CN117234070B - BTT distribution method based on angle control instruction - Google Patents
BTT distribution method based on angle control instruction Download PDFInfo
- Publication number
- CN117234070B CN117234070B CN202311500481.8A CN202311500481A CN117234070B CN 117234070 B CN117234070 B CN 117234070B CN 202311500481 A CN202311500481 A CN 202311500481A CN 117234070 B CN117234070 B CN 117234070B
- Authority
- CN
- China
- Prior art keywords
- instruction
- angle
- ballistic
- force coefficient
- angle instruction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 10
- 230000002194 synthesizing effect Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 239000002131 composite material Substances 0.000 claims description 4
- 238000004088 simulation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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;
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 dimension of the designed number of tables;
according to guided rocket flight timeOne-dimensional interpolation generationA ballistic dip command and a ballistic deflection command:
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, +.>Respectively are provided withNormal force coefficient instructions required for pitch and yaw directions;
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 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 pneumatic data,two-dimensional table in the form 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311500481.8A CN117234070B (en) | 2023-11-13 | 2023-11-13 | BTT distribution method based on angle control instruction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311500481.8A CN117234070B (en) | 2023-11-13 | 2023-11-13 | BTT distribution method based on angle control instruction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117234070A CN117234070A (en) | 2023-12-15 |
| CN117234070B true CN117234070B (en) | 2024-03-19 |
Family
ID=89093215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311500481.8A Active CN117234070B (en) | 2023-11-13 | 2023-11-13 | BTT distribution method based on angle control instruction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117234070B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2010148825A (en) * | 2010-11-29 | 2012-06-10 | Государственное унитарное предприятие "Конструкторское бюро приборостроения" (RU) | METHOD FOR GUIDING A ROCKET MANAGED BY A BEAM OF A RADAR STATION, AND A DEVICE FOR ITS IMPLEMENTATION |
| RU2473867C1 (en) * | 2011-08-10 | 2013-01-27 | Открытое акционерное общество "Конструкторское бюро приборостроения" | Method of guiding missile controlled by radar beam and device to this effect |
| US10514240B1 (en) * | 1981-10-02 | 2019-12-24 | The Boeing Company | Multiple wire guided submissile target assignment logic |
| WO2020087349A1 (en) * | 2018-10-31 | 2020-05-07 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle and gimbal control method therefor |
| CN111580547A (en) * | 2020-04-15 | 2020-08-25 | 北京理工大学 | Hypersonic aircraft formation control method |
| CN112416012A (en) * | 2020-11-30 | 2021-02-26 | 中国运载火箭技术研究院 | Active section guidance control method for rocket power plane symmetric carrier |
| CN112762776A (en) * | 2021-01-22 | 2021-05-07 | 北京理工大学 | Rocket projectile tail end speed estimation method |
| CN115437406A (en) * | 2022-09-16 | 2022-12-06 | 西安电子科技大学 | Aircraft reentry tracking guidance method based on reinforcement learning algorithm |
| CN115729096A (en) * | 2022-11-16 | 2023-03-03 | 上海寰宇乾堃航天科技有限公司 | Load shedding method and system for sounding rocket |
| CN115795687A (en) * | 2022-12-13 | 2023-03-14 | 西安现代控制技术研究所 | Self-adaptive design method for angular velocity amplitude limiting of air-breathing hypersonic aerocraft |
| CN116301028A (en) * | 2023-02-09 | 2023-06-23 | 大连理工大学 | Multi-constraint on-line flight trajectory planning middle section guiding method based on air suction hypersonic speed platform |
| CN116820114A (en) * | 2023-04-12 | 2023-09-29 | 西北工业大学 | Rudder deflection prevention system for continuous large overload maneuver of target and design and use method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8712559B2 (en) * | 2010-02-10 | 2014-04-29 | The Board Of Trustees Of The University Of Illionois | Adaptive control for uncertain nonlinear multi-input multi-output systems |
-
2023
- 2023-11-13 CN CN202311500481.8A patent/CN117234070B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10514240B1 (en) * | 1981-10-02 | 2019-12-24 | The Boeing Company | Multiple wire guided submissile target assignment logic |
| RU2010148825A (en) * | 2010-11-29 | 2012-06-10 | Государственное унитарное предприятие "Конструкторское бюро приборостроения" (RU) | METHOD FOR GUIDING A ROCKET MANAGED BY A BEAM OF A RADAR STATION, AND A DEVICE FOR ITS IMPLEMENTATION |
| RU2473867C1 (en) * | 2011-08-10 | 2013-01-27 | Открытое акционерное общество "Конструкторское бюро приборостроения" | Method of guiding missile controlled by radar beam and device to this effect |
| WO2020087349A1 (en) * | 2018-10-31 | 2020-05-07 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle and gimbal control method therefor |
| CN111580547A (en) * | 2020-04-15 | 2020-08-25 | 北京理工大学 | Hypersonic aircraft formation control method |
| CN112416012A (en) * | 2020-11-30 | 2021-02-26 | 中国运载火箭技术研究院 | Active section guidance control method for rocket power plane symmetric carrier |
| CN112762776A (en) * | 2021-01-22 | 2021-05-07 | 北京理工大学 | Rocket projectile tail end speed estimation method |
| CN115437406A (en) * | 2022-09-16 | 2022-12-06 | 西安电子科技大学 | Aircraft reentry tracking guidance method based on reinforcement learning algorithm |
| CN115729096A (en) * | 2022-11-16 | 2023-03-03 | 上海寰宇乾堃航天科技有限公司 | Load shedding method and system for sounding rocket |
| CN115795687A (en) * | 2022-12-13 | 2023-03-14 | 西安现代控制技术研究所 | Self-adaptive design method for angular velocity amplitude limiting of air-breathing hypersonic aerocraft |
| CN116301028A (en) * | 2023-02-09 | 2023-06-23 | 大连理工大学 | Multi-constraint on-line flight trajectory planning middle section guiding method based on air suction hypersonic speed platform |
| CN116820114A (en) * | 2023-04-12 | 2023-09-29 | 西北工业大学 | Rudder deflection prevention system for continuous large overload maneuver of target and design and use method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117234070A (en) | 2023-12-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108362171B (en) | A kind of Guidance constrained with attack time and angle-of-attack | |
| CN109782795B (en) | Transverse control method and control system for coupled surface-symmetric hypersonic aircraft | |
| CN102929283B (en) | Method for controlling reentry vehicle self-adapting optimal sliding mode attitude based on SDRE (state dependence matrix Riccati equation) | |
| CN110488852B (en) | Full-profile self-adaptive control method for hypersonic aircraft | |
| CN107844123A (en) | A kind of Nonlinear Flight device flight tracking control method | |
| CN105045284B (en) | A kind of anti-interference unmanned vehicle path tracking control method | |
| CN112550770B (en) | Rocket soft landing trajectory planning method based on convex optimization | |
| CN110425943B (en) | Engineering reentry guidance method for metamorphic aircraft | |
| CN104199303B (en) | Stratospheric satellite planar path tracking control method based on vector field guidance | |
| CN106444822A (en) | Space vector field guidance based stratospheric airship's trajectory tracking control method | |
| CN112648886B (en) | Combined guidance target intercepting method and system | |
| CN113900448B (en) | Aircraft prediction correction composite guidance method based on sliding mode interference observer | |
| CN115857538A (en) | Multi-aircraft cooperative guidance method meeting falling angle constraint in three-dimensional space | |
| CN110926278A (en) | Novel preposed guidance method adopting multi-preposed angle superposition and tail end correction | |
| CN117234070B (en) | BTT distribution method based on angle control instruction | |
| RU2392186C2 (en) | Method to control twin-engine aircraft and system to this end | |
| Xiaojian et al. | Impact angle control over composite guidance law based on feedback linearization and finite time control | |
| CN116576735A (en) | Active aerodynamic heat relieving control method for ultra-remote guided rocket | |
| CN114610057B (en) | Design method for maneuver burst prevention strategy of high Mach aircraft | |
| CN114265420B (en) | Guidance control integrated design method suitable for high dynamic and slow response control | |
| CN115993834A (en) | Tracking differential control guidance method for high-dynamic aircraft | |
| CN113721651A (en) | Missile agile turning nonsingular terminal sliding mode control method | |
| Choi et al. | Nonlinear adaptive guidance considering target uncertainties and control loop dynamics | |
| CN117806341A (en) | Maneuvering target angle constraint guidance method considering hysteresis of pilot | |
| Du et al. | Trajectory optimization for agile-turn of vertically launched missile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |