CN117234070A - BTT distribution method based on angle control instruction - Google Patents
BTT distribution method based on angle control instruction Download PDFInfo
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Abstract
The invention discloses a BTT distribution method based on an angle control instruction, which comprises the steps of firstly generating an attack angle instruction and a sideslip angle instruction by utilizing a ballistic inclination angle instruction and a ballistic deflection angle instruction and actual ballistic inclination angle and ballistic deflection angle deviation; then combining Mach and full elastic normal force coefficients to convert attack angle and sideslip angle instructions into normal force coefficient and lateral force coefficient instructions, and calculating a roll angle instruction and a resultant force coefficient instruction according to the normal force coefficient instructions required by pitching and yawing directions; and finally, converting the required force coefficient instruction into an attack angle instruction to be introduced into a controller through the corresponding relation between the full elastic normal force coefficient and the attack angle, so as to realize the rapid tracking of the instruction in the flight process and precisely realize the BTT coordinated turning control. The controller design method is universal in structure and strong in engineering practice capability, and can be widely applied to the design of various plane-symmetrical hypersonic aircraft guidance control systems in the future.
Description
Technical Field
The invention belongs to the technical field of aircrafts, and particularly relates to a BTT distribution method based on an angle control instruction.
Background
The plane-symmetric hypersonic aircraft has severe changes of position, speed and attitude in the flight process, and adopts a banked steering technology (BTT) at the same time, so that high requirements are put on the rapidness of a control system. The traditional BTT distribution method of the plane symmetry hypersonic aircraft in an overload mode leads to that the pitching channel controller can only adopt the overload control mode, the rapidity of a control system is completely limited by the cut-off frequency of the overload control system, and the bandwidth of the control system cannot be improved.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a BTT distribution method based on an angle control instruction, which comprises the steps of firstly generating an attack angle instruction and a sideslip angle instruction by utilizing a ballistic inclination angle and a ballistic deflection angle instruction and actual ballistic inclination angle and ballistic deflection angle deviation; then combining Mach and full elastic normal force coefficients to convert attack angle and sideslip angle instructions into normal force coefficient and lateral force coefficient instructions, and calculating a roll angle instruction and a resultant force coefficient instruction according to the normal force coefficient instructions required by pitching and yawing directions; and finally, converting the required force coefficient instruction into an attack angle instruction to be introduced into a controller through the corresponding relation between the full elastic normal force coefficient and the attack angle, so as to realize the rapid tracking of the instruction in the flight process and precisely realize the BTT coordinated turning control. The controller design method is universal in structure and strong in engineering practice capability, and can be widely applied to the design of various plane-symmetrical hypersonic aircraft guidance control systems in the future.
The technical scheme adopted by the invention for solving the technical problems comprises the following steps:
step 1: generating a ballistic dip angle instruction;
with time of flight as self-variationDesign the inclination angle and deflection angle of the trajectory, design the time tableThe corresponding ballistic dip angle tables and the ballistic deflection angle tables are +.>，The method comprises the steps of carrying out a first treatment on the surface of the n represents the dimension of the designed number of tables;
according to guided rocket flight timePerforming one-dimensional interpolation to generate a ballistic dip angle instruction and a ballistic deflection angle instruction:
wherein the method comprises the steps of() is a one-dimensional interpolation function, +.>The trajectory inclination angle instruction and the trajectory deflection angle instruction at the current moment are respectively;
step 2: calculating an attack angle instruction and a sideslip angle instruction;
the ballistic inclination angle instruction and the ballistic deflection angle instruction are converted into attack angle instruction and sideslip angle instruction, and the conversion relationship is as follows:
wherein the method comprises the steps of、/>An attack angle instruction and a sideslip angle instruction at the current moment, respectively,>the ballistic inclination angle and the ballistic deflection angle at the current moment are respectively +.>Gain for flight control;
step 3: calculating a roll angle instruction;
and calculating a normal force coefficient and a lateral force coefficient instruction at the current moment by combining the current flight Mach number, the attack angle instruction and the sideslip angle instruction:
wherein the method comprises the steps ofFor the current moment flight Mach number>Is the normal force coefficient in the aerodynamic data in the form of a two-dimensional table of Mach number and angle of attack, +.>Normal force coefficient instructions required by pitching and yawing directions respectively;
calculating a roll angle command according to a normal force coefficient command required by the pitching and yawing directionsThe expression is as follows:
step 4: calculating a pitch channel attack angle instruction;
synthesizing a pitching and yawing channel instruction into a pitching pilot control instruction, and firstly synthesizing a force coefficient:
then, an attack angle instruction corresponding to the normal force coefficient instruction is obtained by interpolation from the pneumatic data：
Step 5: instruction tracking control;
will instructThe method is brought into a flight control system, the composite stability enhancement control of the projectile body is realized through angular velocity feedback, and the control law of the control system is as follows:
wherein the method comprises the steps ofAll are flight control system gains->Is a pitch angle rate signal.
The beneficial effects of the invention are as follows:
the control system provided by the invention has the advantages that the rapidity of the control system is effectively improved, the requirements of a guided rocket control system are met, and the control system has a wide application prospect.
Drawings
FIG. 1 is a diagram illustrating the BTT allocation policy of the present invention.
FIG. 2 is a block diagram of a pitch channel control system of the present invention.
FIG. 3 is a graph showing the comparison of ballistic inclination angles according to an embodiment of the present invention.
FIG. 4 is a graph showing ballistic deflection angle contrast curves for an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
In order to solve the problem that the rapidity of the BTT controller of the traditional plane-symmetric hypersonic aircraft is limited by the bandwidth of the overload controller, simple, universal and effective improvement research on the design method of the aircraft controller and the BTT distribution method is needed. The invention provides a BTT distribution method based on an angle control instruction, which is characterized in that an attack angle instruction and a sideslip angle instruction are generated by ballistic inclination angle and ballistic deflection angle deviation, and the angle instruction is converted into a force coefficient instruction to carry out BTT distribution by introducing the corresponding relation between the attack angle instruction and the sideslip angle instruction and a normal force coefficient, so that the rapid and accurate control of the angle of a hypersonic aerocraft with plane symmetry is effectively realized. The control method is innovative in that the rapidity of the angle control loop is fully utilized, BTT distribution is carried out based on the angle, and the performance of the control system of the plane-symmetric hypersonic aircraft is improved.
As shown in fig. 1, a BTT allocation method based on an angle control instruction includes the following steps:
step one, generating a ballistic dip angle instruction;
design the inclination angle of trajectory and deflection angle of trajectory by taking flight time as independent variable, design time tableThe corresponding ballistic inclination angle and ballistic deflection angle are shown as +.>，. If no sideways maneuver is performed, the ballistic deflection command may be set to 0.
According to guided rocket flight timeAnd performing one-dimensional interpolation to generate a ballistic dip angle instruction.
Wherein the method comprises the steps ofIs a one-dimensional interpolation function>The trajectory inclination angle instruction and the trajectory deflection angle instruction at the current moment are respectively.
Step two, calculating an attack angle instruction and a sideslip angle instruction;
the ballistic inclination angle instruction and the ballistic deflection angle instruction are converted into attack angle instruction and sideslip angle instruction, and the conversion relationship is as follows:
wherein the method comprises the steps of、/>An attack angle instruction and a sideslip angle instruction at the current moment, respectively,>the ballistic inclination angle and the ballistic deflection angle at the current moment are respectively +.>Gain for flight control;
step three, calculating a roll angle instruction;
the roll angle instruction cannot be calculated directly through the attack angle instruction and the sideslip angle instruction, but the attack angle and the sideslip angle have a mapping relation in pneumatic data, and a direct expression exists between the force and the roll angle, so that the roll angle instruction can be calculated through the mapping relation.
The aerodynamic data of hypersonic aircrafts comprise normal force coefficients under different attack angles and different Mach numbers. And in the pneumatic data, the normal force coefficient and the lateral force coefficient instruction at the current moment are calculated by combining the current flight Mach number, the attack angle instruction and the sideslip angle instruction.
Wherein the method comprises the steps ofFor the current moment flight Mach number>Is the normal force coefficient in the aerodynamic data in the form of a two-dimensional table of Mach number and angle of attack, +.>Normal force coefficient instructions required by pitching and yawing directions respectively;
the roll angle command can be calculated according to the normal force coefficient command required by the pitching and yawing directionsThe expression is as follows:
step four, calculating an attack angle instruction of a pitching channel;
in the turning process, the yaw pilot needs to ensure a zero sideslip angle to play a role in coordinating turning. The instructions required by the pitching and yawing channels are realized in the pitching pilot, so that the pitching and yawing channel instructions are synthesized into pitching pilot control instructions; first, synthesizing force coefficients:
then, an attack angle instruction corresponding to the normal force coefficient instruction is obtained by interpolation from the pneumatic data：
Step five, instruction tracking control;
will instructIs brought into a flight control system, and the composition principle is shown in figure 2. The angular velocity feedback realizes the composite stability enhancement control of the projectile body, and the control law of the control system is as follows:
wherein the method comprises the steps ofGain for flight control system->Is a pitch angle rate signal.
Examples:
the invention is further described in connection with certain guided rocket system examples.
The altitude of the launching point of the guided rocket is 0m, and the guided rocket ascends to a designated position.
Step one, generating a ballistic dip angle instruction;
design time meterCorresponding ballistic inclination is +.>The ballistic deflection angle instruction is selected as the sight angle +.>。
According to guided rocket flight timeAnd performing one-dimensional interpolation to generate a ballistic dip angle instruction.
Step two, calculating an attack angle and sideslip angle instruction;
selectingThe ballistic inclination angle and ballistic deflection angle instructions are converted into attack angle instructions, and the conversion relations are as follows:
step three, calculating a roll angle instruction;
in the aerodynamic data, the normal force coefficient and the lateral force coefficient instruction at the current moment are calculated by combining the current flight Mach number, the attack angle instruction and the sideslip angle instruction:
wherein the angles of attack are varied in the aerodynamic dataAnd different Mach numbersThe lower normal force coefficient is as follows:
the roll angle command can be calculated according to the normal force coefficient command required by the pitching and yawing directionsThe expression is as follows:
step four, calculating an attack angle instruction of a pitching channel;
the force coefficients are synthesized.
Then respectively calculating normal force coefficients in the pneumatic dataLower corresponding attack angle：
Wherein the method comprises the steps ofRespectively represent normal force coefficient->A first row element, a second row element, a third row element, a fourth row element, and a fifth row element.
Then obtaining attack angle instruction according to current flight Mach number interpolation：
Step five, instruction tracking control;
will instructIs brought into a flight control system, and the composition principle is shown in figure 2. And the composite stability enhancement control of the projectile body is realized through the angular velocity feedback. The control law of the control system is as follows:
in order to verify the performance of the invention, simulation of the BTT distribution method and the BTT control method based on overload control is respectively carried out, and the curves of fig. 3-4 are obtained through digital simulation comparison. From the simulation results, it can be seen that: the BTT distribution method based on the angle can effectively improve the rapidity of a control system.
Claims (1)
1. The BTT distribution method based on the angle control instruction is characterized by comprising the following steps of:
step 1: generating a ballistic dip angle instruction;
design the inclination angle of trajectory and deflection angle of trajectory by taking flight time as independent variable, design time tableThe corresponding ballistic dip angle tables and the ballistic deflection angle tables are +.>，The method comprises the steps of carrying out a first treatment on the surface of the n represents the designed numberNumber of meters;
according to guided rocket flight timePerforming one-dimensional interpolation to generate a ballistic dip angle instruction and a ballistic deflection angle instruction:
；
wherein the method comprises the steps of() is a one-dimensional interpolation function, +.>The trajectory inclination angle instruction and the trajectory deflection angle instruction at the current moment are respectively;
step 2: calculating an attack angle instruction and a sideslip angle instruction;
the ballistic inclination angle instruction and the ballistic deflection angle instruction are converted into attack angle instruction and sideslip angle instruction, and the conversion relationship is as follows:
；
wherein the method comprises the steps of、/>An attack angle instruction and a sideslip angle instruction at the current moment, respectively,>the ballistic inclination angle and the ballistic deflection angle at the current moment are respectively +.>Gain for flight control;
step 3: calculating a roll angle instruction;
and calculating a normal force coefficient and a lateral force coefficient instruction at the current moment by combining the current flight Mach number, the attack angle instruction and the sideslip angle instruction:
；
wherein the method comprises the steps ofFor the current moment flight Mach number>Is the normal force coefficient in the aerodynamic data in the form of a two-dimensional table of Mach number and angle of attack, +.>Normal force coefficient instructions required by pitching and yawing directions respectively;
calculating a roll angle command according to a normal force coefficient command required by the pitching and yawing directionsThe expression is as follows:
；
step 4: calculating a pitch channel attack angle instruction;
synthesizing a pitching and yawing channel instruction into a pitching pilot control instruction, and firstly synthesizing a force coefficient:
；
then, an attack angle instruction corresponding to the normal force coefficient instruction is obtained by interpolation from the pneumatic data：
；
Step 5: instruction tracking control;
will instructThe method is brought into a flight control system, the composite stability enhancement control of the projectile body is realized through angular velocity feedback, and the control law of the control system is as follows:
；
wherein the method comprises the steps ofAll are flight control system gains->Is a pitch angle rate signal.
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