpolation table that the time is independent variable or the pitch program angle coefficient of polynomial fitting table that the time is independent variable of take.On arrow, flight software carries out linear interpolation calculating or polynomial computation based on flight timing, can send in real time guidance programmed instruction.The method does not rely on measuring equipment, calculates easy, reliable.If flying condition such as atmospheric condition, engine characteristics, rocket body structure etc. all meet ideal situation, vehicle is under the effect of program control signal, by the track flight of calculating according to theory completely.But in fact, there are many disturbing factors to make flying condition significantly depart from ideal situation, as consumption deviation second of engine, specific impulse deviation, take off weight deviation, thrust deviation and traversing, wind etc.Even if vehicle flies in strict accordance with preset program, above these disturbing factors all by interference effect in the force and moment of vehicle, make its flight depart from desired trajectory.For vehicle relative desired trajectory in vertical plane is departed from the scope of allowing, also need to carry out normal steering.For guaranteeing aloft attitude stabilization and Attitude Tracking precision, must restrict guiding.
When there is serious interference, particularly during larger power deviation, guidance system design just faces following contradiction: on the one hand, for guaranteeing the tracking accuracy of flight path in vertical plane, strengthen guiding; On the other hand, for realizing according to the stabilized flight of projected path, limit the size of guiding amount.
Summary of the invention
The technical matters that the present invention solves is: overcome the deficiencies in the prior art, a kind of powered phase program self-adaptation longitudinal guidance method of measuring based on apparent acceleration is provided, solved in the situation that powered phase power deviation is larger, according to the problem of desired trajectory flight, the adaptability of disturbing is stronger, auxiliary without guiding, can realize longitudinal guidance.
Technical scheme of the present invention is: a kind of powered phase program self-adaptation longitudinal guidance method of measuring based on apparent acceleration, is characterized in that step is as follows:
1) based on apparent acceleration theoretical parameter, generate standard program sequence;
11) choose vehicle shaft to measuring axle as apparent acceleration;
12), by default time m-pitch program angle sequence substitution vehicle kinetic model, obtain the nominal trajectory of vehicle; According to nominal trajectory, obtain vehicle powered phase axial apparent velocity increment accumulation and, pitch program angle;
13) by axial apparent velocity increment accumulation and-pitch program angle mapping, according to control accuracy threshold value, choose number table interval, and set up axial apparent velocity increment accumulation and-pitch program angle counts table, as standard program sequence;
14) in the vehicle transmitting preparatory stage, by axial apparent velocity increment accumulation and-pitch program angle counts table and binds with all n-ary form ns;
2) according to the apparent acceleration measuring amount measuring, based on standard program sequence, carry out adaptive guidance;
21) apparent acceleration measuring amount carried out to rationality differentiation and reject after wild value, obtain axial apparent velocity increment accumulation with;
22) in vehicle flight course, utilize step 21) the axial apparent velocity increment accumulation that obtains and, to axial apparent velocity increment accumulation and-pitch program angle tables of data carries out linear interpolation and obtains pitch program angle;
23) according to default program angular rate of change amplitude to step 22) pitch program angle that obtains carries out rationality differentiation, and with the pitch program angle instruction after differentiating, controls vehicle and press desired trajectory flight.
In step 13), according to control accuracy threshold value, also can choose piecewise fitting parameter, and set up fitting parameter table.
Step 21) apparent acceleration measuring amount is carried out to rationality differentiation, reject the axial apparent velocity increment accumulation of acquisition after wild value and concrete grammar be:
211) to axial apparent velocity increment Delta W x1carry out rationality differentiation, obtain the axial apparent velocity increment after differentiating
Figure BDA0000400706260000021
Figure BDA0000400706260000031
In formula
Figure BDA0000400706260000032
for the axial apparent velocity increment after rationality differentiation, for last cycle apparent velocity increment for powered phase maximum apparent velocity increment value in the sampling period;
212) according to step 211) axial apparent velocity increment after the differentiation that obtains
Figure BDA0000400706260000035
obtain axial apparent velocity increment and
Figure BDA0000400706260000036
wherein adding up zero point is engine igniting time.
Step 23) in to step 22) pitch program angle that the obtains concrete grammar that carries out rationality differentiation is:
231) obtain pitch program angle increment amplitude limit value
Figure BDA0000400706260000037
Figure BDA0000400706260000038
In formula W1, W2 be respectively apparent velocity increment accumulation that pitch program angle speed limiting transfer point is corresponding and;
Figure BDA0000400706260000039
be respectively each section of pitch program angle increment amplitude limit value;
232) utilize pitch program angle increment amplitude limit value
Figure BDA00004007062600000310
to pitch program angle carry out rationality differentiation:
Figure BDA00004007062600000312
In formula
Figure BDA00004007062600000313
for last cycle pitch program angle instruction,
Figure BDA00004007062600000314
for the programmed instruction that the powered phase program self-adaptation longitudinal guidance technology of measuring based on apparent acceleration obtains, the pitch program angle instruction after differentiating.
The present invention's advantage is compared with prior art:
(1) guidance command according to actual motivation level adaptive change, without supplemental pilot, thereby avoided as strengthening guiding and the contradiction of guiding constraint.
(2) strengthen the adaptability to disturbing, expanded the scope of application at program angle, still can be with higher precision follow procedure track flight under larger power deviation thereby guarantee.
(3) realize simple, axially apparent velocity increment accumulation and-pitch program angle tables of data bind with all n-ary form ns, vehicle only relies on apparent acceleration to measure and gets final product generator program instruction, without other initial conditions and complex calculation.
(4) only rely in actual use the accelerometer in inertial measuring unit, the mature and reliable of inertia measurement technology; To input and output amount, all take Reliability Measures to guarantee that this invention engineering application is feasible.
Accompanying drawing explanation
Fig. 1 generates standard program sequence step based on apparent acceleration theoretical parameter.
Fig. 2 is for to carry out adaptive guidance performing step according to apparent acceleration measuring amount based on standard program sequence.
The corresponding curve map of m-pitch program angle sequence when Fig. 3 is certain simple engine vehicle.
M-axial apparent velocity increment accumulation and curve when Fig. 4 is corresponding with Fig. 3.
Fig. 5 be the axial apparent velocity increment accumulation corresponding with Fig. 3 and-pitch program angle curve.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Take certain simple engine vehicle is example:
1) based on apparent acceleration theoretical parameter, generate standard program sequence:
11), according to the mounting means of vehicle power configuration and inertia measurement sensitive element, choose vehicle shaft to measuring axle as apparent acceleration.In powered phase, the vehicle shaft thrust that makes progress plays a major role, so the axial apparent velocity increment accumulation of vehicle powered phase and be also monotone increasing trend can be used as program angle interpolation independent variable completely, by apparent velocity increment accumulation with determine unique program angle.
12) as shown in Figure 3, take certain simple engine vehicle is example, and the corresponding curve of m-pitch program angle sequence as shown in the figure at that time.Horizontal ordinate T represents the time, and ordinate FICX represents pitch program angle; Vehicle is turned rapidly after taking off as seen from Figure 3, keeps after the dead axle flight of a period of time program angle slow decreasing;
According to pre-designed time m-pitch program angle, substitution vehicle kinetic model carries out emulation, obtains the nominal trajectory of vehicle, and further obtains axial apparent velocity increment accumulation and the W of vehicle powered phase k, pitch program angle
Figure BDA0000400706260000041
draw axial apparent velocity increment accumulation and-pitch program angle curve is as Fig. 5, records W k, sequence.
13) W obtaining for step 12) k,
Figure BDA0000400706260000043
sequence, can adopt segmentation refinement scale to generate
Figure BDA0000400706260000051
tables of data, as standard program sequence, also can be according to W kright carry out piecewise polynomial fitting, generate fitting parameter table.Here take that the former is elaborated as example.Observe Fig. 5 curvilinear motion rule, at W1, W2 place program angular rate of change, be changed significantly, desirable segments is 3.According to control accuracy, plan each section of interpolation scale.In Fig. 5, at apparent velocity increment accumulation with while being less than W1, curve is non-linear obviously answers interpolation scale, finally sets up tables of data
Figure BDA0000400706260000053
14) in the vehicle transmitting preparatory stage, by the axial apparent velocity increment accumulation designing and-pitch program angle counts table and binds with all n-ary form ns.
2) according to the apparent acceleration measuring amount measuring, based on standard program sequence, carry out adaptive guidance;
21) aircraft starts apparent velocity increment Delta W after starting to control x1carry out rationality differentiation, reject wild value, calculate the axial apparent velocity increment after rationality is differentiated
Figure BDA0000400706260000054
its rationality method of discrimination is as follows:
&Delta; W &OverBar; x 1 = &Delta; W x 1 , 0 < &Delta; W x 1 < &Delta; W &OverBar; MAX &Delta; W &OverBar; x 1 _ , else - - - ( 1 )
After starting to control, meet rationality condition
Figure BDA0000400706260000056
get the axial apparent velocity increment in current sampling period; Otherwise get last cycle apparent velocity increment
Figure BDA0000400706260000057
wherein
Figure BDA0000400706260000058
for powered phase maximum apparent velocity increment value in the sampling period, avoid adding the open country value problem of table output.Axial apparent velocity increment and W nx1adding up zero point is engine igniting time.Computing method are:
W Nx 1 = &Sigma;&Delta; W &OverBar; x 1 ;
22) in vehicle flight course, utilize tables of data
Figure BDA00004007062600000510
pitch program angle is by axial apparent velocity cumulative sum W nx1piecewise linear interpolation.According to W nx1interpolation pitch program angle, its formula is as follows
23) according to vehicle performance, designing requirement and track form to step 22) pitch program angle that obtains
Figure BDA00004007062600000512
carry out rationality differentiation, program angular rate of change is carried out to amplitude limit.As shown in Figure 4, m-axial apparent velocity increment accumulation and curve when corresponding with Fig. 3.Fig. 4 be the present invention by time m-pitch program angle tables of data to axial apparent velocity increment accumulation and-conversion method of pitch program angle tables of data, according to the time m-pitch program angle of establishing, obtain the nominal trajectory of vehicle, and the vehicle shaft that records the corresponding moment is to apparent velocity increment accumulation and W.T represents the time, W represent apparent velocity increment accumulation and.T 1, t 2for program angular rate of change is changed significantly constantly, be also pitchover section, dead axle section, posture adjustment section switching instant, corresponding apparent velocity increment accumulation and be respectively W1, W2.Three sections of pitch program angle increment amplitude limit value are respectively its numerical value is determined by vehicle performance and designing requirement.
Pitch program angle increment amplitude limit value
Figure BDA0000400706260000062
computing formula is
Figure BDA0000400706260000063
Utilize
Figure BDA0000400706260000064
to pitch program angle
Figure BDA0000400706260000065
carry out rationality differentiation:
Figure BDA0000400706260000066
for last cycle pitch program angle instruction,
Figure BDA0000400706260000068
the programmed instruction going out that is the powered phase program self-adaptation longitudinal guidance technology of measuring based on apparent acceleration, vehicle flies according to desired trajectory under this command guidance.
The present invention also can be applicable to have the vehicle of multi-stage engine, and for different engine characteristicses, based on apparent acceleration theoretical parameter, design generates corresponding standard program sequence, thereby realizes adaptive guidance.Its design process is same as above.
The content not being described in detail in instructions of the present invention belongs to those skilled in the art's known technology.

Claims (4)

1. a powered phase program self-adaptation longitudinal guidance method of measuring based on apparent acceleration, is characterized in that step is as follows:
1) based on apparent acceleration theoretical parameter, generate standard program sequence;
11) choose vehicle shaft to measuring axle as apparent acceleration;
12), by default time m-pitch program angle sequence substitution vehicle kinetic model, obtain the nominal trajectory of vehicle; According to nominal trajectory, obtain vehicle powered phase axial apparent velocity increment accumulation and, pitch program angle;
13) by axial apparent velocity increment accumulation and-pitch program angle mapping, according to control accuracy threshold value, choose number table interval, and set up axial apparent velocity increment accumulation and-pitch program angle counts table, as standard program sequence;
14) in the vehicle transmitting preparatory stage, by axial apparent velocity increment accumulation and-pitch program angle counts table and binds with all n-ary form ns;
2) according to the apparent acceleration measuring amount measuring, based on standard program sequence, carry out adaptive guidance;
21) apparent acceleration measuring amount carried out to rationality differentiation and reject after wild value, obtain axial apparent velocity increment accumulation with;
22) in vehicle flight course, utilize step 21) the axial apparent velocity increment accumulation that obtains and, to axial apparent velocity increment accumulation and-pitch program angle tables of data carries out linear interpolation and obtains pitch program angle;
23) according to default program angular rate of change amplitude to step 22) pitch program angle that obtains carries out rationality differentiation, and with the pitch program angle instruction after differentiating, controls vehicle and press desired trajectory flight.
2. a kind of powered phase program self-adaptation longitudinal guidance method of measuring based on apparent acceleration according to claim 1, is characterized in that: in step 13), according to control accuracy threshold value, also can choose piecewise fitting parameter, and set up fitting parameter table.
3. a kind of powered phase program self-adaptation longitudinal guidance method of measuring based on apparent acceleration according to claim 1, it is characterized in that: step 21) apparent acceleration measuring amount is carried out to rationality differentiation, reject the axial apparent velocity increment accumulation of acquisition after wild value and concrete grammar be:
211) to axial apparent velocity increment Delta W x1carry out rationality differentiation, obtain the axial apparent velocity increment after differentiating
Figure FDA0000400706250000021
Figure FDA0000400706250000022
In formula
Figure FDA0000400706250000023
for the axial apparent velocity increment after rationality differentiation,
Figure FDA0000400706250000024
for last cycle apparent velocity increment
Figure FDA0000400706250000025
for powered phase maximum apparent velocity increment value in the sampling period;
212) according to step 211) axial apparent velocity increment after the differentiation that obtains
Figure FDA0000400706250000026
obtain axial apparent velocity increment and
Figure FDA0000400706250000027
wherein adding up zero point is engine igniting time.
4. a kind of powered phase program self-adaptation longitudinal guidance method of measuring based on apparent acceleration according to claim 1, is characterized in that: step 23) in to step 22) pitch program angle that the obtains concrete grammar that carries out rationality differentiation is:
231) obtain pitch program angle increment amplitude limit value
Figure FDA0000400706250000028
In formula W1, W2 be respectively apparent velocity increment accumulation that pitch program angle speed limiting transfer point is corresponding and;
Figure FDA00004007062500000210
be respectively each section of pitch program angle increment amplitude limit value;
232) utilize pitch program angle increment amplitude limit value to pitch program angle
Figure FDA00004007062500000212
carry out rationality differentiation:
Figure FDA00004007062500000213
In formula for last cycle pitch program angle instruction, for the programmed instruction that the powered phase program self-adaptation longitudinal guidance technology of measuring based on apparent acceleration obtains, the pitch program angle instruction after differentiating.
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CN109798902A (en) * 2019-03-11 2019-05-24 北京星际荣耀空间科技有限公司 One kind being suitable for carrier rocket and enters the orbit modified interative guidance method
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CN110989669A (en) * 2019-12-11 2020-04-10 西安智翔防务技术有限公司 Online self-adaptive guidance algorithm for active section of multistage boosting gliding aircraft
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CN105973516A (en) * 2015-12-11 2016-09-28 北京强度环境研究所 Pulsation thrust method for identification of solid rocket engine
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CN107063244B (en) * 2017-04-14 2019-07-12 北京航天自动控制研究所 A kind of aircraft flight process analogy method
CN107063244A (en) * 2017-04-14 2017-08-18 北京航天自动控制研究所 A kind of aircraft flight process analogy method
CN108536020A (en) * 2018-07-17 2018-09-14 哈尔滨工业大学 A kind of model reference adaptive sliding model control method for VTOL Reusable Launch Vehicles
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CN109541941B (en) * 2018-11-19 2020-07-21 哈尔滨工业大学 Self-adaptive amplification anti-interference fault-tolerant method for active section flight of vertical take-off and landing carrier
CN109857140A (en) * 2019-01-30 2019-06-07 北京星际荣耀空间科技有限公司 Carrier rocket pitch program angle calculation method, system, equipment and storage medium
CN109798902A (en) * 2019-03-11 2019-05-24 北京星际荣耀空间科技有限公司 One kind being suitable for carrier rocket and enters the orbit modified interative guidance method
CN109798902B (en) * 2019-03-11 2020-09-22 北京星际荣耀空间科技有限公司 Iterative guidance method suitable for carrier rocket in-orbit correction
CN110989669A (en) * 2019-12-11 2020-04-10 西安智翔防务技术有限公司 Online self-adaptive guidance algorithm for active section of multistage boosting gliding aircraft
WO2022095643A1 (en) * 2020-11-03 2022-05-12 蓝箭航天空间科技股份有限公司 Self-adaptive iterative guidance method and device for aerospace vehicle
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