CN110955256B - Underwater high-precision attitude control method suitable for submarine-launched missile - Google Patents
Underwater high-precision attitude control method suitable for submarine-launched missile Download PDFInfo
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- CN110955256B CN110955256B CN201911220725.0A CN201911220725A CN110955256B CN 110955256 B CN110955256 B CN 110955256B CN 201911220725 A CN201911220725 A CN 201911220725A CN 110955256 B CN110955256 B CN 110955256B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
An underwater high-precision attitude control method suitable for a submarine-launched missile belongs to the technical field of flight control, and the provided method comprises the following steps: (1) Acquiring a missile pitching channel instruction, a missile yawing channel instruction and a missile angular velocity, wherein the missile angular velocity comprises a pitch angle velocity and a yaw angle velocity; (2) Filtering the missile angular velocity in the step (1) to obtain a filtered angular velocity; (3) Determining a pitching channel rudder instruction according to the missile pitching channel attitude instruction in the step (1) and the pitch angle speed filtered in the step (2); (4) Determining a yaw channel rudder instruction according to the missile yaw channel attitude instruction in the step (1) and the yaw angular speed filtered in the step (2); (5) Determining a single rudder command according to the pitch channel rudder command and the yaw channel rudder command which are obtained in the steps (3) - (4) respectively; (6) And (5) driving the spoiler to deflect according to the spoiler deflection angle instruction obtained in the step (5).
Description
Technical Field
The invention belongs to the technical field of flight control, and particularly relates to an underwater high-precision attitude control method suitable for a submarine-launched missile.
Background
The submarine launching self-defence air missile weapon system is novel air defence weapon equipment which is developed in competition of countries around the world. At present, the submarine-launched missiles develop towards large water depth and high dynamic direction. In order to meet the requirement of large water depth launching of the missile, a spoiler control mode is adopted, and moment is generated through spoiler deflection arranged at the tail part of the missile to control the movement of the missile. Due to the characteristics of the spoiler, the guided missile controlled by the spoiler has the cross coupling of channels. Meanwhile, due to the severe environments such as ocean currents, dark currents, waves and the like in the ocean, the missile has large interference in underwater motion. These channel couplings and disturbances are detrimental to precise control of the pose. The current test means cannot obtain the elastic mode frequency of the missile in water, cannot pertinently inhibit elastic vibration, and has the risk of the missile being out of control.
At present, the application of the submarine-launched missile controlled by the spoiler is less, and the research on the attitude control method of the type of missile is less, so that when the attitude control of the submarine-launched missile is carried out, the control methods such as a sliding film variable structure, optimal control or feedback linearization are generally adopted. When the existing control method is adopted for gesture control, the algorithm is complex, the requirement on hardware is high, and engineering implementation is difficult.
Disclosure of Invention
The invention solves the problems that: overcomes the defects of the prior art and provides an underwater high-precision attitude control method suitable for a submarine-launched missile.
The invention adopts an anti-interference attitude control scheme, treats cross coupling and large water depth environmental interference caused by spoiler control as disturbance, improves the robustness of a stable control loop through global self-adaptive parameter adjustment, realizes the suppression of the disturbance, ensures the stability of a channel of a missile and has good response performance; the elastic vibration signals in the angular velocity measured by the sensitive element are suppressed by adopting the notch filter, the uncertainty and complexity of underwater elastic vibration are fully considered, the parameters of the notch filter are optimally designed, and the system is ensured to have a better filtering effect when having a higher phase margin.
The technical scheme of the invention is as follows: an underwater high-precision attitude control method suitable for a submarine-launched missile comprises the following steps:
(1) Acquiring missile pitching channel gestures, missile yawing channel gesture instructions, missile pitch angle speed and missile yawing angular speed;
(2) Filtering the missile angular velocity in the step (1) to obtain a filtered angular velocity;
(3) Determining a pitching channel rudder instruction according to the missile pitching channel attitude instruction in the step (1) and the pitch angle speed filtered in the step (2);
(4) Determining a yaw channel rudder instruction according to the missile yaw channel attitude instruction in the step (1) and the yaw angular speed filtered in the step (2);
(5) Determining a spoiler deflection angle instruction according to the pitching channel rudder instruction and the yawing channel rudder instruction which are respectively obtained in the steps (3) - (4);
(6) And (5) driving the spoiler to deflect according to the spoiler deflection angle instruction obtained in the step (5).
Further, the calculation formula for filtering the angular velocity of the missile in the step (2) is as follows:
wherein Wz is the missile pitch angle speed, wy is the missile yaw angle speed, xp is the pitch angle speed after the filtering treatment, xy is the yaw angle speed after the filtering treatment, wz_1 is the previous missile pitch angle speed, wz_2 is the previous two-beat missile pitch angle speed, wy_1 is the previous missile yaw angle speed, wy_2 is the previous two-beat missile yaw angle speed, xp_1 is the pitch angle speed after the filtering treatment, xp_2 is the pitch angle speed after the filtering treatment, xy_1 is the yaw angle speed after the filtering treatment, and xy_2 is the yaw angle speed after the filtering treatment. Wherein A0, A1, A2, B0, B1 and B2 are notch filter parameters, which are predetermined constant values.
Further, the calculation formula of the pitch channel rudder command in the step (3) is as follows:
Further, the calculation formula of the yaw channel rudder command is as follows:
Further, the calculation formula of the spoiler deflection angle command in the step (5) is as follows:
Further, in the step (1), the pitch channel attitude command and the yaw channel attitude command are obtained according to the speed, the position and the attitude of the missile and the distance between the missile and the shooting target.
Further, the missile angular velocity in the step (1) is measured by a preset sensor.
Compared with the prior art, the invention has the advantages that:
according to the invention, while the pitching channel and the yawing channel respectively complete attitude control, the anti-interference attitude control scheme is adopted, so that the robustness of a control loop is improved, the stability of the channel of the missile is ensured, and the missile has good response performance. By adding the notch filter in the control loop, the suppression of the elastic vibration is realized, and the influence of the elastic vibration on the gesture control performance is avoided. Meanwhile, the control method is low in algorithm complexity and easy to realize engineering.
Drawings
FIG. 1 is a schematic flow chart of an underwater high-precision attitude control method suitable for a submarine-launched missile;
FIG. 2 is a schematic diagram of a control principle of an underwater high-precision attitude control method suitable for a submarine-launched missile according to the first embodiment of the invention;
fig. 3 is a schematic diagram of a control principle of the underwater high-precision attitude control method suitable for the submarine-launched missile.
Detailed Description
The flow chart of the method of the invention is shown in fig. 1, the control principle is shown in fig. 2 and 3, and the invention is described in detail below with reference to the control principle of fig. 2 and 3:
as shown in fig. 2, first, a guidance instruction resolving unit obtains a pitch channel attitude instruction and a yaw channel attitude instruction of a missile, and sends the instruction to a pitch channel and a yaw channel respectively, wherein the pitch channel attitude instruction is the difference between an actual pitch angle in the pitch channel and an expected value thereof, the yaw channel attitude instruction is the difference between an actual yaw angle in the yaw channel and the expected value thereof, and the pitch channel attitude instruction and the yaw channel attitude instruction are resolved by the guidance instruction resolving unit according to information such as the speed, the position, the attitude and the distance between the missile and a shooting target; the sensor unit measures the angular velocity of the missile, wherein the sensor unit can directly measure the angular velocity and overload information and send the angular velocity and overload information to the pitch channel and the yaw channel in the form of digital quantity or analog quantity, and the angular velocity comprises the pitch angle velocity and the yaw angle velocity.
Then the pitching channel calculates a pitching channel rudder command according to the attitude command output by the guidance command calculation unit and the pitching angle speed measured by the sensitive element unit; the yaw channel calculates a yaw channel rudder command according to the attitude command output by the guidance command calculation unit and the yaw angular velocity measured by the sensitive element unit;
and finally, sending the pitching channel rudder command and the yawing channel rudder command to a channel rudder command processing unit, and calculating four spoiler deflection angle commands to drive the steering surface to deflect, so that the purpose of controlling the missile flight is achieved.
In one embodiment of the present invention, as shown in fig. 3, the gains Kp1, kp2, ky1, ky2 are adjusted in advance according to the flying speed, flying height, and dynamic pressure of the missile, and finally a set of optimal value gains for stabilizing the missile flying are determined.
The specific workflow is described in detail below:
(1) The missile angular velocity is filtered according to the following formula:
in the above formula, wz is the missile pitch angle speed, wy is the missile yaw angle speed, xp is the pitch angle speed after the filtering process, xy is the yaw angle speed after the filtering process, wz_1 is the previous missile pitch angle speed, wz_2 is the previous two-beat missile pitch angle speed, wy_1 is the previous missile yaw angle speed, wy_2 is the previous two-beat missile yaw angle speed, xp_1 is the pitch angle speed after the filtering process, xp_2 is the pitch angle speed after the filtering process, xy1 is the yaw angle speed after the filtering process, and xy2 is the yaw angle speed after the filtering process. Wherein A0, A1, A2, B0, B1 and B2 are notch filter parameters, which are predetermined constant values.
(2) The pitch channel rudder command is calculated according to the following formula:
Qp＝Kp1×Thetac
Zp＝Kp2×Xp
Dp＝Qp+Zp
in the above formula, theta is a missile pitching channel attitude command, kp1 and Kp2 are preset constant gain, qp and Zp are calculated intermediate variables, and Dp is a pitching channel rudder command.
(3) The yaw path rudder command is calculated according to the following formula:
Qy＝Ky1×Psic
Zy＝Ky2×Xy
Dy＝Qy+Zy
in the above formula, psic is a missile yaw channel attitude instruction, ky1 and Ky2 are preset constant gain, qy and Zy are calculated intermediate variables, and Dy is a yaw channel rudder instruction.
(4) The pitch channel rudder command Dp and the yaw channel rudder command Dy are sent to a channel rudder command processing unit, and four spoiler deflection angle commands are calculated according to the following formula:
in the above formula, D1, D2, D3 and D4 are respectively four spoiler deflection angle instructions of the missile.
(5) Four spoilers are respectively driven to deflect by four spoilers deflection angle instructions, so that the purpose of controlling the missile to fly is achieved.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (6)
1. The underwater high-precision attitude control method suitable for the submarine-launched missile adopts a spoiler control mode, and is characterized by comprising the following steps:
(1) Acquiring missile pitching channel gestures, missile yawing channel gesture instructions, missile pitch angle speed and missile yawing angular speed;
(2) Filtering the missile angular velocity in the step (1) to obtain a filtered angular velocity;
(3) Determining a pitching channel rudder instruction according to the missile pitching channel attitude instruction in the step (1) and the pitch angle speed filtered in the step (2);
(4) Determining a yaw channel rudder instruction according to the missile yaw channel attitude instruction in the step (1) and the yaw angular speed filtered in the step (2);
(5) Determining a spoiler deflection angle instruction according to the pitching channel rudder instruction and the yawing channel rudder instruction which are respectively obtained in the steps (3) - (4);
(6) Driving the spoiler to deflect according to the spoiler deflection angle instruction obtained in the step (5);
the calculation formula for filtering the missile angular velocity in the step (2) is as follows:
wherein Wz is the missile pitch angle speed, wy is the missile yaw angle speed, xp is the filtered pitch angle speed, xy is the filtered yaw angle speed, wz_1 is the previous missile pitch angle speed, wz_2 is the previous two-beat missile pitch angle speed, wy_1 is the previous two-beat missile yaw angle speed, xp_1 is the previous one-beat filtered pitch angle speed, xp_2 is the previous two-beat filtered pitch angle speed, xy_1 is the previous one-beat filtered yaw angle speed, and xy_2 is the previous two-beat filtered yaw angle speed; wherein A0, A1, A2, B0, B1 and B2 are notch filter parameters, which are predetermined constant values.
2. The method for controlling the underwater high-precision attitude suitable for the submarine-launched missile according to claim 1, wherein the calculation formula of the pitching channel rudder command in the step (3) is as follows:
3. The method for controlling the underwater high-precision attitude suitable for the submarine-launched missile according to claim 1, wherein the calculation formula of the yaw passage rudder command in the step (4) is as follows:
4. The method for controlling the underwater high-precision attitude suitable for the submarine-launched missile according to claim 1, wherein the calculation formula of the spoiler deflection angle command in the step (5) is as follows:
5. The method according to any one of claims 1 to 4, wherein the pitch path attitude command and the yaw path attitude command in the step (1) are obtained according to the speed, the position, the attitude and the distance from the shooting target of the missile.
6. The method for controlling the underwater high-precision attitude of a submarine-launched missile according to any one of claims 1 to 4, wherein the angular velocity of the missile in the step (1) is measured by a preset sensor.
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