CN108153323A - A kind of high-altitude unmanned vehicle high-precision reentry guidance method - Google Patents
A kind of high-altitude unmanned vehicle high-precision reentry guidance method Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The present invention relates to a kind of high-altitude unmanned vehicle high-precision reentry guidance methods, the first step, reentry stage aerodynamic parameter is not known, atmospheric density is not known and the interference analysis of the multi-source of gust disturbance for completion, and establishes the high-altitude unmanned vehicle equivalence interference kinetic model interfered containing gas three of the above；Second step, the kinetic model in the first step, design Nonlinear Disturbance Observer estimates the interference of equal value that high-altitude unmanned vehicle reentry stage is subject to, and obtains interference estimate；Third walks, and design proportion guidance law completes control task demand；4th step, the proportional guidance law design compositely proportional guiding controller walked using the interference estimate and third of second step, the high-precision reentry guidance method of completion high-altitude unmanned vehicle.The high-precision reentry guidance method that the present invention is combined using interference observer with proportional guidance has stronger engineering practicability, suitable for the reentry guidance system of high-altitude unmanned flight's system, also suitable for the cruise section of aircraft and faults-tolerant control.
Description
Technical field
The present invention relates to a kind of high-altitude unmanned vehicle high-precision reentry guidance methods, can solve with aerodynamic parameter not
It determines, atmospheric density is not known and the anti-interference reentry guidance problem of the high-altitude unmanned vehicle of gust disturbance.
Background technology
With the development of vehicle technology, high-altitude unmanned vehicle becomes recent popular research object, including guided missile and height
Supersonic aircraft etc., this class object have many advantages, such as that rapidity, voyage are remote, precision is high.
The reentry stage of high-altitude unmanned vehicle is the critical period of overall task process, and high-precision reentry guidance is with control
The key technology of process is reentered, but the aerodynamic parameter faced is not known, atmospheric density is not known and the interference of gust disturbance multi-source
Problem has seriously affected the requirements for high precision for the process of reentering.High-altitude unmanned vehicle reentry guidance process flight span is larger, can
It flies from the reentry point for the 100km that is above the ground level to target point a certain on ground, space environment transformation is complicated during this.It is existing
Technology can not real-time and accurate measurement or estimation aerodynamic parameter, the environmental parameters such as atmospheric density, some researches show that reentry stages in engineering
Aerodynamic parameter do not know up to 15%~20%, atmospheric density does not know to can reach 10% or so yet, this results in being established
Model in do not known there are aerodynamic parameter and atmospheric density uncertain noises.Meanwhile existing gust disturbance is tight near space
Ghost image rings the flight path and posture of high-altitude vehicle, and certain error is generated to system.Aerodynamic parameter is not known, atmospheric density not
These three interference of determining and gust disturbance, huge choose is brought to the high-precision reentry guidance for solving the problems, such as high-altitude unmanned vehicle
War seriously affects the accuracy for the task of reentering.It can be seen that the high-altitude unmanned vehicle high-precision that design has antijamming capability reenters
Method of guidance is particularly important.
At present, for high-altitude unmanned vehicle reentry guidance problem, domestic and foreign scholars are also made that a large amount of research.Patent
Application No. is proposed in 201410228163.5 it is a kind of based in high precision in length and breadth journey analytical Prediction reentry guidance rule, patent application
Number to track target problem for hypersonic aircraft in 201710256646.X, propose based on the pre- of aerodynamic acceleration channel
Corrective control method is surveyed, but two above patent does not consider the multi-source interference problem in task process.There is partial monopoly consideration
The uncertain factor of reentry stage, but there are other problems：Number of patent application proposes that one kind is based in being 201710370437.8
The robust reentry guidance method of linear covariance model PREDICTIVE CONTROL solves influence of the uncertain factor to impact accuracy, but should
Method model is linear model, differs larger with realistic model.A kind of Mars is proposed in number of patent application 201610306205.1
The anti-interference compound online method of guidance of lander air approach section, but this method only accounts for single interference source, does not consider a variety of
Uncertain and interference situation.In addition, in some papers, there is also deficiencies：Article《Hypersonic wind aircraft fore-and-aft plane
Gliding flight Guidance and control method》The method of guidance being combined based on dynamic surface control and sliding formwork control is proposed, but article makes
Model is two-dimensional model, which lacks engineering practicability, and article does not consider that high-precision control in-flight is asked
Topic.In conclusion existing method lacks to containing the high-altitude unmanned vehicle Dynamic Modeling under multi-source disturbed condition, and can not
Solution is not known containing aerodynamic parameter, atmospheric density is not known and the high-altitude unmanned vehicle high-precision reentry guidance of gust disturbance
Problem.
Invention content
The technology of the present invention solves the problems, such as：For do not known containing aerodynamic parameter, atmospheric density is not known and fitful wind is done
The high-altitude unmanned vehicle reentry guidance problem disturbed, overcome the deficiencies in the prior art establish the kinetic simulation for including multi-source interference
Type, the method that is combined with interference observer of proportion of utilization guiding, the compound anti-interference reentry guidance controller of design realize pair
Aerodynamic parameter is not known, atmospheric density is not known and the estimation and compensation of gust disturbance, so as to promote high-altitude unmanned vehicle again
Enter the robustness, accuracy and antijamming capability of guidance.
The present invention and technical solution are：A kind of high-altitude unmanned vehicle high-precision reentry guidance method realizes step
It is rapid as follows：
The first step：Reentry stage aerodynamic parameter is not known, atmospheric density is not known and the interference point of the multi-source of gust disturbance for completion
Analysis, and establish the high-altitude unmanned vehicle equivalence interference kinetic model interfered containing gas three of the above：
Wherein, latitude φ, aircraft phase where longitude θ, aircraft where the earth's core to aircraft centroid distance r, aircraft
To ball speed V, flight path deflection ψ and flight path angle γ；Respectively the one of r, θ, φ, V, ψ, γ
Order derivative；σ is aircraft angle of heel, and g is gravitational acceleration, d1、d2、d3Represent the interference of fitful wind equivalence, d4、d5、d6Represent pneumatic
Parameter uncertainties and the uncertain interference of equal value of atmospheric density；L and D represents lift acceleration and drag acceleration respectively, expresses
Formula form is as follows：
Wherein, ρ is atmospheric density, and S is the area of reference of aircraft, and m is the quality of aircraft, CLWith CDIt is respectively whole
Lift coefficient and resistance coefficient, the aerodynamic parameter model of lift coefficient and resistance coefficient is as follows：
Wherein, MaFor Mach number, α is the angle of attack；CL1、CL2、CL3、CL4Respectively second order angle of attack coefficient, the single order of lift coefficient
Angle of attack coefficient, Mach number coefficient, constant coefficient；CD1、CD2、CD3、CD4Second order angle of attack coefficient, the single order of respectively resistance coefficient are attacked
Ascent, Mach number coefficient, constant coefficient；Controlled quentity controlled variable is chosen for aircraft angle of heel σ and angle of attack；
Formula (1) is converted into following state-space expression：
Wherein, For x's
First derivative.
Second step：Kinetic model in the first step, design Nonlinear Disturbance Observer is to high-altitude unmanned vehicle
The interference of equal value that reentry stage is subject to is estimated, obtains interference estimate：
It is as follows to design interference observer：
Wherein,For the interference estimate of unknown interference d of equal value, z is the intermediate variable in interference observer,One for z
Order derivative, l (x) are observer gain to be determined, and p (x) is matrix of variables to be designed, is had with observer gain l (x) as follows
Relationship：
Third walks：Design proportion guidance law completes control task demand：
Design proportion guidance law is：
Wherein,Projection angular speed of the flight angular speed in vertical plane for aircraft,Flying angle for aircraft
The projection angular speed of speed in the horizontal plane, kd、ktRespectively vertical steering coefficient and horizontal guide coefficient, λDIt hangs down for aircraft
Look at line angle straight,For vertical coverage angular acceleration, λTLine angle is looked squarely for aircraft water,For horizontal line of sight angular acceleration.
Following desired track directional angular velocity is acquired according to proportional guidance lawWith flight path angle speed
The desired track directional angular velocity calculated using above formulaWith desired track inclination angle speedBy to dynamics
Model (1) is solved equation with aerodynamic parameter model (2) simultaneous, controlled quentity controlled variable aircraft angle of heel σ and angle of attack is calculated, according to state
Spatial expression (3) obtains proportional guidance equivalent system input ue。
4th step：The proportional guidance law design compositely proportional guiding control walked using the interference estimate and third of second step
Device completes the high-precision reentry guidance method of high-altitude unmanned vehicle：
Design compositely proportional guiding controller：
Wherein, ueIt is inputted for proportional guidance equivalent system,Interference estimate for unknown interference d of equal value.
The advantages of the present invention over the prior art are that：A kind of high-altitude unmanned vehicle high-precision of the present invention reenters system
Guiding method, for existing reentry system because do not know there are aerodynamic parameter, atmospheric density is not known and gust disturbance and cause
The problem of accuracy decline, has been initially set up comprising aerodynamic parameter is not known, atmospheric density is not known and the equivalence of gust disturbance is done
Mechanical model is disturbed, secondary design interference observer estimates the interference of equal value during reentering, then in incorporation engineering
Classical proportional guidance control method, completes a kind of high-altitude unmanned vehicle high-precision reentry guidance method, compared with prior art,
The invention enables high-altitude unmanned vehicles to have noiseproof feature, meets the zero-miss guidance demand of system, so as to ensure high-altitude
Unmanned vehicle can quickly, accurately pursue and attack expectation target point
Description of the drawings
Fig. 1 is a kind of design flow diagram of high-altitude unmanned vehicle high-precision reentry guidance method of the present invention.
Specific embodiment
As shown in Figure 1, the present invention relates to a kind of high-altitude unmanned vehicle high-precision reentry guidance methods.This method, which is directed to, to be contained
There is aerodynamic parameter not know, atmospheric density is not known and the high-altitude unmanned vehicle reentry guidance problem of gust disturbance, the first step,
Reentry stage aerodynamic parameter is not known, atmospheric density is not known and the interference analysis of the multi-source of gust disturbance, and is established and contained gas for completion
The high-altitude unmanned vehicle equivalence interference kinetic model of three of the above interference；Second step, the kinetic simulation in the first step
Type, design Nonlinear Disturbance Observer estimates the interference of equal value that high-altitude unmanned vehicle reentry stage is subject to, and is interfered
Estimated value；Third walks, and design proportion guidance law completes control task demand；4th step, using second step interference estimate and
The proportional guidance law design compositely proportional guiding controller of third step completes the high-precision reentry guidance side of high-altitude unmanned vehicle
Method.The high-precision reentry guidance method that the present invention is combined using interference observer with proportional guidance has stronger Practical
Property, suitable for the reentry guidance system of high-altitude unmanned flight's system, also suitable for the cruise section of aircraft and faults-tolerant control.
Specific embodiment is as follows：
The first step：Reentry stage aerodynamic parameter is not known, atmospheric density is not known and the interference point of the multi-source of gust disturbance for completion
Analysis, and establish the high-altitude unmanned vehicle equivalence interference kinetic model interfered containing gas three of the above：
Wherein, the earth's core is to aircraft centroid distance r, longitude θ where initial value 30480km, aircraft, and initial value is
Latitude φ where 0.0017rad, aircraft, with respect to ball speed V, initial value is for initial value 0.0024rad, aircraft
3352.8m/s, flight path deflection ψ and flight path angle γ, initial value are respectively 3.9rad and -0.785rad.The respectively first derivative of r, θ, φ, V, ψ, γ.σ is aircraft angle of heel, and g is gravitational acceleration,
Value is 9.8m/s2, d1、d2、d3Represent the interference of fitful wind equivalence, d4、d5、d6It is not true with atmospheric density to represent that aerodynamic parameter is not known
Fixed interference of equal value, L and D represent lift acceleration and drag acceleration respectively, and expression formula form is as follows：
Wherein, ρ is atmospheric density, value 1.225kg/m3, S is the area of reference of aircraft, value 149.4m2, m
For the quality of aircraft, value 35828kg, CLWith CDRespectively whole lift coefficient and resistance coefficient.Lift coefficient and resistance
The aerodynamic parameter model of force coefficient is as follows：
Wherein, MaFor Mach number, initial value 11Ma, α are the angle of attack.According to model above, controlled quentity controlled variable is chosen for aircraft
Angle of heel σ and angle of attack.
Above system (1) is converted into following state-space expression：
Wherein, For x's
First derivative.
Second step：Kinetic model in the first step, design Nonlinear Disturbance Observer is to high-altitude unmanned vehicle
The interference of equal value that reentry stage is subject to is estimated, obtains interference estimate：
It is as follows to design interference observer：
Wherein,For the interference estimate of unknown interference d of equal value, z is the intermediate variable in interference observer,One for z
Order derivative, l (x) are observer gain to be determined, and p (x) is matrix of variables to be designed, is had with observer gain l (x) as follows
Relationship：
Claims (5)
- A kind of 1. high-altitude unmanned vehicle high-precision reentry guidance method, it is characterised in that：Include the following steps：The first step, reentry stage aerodynamic parameter is not known, atmospheric density is not known and the interference analysis of the multi-source of gust disturbance for completion, and Establish the high-altitude unmanned vehicle equivalence interference kinetic model interfered containing three of the above；Second step, the kinetic model in the first step, design Nonlinear Disturbance Observer is to high-altitude unmanned vehicle The interference of equal value that reentry stage is subject to is estimated, obtains interference estimate；Third walks, design proportion guidance law, completes control task demand；4th step, the proportional guidance law design compositely proportional guiding controller walked using the interference estimate and third of second step, Complete the high-precision reentry guidance method of high-altitude unmanned vehicle.
- 2. a kind of high-altitude unmanned vehicle high-precision reentry guidance method according to claim 1, it is characterised in that：It is described In the first step, reentry stage aerodynamic parameter is not known, atmospheric density is not known and the interference analysis of the multi-source of gust disturbance, and is built for completion The vertical high-altitude unmanned vehicle equivalence interference kinetic model interfered containing gas three of the above：Wherein, the earth's core to aircraft centroid distance r, latitude φ, aircraft where longitude θ, aircraft where aircraft relatively Ball speed V, flight path deflection ψ and flight path angle γ；The single order of respectively r, θ, φ, V, ψ, γ are led Number；σ is aircraft angle of heel, and g is gravitational acceleration, d1、d2、d3Represent the interference of fitful wind equivalence, d4、d5、d6Represent aerodynamic parameter It is uncertain to be interfered with the uncertain equivalence of atmospheric density；L and D represents lift acceleration and drag acceleration, expression formula shape respectively Formula is as follows：Wherein, ρ is atmospheric density, and S is the area of reference of aircraft, and m is the quality of aircraft, CLWith CDRespectively whole liter The aerodynamic parameter model of force coefficient and resistance coefficient, lift coefficient and resistance coefficient is as follows：Wherein, MaFor Mach number, α is the angle of attack；CL1、CL2、CL3、CL4Respectively second order angle of attack coefficient, the single order angle of attack of lift coefficient Coefficient, Mach number coefficient, constant coefficient；CD1、CD2、CD3、CD4Respectively the second order angle of attack coefficient of resistance coefficient, single order angle of attack system Number, Mach number coefficient, constant coefficient；Controlled quentity controlled variable is chosen for aircraft angle of heel σ and angle of attack；Formula (1) is converted into following state-space expression：Wherein,One for x Order derivative.
- 3. a kind of high-altitude unmanned vehicle high-precision reentry guidance method according to claim 1, it is characterised in that：It is described In second step, the kinetic model in the first step, design Nonlinear Disturbance Observer is to high-altitude unmanned vehicle reentry stage The interference of equal value being subject to is estimated, obtains interference estimate：Wherein,For the interference estimate of unknown interference d of equal value, z is the intermediate variable in interference observer,Single order for z is led Number, l (x) are observer gain to be determined, and p (x) is matrix of variables to be designed, with observer gain l (x) just like ShiShimonoseki System：
- 4. a kind of high-altitude unmanned vehicle high-precision reentry guidance method according to claim 2, it is characterised in that：It is described In third step, it is as follows that design proportion guidance law completes control task demand：The proportional guidance law of design is：Wherein,Projection angular speed of the flight angular speed in vertical plane for aircraft,Flight angular speed for aircraft Projection angular speed in the horizontal plane, kd、ktRespectively vertical steering coefficient and horizontal guide coefficient, λDIt is regarded for aircraft vertical Line angle,For vertical coverage angular acceleration, λTLine angle is looked squarely for aircraft water,For horizontal line of sight angular acceleration；Following desired track directional angular velocity is acquired according to proportional guidance lawWith flight path angle speedThe desired track directional angular velocity calculated using above formulaWith desired track inclination angle speedBy to kinetic model (1) with aerodynamic parameter model (2), simultaneous solves equation, and controlled quentity controlled variable aircraft angle of heel σ and angle of attack is calculated, according to state space Expression formula (3) obtains proportional guidance equivalent system input ue。
- 5. a kind of high-altitude unmanned vehicle high-precision reentry guidance method according to claim 1, it is characterised in that：It is described In 4th step, design compositely proportional guiding controller is：Wherein, ueIt is inputted for proportional guidance equivalent system,Interference estimate for unknown interference d of equal value.
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| CN108958278A (en) * | 2018-08-14 | 2018-12-07 | 北京航空航天大学 | A kind of quick anti-interference method of guidance of re-entry space vehicle cruise section |
| CN109947123A (en) * | 2019-02-27 | 2019-06-28 | 南京航空航天大学 | A kind of unmanned plane path trace and automatic obstacle avoiding method based on line of sight guidance rule |
| CN110780676A (en) * | 2018-12-29 | 2020-02-11 | 东南大学 | Composite active anti-interference track tracking control method for disturbed small unmanned helicopter |
| CN110908407A (en) * | 2019-11-15 | 2020-03-24 | 南京航空航天大学 | Improved prediction guidance method for RLV reentry heat flow rate tracking |
| CN111324142A (en) * | 2020-01-07 | 2020-06-23 | 湖北航天技术研究院总体设计所 | Missile navigator disturbance compensation control method |
| CN112525221A (en) * | 2020-11-27 | 2021-03-19 | 北京控制工程研究所 | Advanced numerical prediction correction guidance method based on adaptive control |
| CN112731813A (en) * | 2020-12-29 | 2021-04-30 | 西北工业大学 | Spacecraft multi-source interference random model prediction control method based on composite disturbance observer |
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| CN108958278A (en) * | 2018-08-14 | 2018-12-07 | 北京航空航天大学 | A kind of quick anti-interference method of guidance of re-entry space vehicle cruise section |
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| CN109947123A (en) * | 2019-02-27 | 2019-06-28 | 南京航空航天大学 | A kind of unmanned plane path trace and automatic obstacle avoiding method based on line of sight guidance rule |
| CN109947123B (en) * | 2019-02-27 | 2021-06-22 | 南京航空航天大学 | Unmanned aerial vehicle path tracking and autonomous obstacle avoidance method based on sight guidance law |
| CN110908407A (en) * | 2019-11-15 | 2020-03-24 | 南京航空航天大学 | Improved prediction guidance method for RLV reentry heat flow rate tracking |
| CN110908407B (en) * | 2019-11-15 | 2021-06-22 | 南京航空航天大学 | Improved prediction guidance method for RLV reentry heat flow rate tracking |
| CN111324142A (en) * | 2020-01-07 | 2020-06-23 | 湖北航天技术研究院总体设计所 | Missile navigator disturbance compensation control method |
| CN112525221A (en) * | 2020-11-27 | 2021-03-19 | 北京控制工程研究所 | Advanced numerical prediction correction guidance method based on adaptive control |
| CN112525221B (en) * | 2020-11-27 | 2023-05-02 | 北京控制工程研究所 | Advanced numerical prediction correction guidance method based on adaptive control |
| CN112731813A (en) * | 2020-12-29 | 2021-04-30 | 西北工业大学 | Spacecraft multi-source interference random model prediction control method based on composite disturbance observer |
| CN112731813B (en) * | 2020-12-29 | 2022-05-13 | 西北工业大学 | Spacecraft multi-source interference random model prediction control method based on composite disturbance observer |
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