CN111399531A - Hypersonic aircraft glide phase guidance and attitude control integrated design method - Google Patents
Hypersonic aircraft glide phase guidance and attitude control integrated design method Download PDFInfo
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
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Abstract
The method comprises the steps of taking the geocentric distance of a current moving target and the latitude and longitude of the moving target as the input of a hypersonic aircraft gliding section guidance and attitude control integrated control model, generating a control rudder deflection angle according to a control scheme of the hypersonic aircraft gliding section guidance and attitude control integrated control model, inputting the control rudder deflection angle to a six-degree-of-freedom movement model of a hypersonic aircraft, and enabling the hypersonic aircraft to fly to the moving target to complete a flight task. The control scheme of the hypersonic aircraft glide section guidance and attitude control integrated model is designed based on the block dynamic surface method, the attitude control task requirement of the aircraft glide section is met, the guidance and control precision is high, the whole-course output change of the control quantity is smooth, the task adaptability of the aircraft is improved, and the problem of difficult coordination between the guidance and the control of the hypersonic aircraft is effectively solved.
Description
Technical Field
The invention relates to the field of aircraft control, in particular to a hypersonic aircraft glide phase guidance control method.
Background
The basic process of the hypersonic flight vehicle gliding flight is to control the flight vehicle to stably fly to reach a preset target end point under the condition of meeting all process constraints. For the 'boosting-gliding' type hypersonic aircraft, unpowered gliding flight when the hypersonic aircraft is in the near space is the greatest advantage of the hypersonic aircraft compared with the traditional ballistic missile, and the range and the attack capability of the hypersonic aircraft are effectively improved.
However, because the hypersonic flight vehicle has extremely high flying speed, the mass center movement and the motion around the mass center both present the characteristics of fast time variation, nonlinearity, strong coupling, uncertainty and the like. The traditional aircraft guidance and control system is mainly based on a frequency spectrum separation theory to separately design control and guidance subsystems, coupling information among the subsystems is not utilized, and the integrated guidance and control system can fully utilize the coupling information among the subsystems to improve the performance of the whole control system.
At present, research aiming at the hypersonic aircraft mainly aims at the problems of a separation design method of a guidance control system of the hypersonic aircraft and an integrated design method of a guidance and attitude control system of a glide section, the research results of the integrated research of the guidance and attitude control of the hypersonic aircraft in the glide section are few, and related technologies are not disclosed so far.
Disclosure of Invention
Aiming at the problem of integrated design of guidance and attitude control of the glide section of the hypersonic aircraft in the prior art, the invention aims to provide an integrated design method of guidance and attitude control of the glide section of the hypersonic aircraft. Specifically, the invention relates to an integrated design method of a guidance attitude control system of an air-breathing general hypersonic aircraft model (GHV) in a glide section, and the hypersonic aircraft can well meet the task requirement of flight in the glide section by the integrated design of guidance and attitude control of the air-breathing general hypersonic aircraft model (GHV) in the glide section.
In order to achieve the technical purpose, the invention adopts the technical scheme that:
an integrated design method for guidance and attitude control of a glide phase of a hypersonic aircraft is used for acquiring the geocentric distance r of a current moving targetTLatitude of moving object
Longitude λTThe geocentric distance r of the current moving target is calculatedTLatitude of moving object
Longitude λTAnd as the input of the hypersonic aircraft glide section guidance and attitude control integrated control model, generating a control rudder deflection angle according to the control scheme of the hypersonic aircraft glide section guidance and attitude control integrated control model, inputting the control rudder deflection angle into a six-degree-of-freedom motion model of the hypersonic aircraft, and enabling the hypersonic aircraft to fly to a motion target to complete a flight task. Specifically, the hypersonic aerocraft is an air-breathing general hypersonic aerocraft.
In the invention, based on the geometric model of the hypersonic aircraft (as shown in fig. 2), a six-degree-of-freedom motion model of the hypersonic aircraft is constructed as follows:
in the formula: v is the flight speed of the hypersonic aerocraft, theta is the local speed inclination angle, and sigma is the track yaw angle; omegax，ωy，ωzRespectively, the three-axis rotation angular velocity of the hypersonic aerocraft, m is the mass of the hypersonic aerocraft, gammaVTo a roll angle, Ix，Iy，IzL, D and N are aerodynamic forces borne by the hypersonic aerocraft, namely lift force, resistance force and lateral force, Mx，My，MzThe aerodynamic moment, the rolling moment, the yawing moment and the pitching moment, which are respectively borne by the aircraft, and the expressions of the aerodynamic force and the aerodynamic moment are respectively as follows:
the above formula is an aerodynamic expression of the hypersonic deformable aircraft, wherein,
zero angle of attack lift coefficient;
is the rate of change of coefficient of lift with respect to angle of attack, CDIs a coefficient of resistance, CNAre the lateral force coefficients, which are known quantities; b and c are transverse lateral reference length and longitudinal reference length of the hypersonic aircraft respectively, and m isxβIs the partial derivative of roll torque with respect to side slip angle β, myβIs the partial derivative of the yaw moment with respect to the side slip angle β,
is the partial derivative matrix of the pitch moment with respect to the side slip angle β,
for roll moment coefficient versus roll rudder deflection anglexThe partial derivative of (a) of (b),
respectively yaw moment coefficient to rudder deflection angleyThe partial derivative of (a) of (b),
for elevators, respectively pitch moment coefficientzα is in the form of α being the angle of attack, ζLFor uncertainty of lift, α ═ 1 α α3]T。
Respectively, triaxial moment uncertainty.
q＝0.5ρV2Is dynamic pressure, ρ is the atmospheric density, a known quantity, S0The reference area is a known quantity for the hypersonic flight vehicle. The expression of the allowance in the six-degree-of-freedom motion model of the hypersonic aircraft is as follows:
mu is the gravitational constant, omegaeIs the angular velocity of rotation of the earth, J is 1.5J2Is a harmonic coefficient ofeAre known quantities for the earth's semi-major axis. r is the distance between the centers of the earth.
In the invention, a guidance and attitude control integrated control model of the hypersonic aerocraft in the glide section is constructed based on a guidance equation for controlling the course and the azimuth error of the hypersonic aerocraft facing control, a kinematic equation around the center of mass of the hypersonic aerocraft facing control and a kinematic equation around the center of mass of the hypersonic aerocraft facing control.
The control-oriented guidance equation for the control of the course and the azimuth error of the hypersonic aerocraft is as follows:
in the formula:
assuming a target command x of a six-degree-of-freedom motion model of the hypersonic aerocraft by taking a local velocity inclination angle theta and a track yaw angle sigma as state quantities0CIs shown below
x0c＝[θcσc]T
Derivation of x0CMedium speed tilt angle command value thetacAnd a track yaw angle command value sigmacIs described in (1).
The speed dip angle instruction of the hypersonic aircraft for flying and supporting the moving target is as follows
Track yaw angle command value sigmacIs expressed as
The output x of the guidance equation for controlling the range and the azimuth error of the control-oriented hypersonic aircraft0For local speed inclination theta and track yaw angle sigma, input
Is coefficient of lift CLTwo components of (a).
In the invention, the control-oriented hypersonic deformable aircraft has the following kinematic equation around the mass center:
in the formula (I), the compound is shown in the specification,
wherein β is the slip angle, ζ01、ζ02Is ζ0Two components of (a).
Solving x by control-oriented hypersonic deformable aircraft around centroid kinematic equation1＝[α β γV]TSubstituting into the aerodynamic expression of hypersonic deformable aircraft to obtain lift coefficient CLAnd then the input of the motion equation of the hypersonic deformable aircraft relative to the moving target facing the control can be obtained
The input of the control-oriented hypersonic aerocraft around the center of mass kinematics equation is the three-axis rotation angular velocity vector x of the hypersonic aerocraft2＝[ωxωyωz]T。
In the invention, the control-oriented hypersonic aircraft dynamic equation around the center of mass is as follows:
in the formula
The output of the control-oriented hypersonic aircraft mechanical equation of motion around the center of mass is x2The input is the control rudder deflection angle u ═ of the hypersonic aerocraftx y z]T。
The control method comprises the following steps of simultaneously establishing a guidance equation for controlling the range and the azimuth error of the hypersonic aerocraft facing the control, a kinematics equation around the center of mass of the hypersonic aerocraft facing the control and a kinematics equation around the center of mass of the hypersonic aerocraft facing the control, namely establishing an integrated control model of the glide section guidance and the attitude control of the hypersonic aerocraft as follows:
in the invention: based on a block dynamic surface method, a guidance and attitude control integrated control scheme of the hypersonic aircraft in a glide section is designed. Specifically, the control scheme of the hypersonic aircraft glide section guidance and attitude control integrated control model is as follows:
in the above control scheme:
s0for the first dynamic plane defined, x1With its instruction value x1dDifference of (a), x1dFor the first virtual control input, k0＝diag(k01k02) Given a positive gain constant;01and02a gain of a saturation function term to be given; sat (s, d) is a saturation function defined as:
γVdfor the calculated roll angle command value, αvFor the calculated roll angle command values, all pass x1dSolving to obtain;
s1for the second dynamic plane of definition, x1With its instruction value x1dDifference of (a), x2dA virtual control input for a second dynamic surface; k is a radical of1＝diag(k11,k12,k13) Given a positive gain constant; tau is1＝diag(τ11,τ12,τ13) Is the time constant of the filter. According to the virtual control quantity x2dIs obtained such that x1Reach the expected instruction value x1dThree-channel angular rate virtual input desired value omegaxd,ωyd,ωzd；
Definition s2Is a third dynamic surface, is x2With its instruction value x2dU is the control input for the third dynamic surface. k is a radical of2＝diag(k21k22k23) Given a positive gain constant, τ2＝diag(τ21,τ22,τ23) Virtually inputting a desired value x according to the three-channel angular rate as a time constant of a filter2dAnd obtaining a design rudder deflection angle input u to complete the stable control and guidance control of the aircraft attitude control system.
The invention also provides a hypersonic aircraft glide section guidance and attitude control integrated system, which comprises:
a target information acquisition module for acquiring the geocentric distance r of the current moving targetTLatitude of moving object
Longitude λT；
The guidance module receives the target information acquired by the target information acquisition module, inputs the target information into a hypersonic aircraft glide section guidance and attitude control integrated control model which is pre-loaded on the guidance module, and generates a control rudder deflection angle according to a pre-designed control scheme of the hypersonic aircraft glide section guidance and attitude control integrated control model;
and the attitude control-control module receives the control rudder deflection angle generated by the guidance module, inputs the control rudder deflection angle into a six-degree-of-freedom motion model of the supersonic aircraft pre-loaded on the attitude control-control module, and completes the stable motion of the hypersonic aircraft and realizes the tracking control of the guidance instruction.
The invention also provides a hypersonic aircraft, which adopts the technical scheme that: a hypersonic aircraft comprises an aircraft body and an airborne circuit board arranged in the aircraft body, wherein a processor and a memory are arranged on the airborne circuit board, a computer program is stored in the memory, and the processor executes the computer program to realize the step of the hypersonic aircraft glide section guidance and attitude control integrated design method.
The invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is characterized in that when being executed by a processor, the computer program realizes the steps of the hypersonic aircraft glide section guidance and attitude control integrated design method.
Compared with the prior art, the invention has the following advantages:
the invention designs a guidance and attitude control integrated system for the flight of a hypersonic aircraft in a glide phase. The research of the integrated design of the guidance attitude control system of the glide phase is developed aiming at an air-breathing general hypersonic aerocraft model (GHV). Firstly, a glide section guidance attitude control integrated model based on range and azimuth error control is established, and the design of a guidance attitude control integrated method of a hypersonic aircraft in a glide section is completed by using a self-adaptive block dynamic surface design idea. The method is suitable for completing the flight task of the glide section of the hypersonic aircraft, has great significance in engineering application, effectively solves the problem of coordination and stability of guidance and attitude control of the hypersonic aircraft in the glide section, simultaneously ensures the robustness of a design method of a guidance control system, meets the flight task requirement of the glide section, and is suitable for integrated design of guidance and attitude control of the glide section of the hypersonic aircraft.
Drawings
FIG. 1 is a schematic flow chart of example 1
FIG. 2 is a geometric model diagram of a hypersonic aircraft
FIG. 3 is a three-dimensional variation graph of the latitude and longitude and the altitude of the track in the flight of the glide flight
FIG. 4 is a graph showing the variation of track altitude, latitude and longitude in the flight of glide flight
FIG. 5 is a graph of track angle, local velocity dip and velocity change in flight during the glide phase
FIG. 6 is a graph showing the Mach number and dynamic pressure changes in the flight in the glide phase
FIG. 7 is a graph of angle of attack, sideslip angle, and roll angle in glide flight
FIG. 8 is a graph of commanded angle tracking error in glide flight
FIG. 9 is a graph showing changes in a roll rudder, a yaw rudder, and an elevator in flight in the glide phase
Fig. 10 is a graph showing the change in triaxial angular velocity in flight in the glide section.
Detailed Description
For the purpose of promoting a clear understanding of the objects, aspects and advantages of the embodiments of the invention, reference will now be made to the drawings and detailed description, wherein there are shown in the drawings and described in detail, various modifications of the embodiments described herein, and other embodiments of the invention will be apparent to those skilled in the art. The exemplary embodiments of the present invention and the description thereof are provided to explain the present invention and not to limit the present invention.
FIG. 1 is a schematic control flow diagram of the present embodiment, which is used for collecting the distance r of the current moving target relative to the centroid of the hypersonic flight vehicleTLatitude of moving object
Longitude λTWill be
And inputting the guidance module, wherein the outer ring loop is a guidance loop, and the trajectory planning and control is carried out on the hypersonic aircraft, so that the guidance precision is required to be high. And the guidance module receives the target information acquired by the target information acquisition module and generates a rate instruction for controlling the rudder deflection angle and the hypersonic aircraft. The inner loop is an attitude control loop, stable motion of the hypersonic aircraft and tracking control of a guidance instruction output by the guidance module are required to be realized, and high precision and robustness are required, so that the hypersonic aircraft can move to an input motion target.
In the embodiment, the integrated design method for guidance and attitude control of the glide section of the hypersonic aircraft comprises the following steps:
s1, constructing a six-degree-of-freedom motion model of the hypersonic aircraft based on the geometric model of the hypersonic aircraft;
the geometric model of the hypersonic aircraft is shown in fig. 2, and the present embodiment is based on an air-breathing general hypersonic aircraft model (GHV).
The six-degree-of-freedom motion model of the hypersonic aircraft is as follows:
in the formula: v is the flight speed of the hypersonic aerocraft, theta is the local speed inclination angle, and sigma is the track yaw angle; omegax，ωy，ωzRespectively, the three-axis rotation angular velocity of the hypersonic aerocraft, m is the mass of the hypersonic aerocraft, gammaVTo a roll angle, Ix，Iy，IzRespectively, three-axis moment of inertia;
l, D and N are aerodynamic forces borne by the hypersonic aerocraft, namely lift force, resistance force and lateral force, Mx，My，MzThe aerodynamic moment, the rolling moment, the yawing moment and the pitching moment, which are respectively borne by the aircraft, and the expressions of the aerodynamic force and the aerodynamic moment are respectively as follows:
the above formula is an aerodynamic expression of the hypersonic deformable aircraft, wherein,
zero angle of attack lift coefficient;
is the rate of change of coefficient of lift with respect to angle of attack, CDIs a coefficient of resistance, CNAre the lateral force coefficients, which are known quantities; b and c are transverse lateral reference length and longitudinal reference length of the hypersonic aircraft respectively, and m isxβIs the partial derivative of roll torque with respect to side slip angle β, myβIs the partial derivative of the yaw moment with respect to the side slip angle β,
is the partial derivative matrix of the pitch moment with respect to the side slip angle β,
for roll moment coefficient versus roll rudder deflection anglexThe partial derivative of (a) of (b),
respectively yaw moment coefficient to rudder deflection angleyThe partial derivative of (a) of (b),
are pitch moment coefficient pair respectivelyIn elevatorszα is in the form of α being the angle of attack, ζLFor uncertainty of lift, α ═ 1 α α3]T。
Respectively, triaxial moment uncertainty.
q＝0.5ρV2Is dynamic pressure, ρ is the atmospheric density, a known quantity, S0The reference area is a known quantity for the hypersonic flight vehicle. The expression of the margin in the centroid motion model is as follows
Mu is the gravitational constant, omegaeIs the angular velocity of rotation of the earth, J is 1.5J2Is a harmonic coefficient ofeAre known quantities for the earth's semi-major axis. r is the distance between the centers of the earth.
And S2, constructing a guidance and attitude control integrated control model of the hypersonic aerocraft in the glide section based on a guidance equation for controlling the range and the azimuth error of the hypersonic aerocraft facing the control, a kinematic equation around the center of mass of the hypersonic aerocraft facing the control and a kinematic equation around the center of mass of the hypersonic aerocraft facing the control.
The guidance equation for the control-oriented hypersonic aircraft range and azimuth error control is as follows:
in the formula:
a target command x of a six-degree-of-freedom kinematic model with a local speed inclination angle theta and a track yaw angle sigma as state quantities is assumed0CIs represented as follows:
x0c＝[θcσc]T
derivation of x0CMedium speed tilt angle command value thetacAnd a track yaw angle command value sigmacIs described in (1).
The speed dip angle instruction of the hypersonic aircraft to fly to the target point is as follows
Track yaw angle command value sigmacIs expressed as
The output x of the guidance equation for controlling the range and the azimuth error of the control-oriented hypersonic aircraft0For local speed inclination theta and track yaw angle sigma, input
Is coefficient of lift CLTwo components of (a).
The control-oriented hypersonic deformable aircraft has the following kinematic equation around the center of mass:
in the formula (I), the compound is shown in the specification,
wherein β is the slip angle, ζ01、ζ02Is ζ0Two components of (a).
Solving x by control-oriented hypersonic deformable aircraft around centroid kinematic equation1＝[α β γV]TSubstituting into the aerodynamic expression (known expression) of hypersonic deformable aircraft to obtain lift coefficient CLAnd then the input of the motion equation of the hypersonic deformable aircraft relative to the target for control can be obtained
The input of the control-oriented hypersonic aerocraft around the center of mass kinematics equation is the three-axis rotation angular velocity vector x of the hypersonic aerocraft2＝[ωxωyωz]T。
In the invention, the control-oriented hypersonic aircraft dynamic equation around the center of mass is as follows:
in the formula
The output of the control-oriented hypersonic aircraft mechanical equation of motion around the center of mass is x2The input is the control rudder deflection angle u ═ of the hypersonic aerocraftx y z]T。
The control method comprises the following steps of simultaneously establishing a guidance equation for controlling the range and the azimuth error of the hypersonic aerocraft facing the control, a kinematics equation around the center of mass of the hypersonic aerocraft facing the control and a kinematics equation around the center of mass of the hypersonic aerocraft facing the control, namely establishing an integrated control model of the glide section guidance and the attitude control of the hypersonic aerocraft as follows:
s3, designing a guidance and attitude control integrated control scheme of the hypersonic aircraft in the glide section based on a block dynamic surface method;
the control scheme of the hypersonic aircraft glide section guidance and attitude control integrated control model is as follows:
in the above control scheme:
s0for the first dynamic plane defined, x1With its instruction value x1dDifference of (a), x1dFor the first virtual control input, k0＝diag(k01k02) Given a positive gain constant;01and02a gain of a saturation function term to be given; sat (s, d) is a saturation function defined as:
γVdfor the calculated roll angle command value, αvFor the calculated roll angle command values, all pass x1dAnd (6) solving to obtain.
s1For the second dynamic plane of definition, x1With its instruction value x1dDifference of (a), x2dA virtual control input for a second dynamic surface; k is a radical of1＝diag(k11,k12,k13) Given a positive gain constant; tau is1＝diag(τ11,τ12,τ13) Is the time constant of the filter. According to the virtual control quantity x2dIs obtained such that x1Reach the expected instruction value x1dThree-channel angular rate virtual input desired value omegaxd,ωyd,ωzd。
Definition s2Is a third dynamic surface, is x2With its instruction value x2dU is the control input for the third dynamic surface. k is a radical of2＝diag(k21k22k23) Given a positive gain constant, τ2＝diag(τ21,τ22,τ23) Virtually inputting a desired value x according to the three-channel angular rate as a time constant of a filter2dAnd obtaining a design rudder deflection angle input u to complete the stable control and guidance control of the aircraft attitude control system.
S4, the distance r of the current moving target relative to the mass center of the hypersonic aircraftTLatitude of moving object
Longitude λTAnd as the input of the hypersonic aircraft glide section guidance and attitude control integrated model, generating a control rudder deflection angle instruction according to a control method of the hypersonic aircraft glide section guidance and attitude control integrated control model, inputting the control rudder deflection angle instruction into a six-degree-of-freedom motion model of the hypersonic aircraft, and enabling the hypersonic aircraft to track a motion target to complete a flight task.
Simulation verification is carried out based on the hypersonic aircraft glide section guidance and attitude control integrated design method provided by the following steps:
simulation calculation example:
in order to verify the effectiveness of the hypersonic aircraft glide phase guidance and attitude control integrated design method, numerical simulation is carried out on the model. The effect, initial state and integrated model parameter table of the hypersonic aircraft glide section guidance and attitude control integrated design method are shown in the following tables 1 and 2.
TABLE 1 initial diving state and target point latitude and longitude of aircraft
TABLE 2 Integrated design method parameter optimization values
Second, result analysis
The simulation results are shown in fig. 3-10.
As can be seen from the figure 3, the hypersonic aircraft can well realize the flight task of the glide section by the hypersonic aircraft glide section guidance and attitude control integrated design method provided by the invention. As can be seen from fig. 4, when the aircraft flies to the terminal, the longitude and latitude of the aircraft are 35.0001 degrees and 30.0006 degrees respectively, the errors of the longitude and latitude are 0.0002 degree and 0.0006 degree respectively, the height of the glide starting point is 55000m, the height of the terminal point is 49999.99m, the guidance precision of the aircraft is high, and the flight time is 1450 s. As can be seen from FIG. 5, the high-precision robust controller can well realize the control of the local speed inclination angle and the track yaw angle value under the condition of guidance, and the flight end point speed is 4605 m/s. As can be seen from fig. 6, as the speed gradually decreases during flight, the mach number gradually decreases. And the atmospheric density gradually increases as the altitude decreases. As can be seen from FIG. 7, the tracking control of the aircraft angle is good, the angle of attack gradually increases during flight, and the angle of attack at the tail end is 8.95 degrees; the sideslip angle is almost kept constant at 0 degrees, and a BTT flight mode is maintained; the roll angle gradually decreased and sharply increased toward the end point, at which the roll angle value was 28.8 °. As can be seen from fig. 8, the tracking conditions of the attack angle, the sideslip angle, and the roll angle are good, and except for the initial adjustment section and the approach to the target, the tracking errors of the attack angle, the sideslip angle, and the roll angle are large due to the rapid command change, and the tracking error in the whole process is extremely small. As can be seen from fig. 9, the aircraft rudder deflection angle changes more drastically during the initial adjustment phase, and after the glide state is stabilized, the elevator deflection angle increases slowly while the rudder deflection angle is maintained substantially around 0 °. As can be seen from fig. 10, the angular velocity variation of the aircraft is smoother and the global angular velocity variation does not exceed the maximum value.
The hypersonic aircraft glide section guidance and attitude control integrated design method based on the hypersonic aircraft glide section guidance and attitude control integrated design method can well meet the task requirements of guidance and attitude control of the aircraft glide section, the attitude control task requirements of the aircraft glide section are met, guidance and control accuracy is high, and the whole-course output change of the controlled variable is smooth.
The analysis shows that the hypersonic aircraft glide section guidance and attitude control integrated design method provided by the invention can well meet the task requirements of guidance and attitude control of the aircraft glide section and realize the task requirements of attitude control of the aircraft glide section, the guidance and control precision is high, and the whole-course output change of the control quantity is smooth. In order to better realize the flight task of the aircraft in the glide phase, the control scheme of the hypersonic aircraft glide phase guidance and attitude control integrated model is designed based on the block dynamic surface method, the task adaptability of the aircraft is improved, the effectiveness of the method in the glide phase is verified, and the problem of difficult coordination between the guidance and the control of the hypersonic aircraft is effectively solved.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (11)
1. A hypersonic aircraft glide phase guidance and attitude control integrated design method is characterized by comprising the following steps: obtaining the geocentric distance r of the current moving targetTLatitude of moving object
Longitude λTThe geocentric distance r of the current moving target is calculatedTLatitude of moving object
Longitude λTAs the input of the integrated control model of the glide section guidance and the attitude control of the hypersonic aerocraft according to the hypersonic aerocraftAnd a control scheme of the glide section guidance and attitude control integrated control model generates a control rudder deflection angle, the control rudder deflection angle is input into a six-degree-of-freedom motion model of the hypersonic aircraft, and the hypersonic aircraft flies to a motion target to complete a flight task.
2. The hypersonic aircraft glide phase guidance and attitude control integrated design method as claimed in claim 1, characterized in that: the hypersonic aerocraft is an air-breathing general hypersonic aerocraft.
3. The hypersonic aircraft glide phase guidance and attitude control integrated design method as claimed in claim 1 or 2, characterized in that: based on a geometric model of the hypersonic aerocraft, a six-degree-of-freedom motion model of the hypersonic aerocraft is constructed as follows:
in the formula: v is the flight speed of the hypersonic aerocraft, theta is the local speed inclination angle, and sigma is the track yaw angle; omegax，ωy，ωzRespectively, the three-axis rotation angular velocity of the hypersonic aerocraft, m is the mass of the hypersonic aerocraft, gammaVTo a roll angle, Ix，Iy，IzL, D and N are aerodynamic forces borne by the hypersonic aerocraft, namely lift force, resistance force and lateral force, Mx，My，MzThe aerodynamic moment, the rolling moment, the yawing moment and the pitching moment, which are respectively borne by the aircraft, and the expressions of the aerodynamic force and the aerodynamic moment are respectively as follows:
wherein the content of the first and second substances,
is zero angle of attack lift coefficient；
Is the rate of change of coefficient of lift with respect to angle of attack, CDIs a coefficient of resistance, CNAre the lateral force coefficients, which are known quantities; b and c are transverse lateral reference length and longitudinal reference length of the hypersonic aircraft respectively, and m isxβIs the partial derivative of roll torque with respect to side slip angle β, myβIs the partial derivative of the yaw moment with respect to the side slip angle β,
is the partial derivative matrix of the pitch moment with respect to the side slip angle β,
for roll moment coefficient versus roll rudder deflection anglexThe partial derivative of (a) of (b),
respectively yaw moment coefficient to rudder deflection angleyThe partial derivative of (a) of (b),
for elevators, respectively pitch moment coefficientzThe partial derivatives of (A) are known quantities, α is in the form of α is the angle of attack, ζLFor uncertainty of lift, α ═ 1 α α3]T；
Respectively are three-axis moment uncertainty items;
q＝0.5ρV2is dynamic pressure, ρ is the atmospheric density, a known quantity, S0A reference area of the hypersonic aerocraft is a known quantity; the expression of the allowance in the six-degree-of-freedom motion model of the hypersonic aircraft is as follows:
mu is the gravitational constant, omegaeIs the angular velocity of rotation of the earth, J is 1.5J2Is a harmonic coefficient ofeThe semimajor axis of the earth is a known quantity; r is the distance between the centers of the earth.
4. The hypersonic aircraft glide phase guidance and attitude control integrated design method as claimed in claim 1 or 2, characterized in that: and constructing a guidance and attitude control integrated control model of the hypersonic aircraft in the glide section based on a guidance equation for controlling the course and the azimuth error of the hypersonic aircraft facing to control, a kinematic equation around the center of mass of the hypersonic aircraft facing to control and a kinematic equation around the center of mass of the hypersonic aircraft facing to control.
5. The hypersonic aircraft glide phase guidance and attitude control integrated design method as claimed in claim 4, wherein: the guidance equation for the control-oriented hypersonic aircraft range and azimuth error control is as follows:
in the formula:
assuming a target command x of a six-degree-of-freedom motion model of the hypersonic aerocraft by taking a local velocity inclination angle theta and a track yaw angle sigma as state quantities0CIs shown below
x0c＝[θcσc]T
The speed dip angle instruction of the hypersonic aircraft for flying and supporting the moving target is as follows
Track yaw angle command value sigmacIs expressed as
The output x of the guidance equation for controlling the range and the azimuth error of the control-oriented hypersonic aircraft0For local speed inclination theta and track yaw angle sigma, input
Is coefficient of lift CLTwo components of (a).
6. The hypersonic aircraft glide phase guidance and attitude control integrated design method as claimed in claim 5, characterized in that: the control-oriented hypersonic deformable aircraft has the following kinematic equation around the center of mass:
in the formula (I), the compound is shown in the specification,
wherein β is the slip angle, ζ01、ζ02Is ζ0Two components of (a);
solving x by control-oriented hypersonic deformable aircraft around centroid kinematic equation1＝[α β γV]TSubstituting into the aerodynamic expression of hypersonic deformable aircraft to obtain lift coefficient CLAnd then can find out the control-orientedInput of motion equation of hypersonic deformable aircraft relative to moving target
The input of the control-oriented hypersonic aerocraft around the center of mass kinematics equation is the three-axis rotation angular velocity vector x of the hypersonic aerocraft2＝[ωxωyωz]T。
7. The hypersonic aircraft glide phase guidance and attitude control integrated design method as claimed in claim 6, characterized in that: the control-oriented hypersonic aircraft dynamic equation around the center of mass is as follows:
in the formula
The output of the control-oriented hypersonic aircraft mechanical equation of motion around the center of mass is x2The input is the control rudder deflection angle u ═ of the hypersonic aerocraftx y z]T。
8. The hypersonic aircraft glide phase guidance and attitude control integrated design method of claim 7, characterized in that: the control method comprises the following steps of simultaneously establishing a guidance equation for controlling the range and the azimuth error of the hypersonic aerocraft facing the control, a kinematics equation around the center of mass of the hypersonic aerocraft facing the control and a kinematics equation around the center of mass of the hypersonic aerocraft facing the control, namely establishing an integrated control model of the glide section guidance and the attitude control of the hypersonic aerocraft as follows:
9. the hypersonic aircraft glide phase guidance and attitude control integrated design method of claim 8, characterized in that: the control scheme of the hypersonic aircraft glide section guidance and attitude control integrated control model is as follows:
in the above control scheme:
s0for the first dynamic plane defined, x1With its instruction value x1dDifference of (a), x1dFor the first virtual control input, k0＝diag(k01k02) Given a positive gain constant;01and02a gain of a saturation function term to be given; sat (s, d) is a saturation function defined as:
γVdfor the calculated roll angle command value, αvFor the calculated roll angle command values, all pass x1dSolving to obtain;
s1for the second dynamic plane of definition, x1With its instruction value x1dDifference of (a), x2dA virtual control input for a second dynamic surface; k is a radical of1＝diag(k11,k12,k13) Given a positive gain constant; tau is1＝diag(τ11,τ12,τ13) Is the time constant of the filter; according to the virtual control quantity x2dIs obtained such that x1Reach the expected instruction value x1dThree-channel angular rate virtual input desired value omegaxd,ωyd,ωzd；
Definition s2Is a third dynamic surface, is x2With its instruction value x2dU is the control input of the third dynamic surface; k is a radical of2＝diag(k21k22k23) Given a positive gain constant, τ2＝diag(τ21,τ22,τ23) Virtually inputting a desired value x according to the three-channel angular rate as a time constant of a filter2dAnd obtaining a design rudder deflection angle input u to complete the stable control and guidance control of the aircraft attitude control system.
10. The utility model provides a hypersonic aircraft glide phase guidance and attitude control integration system which characterized in that includes:
the target information acquisition module is used for acquiring the geocentric distance r of the current moving target relative to the hypersonic aircraftTLatitude of moving object
Longitude λT；
The guidance module receives the target information acquired by the target information acquisition module, inputs the target information into a hypersonic aircraft glide section guidance and attitude control integrated control model which is pre-loaded on the guidance module, and generates a control rudder deflection angle according to a pre-designed control scheme of the hypersonic aircraft glide section guidance and attitude control integrated control model;
and the attitude control-control module receives the control rudder deflection angle generated by the guidance module, inputs the control rudder deflection angle into a six-degree-of-freedom motion model of the supersonic aircraft pre-loaded on the attitude control-control module, and completes the stable motion of the hypersonic aircraft and realizes the tracking control of the guidance instruction.
11. The utility model provides a hypersonic aircraft, includes the organism and establishes the airborne circuit board in the organism, be equipped with treater and memory on the airborne circuit board, its characterized in that: the memory stores a computer program, and the processor realizes the steps of the hypersonic flight vehicle glide slope guidance and attitude control integrated design method as claimed in any one of claims 1 to 8 when executing the computer program.
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