CN113759954B - Composite guidance method for maneuvering target - Google Patents

Composite guidance method for maneuvering target Download PDF

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Publication number
CN113759954B
CN113759954B CN202010496096.0A CN202010496096A CN113759954B CN 113759954 B CN113759954 B CN 113759954B CN 202010496096 A CN202010496096 A CN 202010496096A CN 113759954 B CN113759954 B CN 113759954B
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overload
target
guidance
aircraft
value
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CN113759954A (en
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林德福
王雨辰
胡宽容
耿宝魁
南宇翔
王鲁强
王伟
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Northwest Industrial Group Co ltd
Beijing Institute of Technology BIT
China North Industries Corp
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Northwest Industrial Group Co ltd
Beijing Institute of Technology BIT
China North Industries Corp
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/107—Simultaneous control of position or course in three dimensions specially adapted for missiles

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

The application discloses a compound guidance method aiming at a maneuvering target, which is characterized in that overload is needed to be calculated in real time by optimizing guidance laws and proportional guidance laws respectively, then the weight of the overload is adjusted by a fuzzy control switching function, so that the overload is needed to be compounded, finally the overload is transmitted to a steering engine system, the steering engine system steers according to the overload needed to be compounded, and the flying gesture of an aircraft is controlled, wherein the normal acceleration of the target is obtained in real time by a specially-arranged target observer, the overload is adjusted by setting a reasonable fuzzy control switching function, so that the flying gesture is stable, the energy loss is low, the hit rate is high, and the normal acceleration of the target is obtained in real time by the specially-arranged target observer, so that the overload is convenient to adjust according to the target position.

Description

Composite guidance method for maneuvering target
Technical Field
The application relates to a guidance control method, in particular to a composite guidance method aiming at a maneuvering target.
Background
The conventional proportional guidance can be used to well accomplish the striking task for stationary or small maneuvering targets. However, when proportional guidance is used, the trajectory approaches a curve, which requires the aircraft to continuously output high overload to adjust the attitude of the aircraft, resulting in huge energy loss and greatly reducing the flight distance of the aircraft. In addition, proportional guidance laws perform poorly when hitting large maneuvering targets.
The optimal guidance law has low energy loss and can improve the range of the aircraft to a certain extent.
However, the combination of the two guidance rates can cause overload jump of the guidance rate switching point, unstable flying attitude and increase miss distance.
In order to strike a maneuver target, radar sensors are provided on board the aircraft, which are capable of detecting the target position in real time by means of radar, but radar signals are easily screened or temporarily disabled by interference.
For the above reasons, the present inventors have conducted intensive studies on the existing composite guidance method for maneuvering targets, and devised a new composite guidance method for maneuvering targets that can solve the above problems.
Disclosure of Invention
The application solves the problems, and the inventor designs a compound guidance method aiming at a maneuvering target, which respectively solves the overload requirement in real time by optimizing guidance laws and proportional guidance laws, adjusts the weight of the overload requirement by a fuzzy control switching function so as to obtain the overload requirement, and finally transmits the overload requirement to a steering engine system, and the steering engine system controls the flying gesture of an aircraft according to the rudder-steering operation of the overload requirement.
In particular, it is an object of the present application to provide a compound guidance method for maneuvering targets, in which,
the overload is needed to be calculated by optimizing the guidance law and the proportional guidance law in real time,
then the weight of the overload is adjusted by the fuzzy control switching function, thus obtaining the composite overload,
and finally, transmitting the overload required by the combination to a steering engine system, and controlling the flight attitude of the aircraft by the steering engine system according to the rudder-steering operation of the overload required by the combination.
The application has the beneficial effects that:
(1) According to the composite guidance method for the maneuvering target, provided by the application, the advantages of proportional guidance manufacturing rate and guidance law optimization are fully utilized, so that the energy loss of the aircraft in the flight process is low, and the effective range is longer;
(2) According to the compound guidance method for the maneuvering target, provided by the application, the fuzzy switching function is arranged, and the guidance law can be adjusted in real time according to the maneuvering condition of the target, so that the target tracking capability is stronger, and the hit precision is higher.
Drawings
FIG. 1 shows a diagram of the motion trajectories of 3 aircraft and targets in example 1 according to the present application;
FIG. 2 shows a plot of control energy versus time for 3 aircraft in example 1 according to the present application;
FIG. 3 shows a motion profile of 3 aircraft and targets in example 2 according to the present application;
fig. 4 shows a graph of the control energy of 3 aircraft in example 2 according to the application over time.
Detailed Description
The application is further described in detail below by means of the figures and examples. The features and advantages of the present application will become more apparent from the description.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
According to the compound guidance method aiming at the maneuvering target, overload is respectively solved in real time by optimizing guidance laws and proportional guidance laws; and adjusting the weight of the overload to be used by the fuzzy control switching function, namely adjusting the weight of the overload to be used obtained by optimizing the guidance law and the weight of the overload to be used obtained by the proportional guidance law by the fuzzy control switching function, thereby obtaining the composite overload to be used.
And finally, transmitting the overload required by the combination to a steering engine system, and controlling the flight attitude of the aircraft by the steering engine system according to the rudder-steering operation of the overload required by the combination. The steering engine system can be selected from steering engine systems existing in the field, and the application is not particularly limited to the steering engine system.
The composite guidance method of the application mainly carries out guidance control on the aircraft after the aircraft enters the terminal guidance section.
In a preferred embodiment, the composite demand overload is obtained by the following formula (one):
a mco ＝μa mPN +(1-μ)a mop -μa t (one)
Wherein a is mco Represents composite overload, mu represents fuzzy control switching function, a mop Indicating the demand overload obtained by optimizing the guidance law, a mPN Indicating a demand overload obtained by proportional guidance law, a t Representing the target normal acceleration.
In a preferred embodiment, the optimized guidance law is solved by the following equation (two):
wherein V is C Representing the relative velocity between the aircraft and the target, measured in real time by satellite systems onboard the aircraftThe method comprises the steps of carrying out a first treatment on the surface of the V due to slow target movement speed C Approximating the speed of the aircraft, which is measured in real time by the satellite system, t go Representing the remaining time of flight, as per on-board processorReal-time resolving to obtain->The angular velocity of the view line of sight of the bullet is directly measured in real time by a gyroscope in a seeker on an aircraft, r represents the relative distance between the aircraft and a target and is obtained by r=ct/2, c represents the speed of light, and t represents the time from the emission of radar waves to the reception of radar reflected waves; r and c 1 All represent design parameters, preferably R has a value of 1, c 1 The value is 3.
In a preferred embodiment, the proportional guidance law is solved by the following equation (three):
wherein a is mPN Indicating the overload on demand obtained by the proportional guidance law, V C Indicating the relative velocity between the aircraft and the target,indicating the angular velocity of the bullet eye line of sight.
In a preferred embodiment, the value of the fuzzy control switching function μ varies with the target normal acceleration, and in particular,
when |a t |≥a ωb When μ=1;
when |a t |≤a ωa When μ=0;
when a is ωa ＜|a t |＜a ωb In the time-course of which the first and second contact surfaces,
wherein a is ωb And a ωa All represent critical parameters, preferably a ωb Has a value of 20, a ωa The value of (2) is 10.
In a preferred embodiment, the target normal acceleration a is detected in real time by a radar detector t The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the seeker obtains the position coordinates of the target by tracking the target, and the velocity a is added by a filter module estimation method in the seeker t 。
When the radar detector does not receive radar wave beam echoes in three continuous sampling periods, a target normal acceleration is obtained through a target observer by the target normal acceleration;
the target observer iteratively calculates an estimated target normal acceleration by:
wherein L, lambda 0 、λ 1 And lambda (lambda) 2 All representing design parameters, preferably lambda 0 ＝11，λ 1 ＝15，λ 1 =20, l=400; r represents the relative distance between the aircraft and the target; in the event of radar failure, this value is estimated from inertial navigation onboard the aircraft,a derivative representing r, derived from r; q represents the angle of view of the bullet, and->Indicating the angular velocity of the view line of the bullet, obtained by a gyroscopes on a seeker, a m Representing guidance instructions, which are obtained by the microprocessor; t is t 0 And t 1 Are all intermediate variables, have no actual physical meaning, a 0 Is thatIs the angular velocity of the view line of the bulletAnd the product of the relative distance, a 1 Representing an estimated target normal acceleration, a 2 Representing the estimated first derivative of the target directional acceleration. />And->A is respectively 0 、a 1 And a 2 Derivatives of (2) without specific physical meaning, for +.>And->Integrating to obtain a 0 、a 1 And a 2 。
Before the iteration starts, this gives a 0 、a 1 And a 2 An initial value of a is 0 ＝0、a 1 ＝0， a 2 The subsequent values are iteratively derived from the differentiator, which will be a =0 0 、a 1 And a 2 Substituting the initial value into the formula (IV) to obtainAnd->Namely, get +.> And->By means of->And->Integrating to obtain a at the next moment 0 、a 1 And a 2 Further to the value of a 0 、a 1 And a 2 The value of (2) is substituted as an initial value of the time into the formula (IV) to obtain the corresponding timeAnd->Thereby realizing the cyclic iterative computation, the obtained a 0 、a 1 And a 2 Can gradually approach to the true value, wherein the estimated target normal acceleration a is output in real time 1 And bringing the a 1 As true target normal acceleration, i.e. a during calculation 1 ＝a t 。
Preferably, the cumulative compensation of the target observer is h=0.001 s, i.e. the iteration frequency of equation (four) is 1000Hz.
Example 1:
for a maneuvering target with a coordinate of 3km away, 3 aircrafts are launched from the same place, and the motion track of the target is shown as a solid line in fig. 1; the radar captures the target position information in real time, and the radar works normally in the flight process of the aircraft, so that accurate target position information can be continuously provided;
the first aircraft is guided and controlled by adopting the composite guidance method provided by the application, and particularly, in the guidance process, overload is required by solving the following formula (I):
a mco ＝μa mPN +(1-μ)a mop -μa t (1)
wherein, the liquid crystal display device comprises a liquid crystal display device,
when |a t |≥a ωb When μ=1;
when |a t |≤a ωa When μ=0;
when a is ωa ＜|a t |＜a ωb In the time-course of which the first and second contact surfaces,
wherein a is mco Represents composite overload, mu represents fuzzy control switching function, a mop Indicating the demand overload obtained by optimizing the guidance law, a mPN Indicating a demand overload obtained by proportional guidance law, a t Representing the target normal acceleration, V C Representing the relative speed between the aircraft and the target, t go The time of flight remaining is indicated as such,the angular velocity of the view line of the bullet is represented, the value of R is 1, and c 1 Has a value of 3, a ωb Has a value of 20, a ωa The value of (2) is 10. The flight trajectory of this first aircraft is shown in the compound curve in fig. 1.
A second aircraft, which performs guidance control in the terminal guidance section by adopting proportional guidance rate, namelyThe flight trajectory of this second aircraft is shown in the scale curve in fig. 1.
A third aircraft, which performs guidance control by adopting an optimized guidance law in the terminal guidance section, namelyThe flight path of the third aircraft is shown in the optimal curve in FIG. 1
The control energy of each aircraft varies with time as shown in fig. 2.
According to the experimental results, the three guidance laws can control the aircraft to intercept the maneuvering target finally, and as can be seen from fig. 1, the trajectory is straight by using the proportional guidance laws. With the optimal guidance laws, the curvature of the trajectory is significantly greater, with the trajectory of an aircraft employing a compound guidance law being intermediate to the two. The control energy of fig. 2 shows that the energy of the compound guidance law is intermediate to the other two guidance laws. Simulation experiments prove that the composite guidance law can be adopted to lower the trajectory, so that the trajectory is relatively flat, the targets in the terminal guidance stage are ensured to be positioned in the view angle of the aircraft, the energy can be saved, and a foundation is provided for subsequently increasing the flight range of the aircraft.
Example 2:
for a maneuvering target at a distance of 5km, 3 aircrafts are launched from the same place, and the motion track of the target is shown as a solid line in fig. 3;
the first aircraft adopts the composite guidance method provided by the application to carry out guidance control, and specifically, in the terminal guidance section, overload is required by solving the following formula (I):
a mco ＝μa mPN +(1-μ)a mop -μa t (1)
wherein, the liquid crystal display device comprises a liquid crystal display device,
when |a t |≥a ωb When μ=1;
when |a t |≤a ωa When μ=0;
when a is ωa ＜|a t |＜a ωb In the time-course of which the first and second contact surfaces,
wherein a is mco Represents composite overload, mu represents fuzzy control switching function, a mop Indicating the demand overload obtained by optimizing the guidance law, a mPN Indicating a demand overload obtained by proportional guidance law, a t Representing the target normal acceleration, V C Representing the relative speed between the aircraft and the target, t go The time of flight remaining is indicated as such,the angular velocity of the view line of the bullet is represented, the value of R is 1, and c 1 Has a value of 3, a ωb Has a value of 20, a ωa The value of (2) is 10.
When the radar fails, the target normal acceleration is estimated by the following equation (four):
the flight trajectory of this first aircraft is shown in the compound curve in fig. 3.
A second aircraft, which performs guidance control in the terminal guidance section by adopting proportional guidance rate, namelyThe flight trajectory of this second aircraft is shown in the scale curve in fig. 3.
A third aircraft, which performs guidance control by adopting an optimized guidance law in the terminal guidance section, namelyThe flight trajectory of this third aircraft is shown in the optimal curve in fig. 3.
The control energy of each aircraft varies with time as shown in fig. 4;
as can be seen from fig. 3, the target interception can be realized by adopting the composite guidance law and the optimal guidance law, and the target miss amount by adopting the proportional guidance is larger. With reference to fig. 4, the aircraft employing the proportional guidance laws has the highest control energy consumption, the aircraft employing the optimal guidance laws has the lowest control energy consumption, and the composite guidance law energy consumption is in between. And the trajectory of the composite guidance law is flatter than that of the optimal guidance law, so that the energy loss is reduced, and the target can be ensured to be in the view angle range of the aircraft.
The application has been described above in connection with preferred embodiments, which are, however, exemplary only and for illustrative purposes. On this basis, the application can be subjected to various substitutions and improvements, and all fall within the protection scope of the application.

Claims (7)

1. A compound guidance method for maneuvering targets is characterized in that in the method,
the overload is needed to be calculated by optimizing the guidance law and the proportional guidance law in real time,
then the weight of the overload is adjusted by the fuzzy control switching function, thus obtaining the composite overload,
finally, the overload for the combination is transmitted to a steering engine system, and the steering engine system controls the flight attitude of the aircraft according to the operation of the rudder of the overload for the combination;
the composite demand overload is obtained by the following formula (one),
wherein a is mco Represents composite overload, mu represents fuzzy control switching function, a mop Indicating the demand overload obtained by optimizing the guidance law, a mPN Indicating a demand overload obtained by proportional guidance law, a t Representing a target normal acceleration;
the optimized guidance law solves for the need for overload by the following equation (two),
wherein V is C Representing the relative speed between the aircraft and the target, t go The time of flight remaining is indicated as such,representing angular velocity of view of bullet's eyes, R and c 1 All represent design parameters;
the proportional guidance law solves for the overload by the following (three),
wherein a is mPN Indicating the overload on demand obtained by the proportional guidance law, V C Indicating the relative velocity between the aircraft and the target,indicating the angular velocity of the bullet eye line of sight.
2. The method of compound guidance for maneuvering targets as claimed in claim 1,
the value of the fuzzy control switching function mu is along with the target normal acceleration a t Is changed by a change in (a).
3. The method of compound guidance for maneuvering targets as claimed in claim 2,
when |a t |≥a ωb When μ=1;
when |a t |≤a ωa When μ=0;
when a is ωa ＜|a t |＜a ωb In the time-course of which the first and second contact surfaces,
wherein a is ωb And a ωa Represents a critical parameter.
4. The method of compound guidance for maneuvering targets as claimed in claim 1,
real-time detection of target normal acceleration a by radar detector t 。
5. The method of compound guidance for maneuvering targets as claimed in claim 4, wherein,
when the radar detector does not receive radar echo signals in three continuous sampling periods, the target normal acceleration a is obtained through real-time iterative computation of a target observer t 。
6. The method of compound guidance for maneuvering targets as claimed in claim 5,
the target observer iteratively calculates an estimated target normal acceleration by the following formula (IV);
wherein L, lambda 0 、λ 1 And lambda (lambda) 2 All represent design parameters, r represents the relative distance between the aircraft and the target,represents the derivative of r, q represents the bullet eye viewing angle,/->Represents the angular velocity of the view line of the bullet m Indicate guidance instruction, t 0 And t 1 Are all intermediate variables, a 0 Representation->Estimated value of a) 1 Representing an estimated target normal acceleration, a 2 Representing the estimated first derivative of the target directional acceleration;and->A is respectively 0 、a 1 And a 2 Is a derivative of (a).
7. The method of compound guidance for maneuvering targets as claimed in claim 6, wherein,
the iterative solution process of the formula (IV) in the target observer comprises the following steps:
first, a is given 0 、a 1 And a 2 Will be a 0 、a 1 And a 2 Substituting the initial value into the formula (IV) to obtain the initial timeAnd->
For the initial timeAnd->Integrating to obtain a at the next moment 0 、a 1 And a 2 Is used as a reference to the value of (a),
and then a of the next moment 0 、a 1 And a 2 The value of (2) is substituted into the formula (IV) to obtain the corresponding value of the next momentAnd->
Thereby circularly calculating to obtain a at each moment 0 、a 1 And a 2 ；
A outputting the target observer 1 The value is taken as the target normal acceleration a t Is a value of (2).
CN202010496096.0A 2020-06-03 2020-06-03 Composite guidance method for maneuvering target Active CN113759954B (en)

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