滚仰式导引头斜置方案下的过顶奇异问题控制策略

doi:10.12382/bgxb.2022.0631

摘要/Abstract

摘要：

在末制导阶段,由于制导目标位于弹体纵轴附近,滚仰式结构的导引头易出现奇异性问题而难以精确跟踪目标。针对上述问题,提出基于斜置方案的滚仰式导引头过顶奇异问题控制策略。在导引头稳定平台相对弹体斜置边界俯仰框架角的基础上,通过控制弹体的滚转运动,保证导引头光轴始终避开过顶奇异区域,实现目标位于弹体纵轴附近和斜置导引头初始光轴附近两个过顶奇异区域的稳定跟踪。研究结果表明:所提策略相比于增设第三轴的方法,导引头体积小、质量轻;相比于分区域变参数控制策略,解决了静止和减速控制时过顶奇异区域内导引头对视线角速度跟踪失效的问题;仿真对比结果验证了所提策略具有跟踪精确度高、有效抑制控制系统失稳、降低探测器失调角的特点。

关键词: 斜置导引头, 过顶奇异问题, 滚仰式导引头, 滚转弹

Abstract:

In the terminal guidance stage, since the guidance target is located near the longitudinal axis of a projectile, the roll-pitch seeker is prone to singularity problems and it is difficult to accurately track the target. In view of the above problems, this paper studies the control strategy of zenith-pass singularity problem under the oblique scheme of roll-pitch seeker. On the basis of the pitch frame angle of the stabilized platform of seeker relative to the oblique boundary of projectile, this strategy ensures that the optical axis of seeker always avoids the zenith-pass singularity area by controlling the roll motion of projectile, and realizes the stable tracking of the two zenith-pass singularity areas near the longitudinal axis of projectile and the initial optical axis of oblique seeker. Compared with a method of adding a third axis, the proposed strategy can make the seeker have small volume and light weight. Compared with the sub-region variable parameter control strategy, the problem that the seeker fails to track the line-of-sight angular velocity in the zenith-pass singular region during static and deceleration control is solved. The simulated results show that the proposed strategy has the characteristics of high tracking accuracy, effectively suppressing the instability of control system and reducing the misalignment angle of detector.

Key words: oblique seeker, zenith-pass singularity problem, roll-pitch seeker, rolling projectile

中图分类号:

TJ410.3

金秋延, 刘福祥, 王新春, 刘晓, 莫波. 滚仰式导引头斜置方案下的过顶奇异问题控制策略[J]. 兵工学报, 2024, 45(2): 628-640.

JIN Qiuyan, LIU Fuxiang, WANG Xinchun, LIU Xiao, MO Bo. The Control Strategy of Zenith-pass Singularity Problem Under the Roll-pitch Seeker Oblique Scheme[J]. Acta Armamentarii, 2024, 45(2): 628-640.

图/表 23

图1 坐标系转换关系

Fig.1 Coordinate transformation relationship

图2 导引头控制过程结构图

Fig.2 Structure diagram of seeker control process

图3 框架角指令随θs和εz变化

Fig.3 Change of frame angle instructions with θs and εz

图4 框架角指令随θs和εz变化

Fig.4 Change of frame angle instructions with θs and εz

图5 斜置方案下滚仰式导引头过顶奇异控制策略

Fig.5 Zenith-pass singularity control strategy of roll-pitch seeker under oblique scheme

图6 斜置稳定平台示意图

Fig.6 Schematic diagram of oblique stable platform

图7 斜置前后稳定平台过顶区域示意图

Fig.7 Schematic diagram of zenith-pass area for stabilized platform before and after inclination

图8 弹体滚转控制策略

Fig.8 Strategy for projectile roll control

图9 弹体滚转示意图

Fig.9 Schematic diagram of projectile rolling

图10 斜置导引头坐标系转换关系

Fig.10 Coordinate transformation relationship of oblique seeker

图11 控制系统模型

Fig.11 Control system model

表1 电机模型参数

Table 1 Parameters of motor model

通道	L_a/ mH	R_a/ Ω	K_m/ (n·m·A^-1)	K_e/ (V·s·rad^-1)	J/ (kg·m²)
俯仰	0.002	8	0.234	0.234	0.003
滚转	0.002	8	0.234	0.234	0.003

表2 PID控制器参数

Table 2 Parameters of PID controller

通道	环路	K_P	K_I
俯仰	位置环	191.5	0
	速度环	204.97	329
滚转	位置环	71	0
	速度环	204.97	329

图12 速度环伯德图

Fig.12 Bode diagram of speed loop

图13 俯仰通道位置环伯德图

Fig.13 Bode diagram of pitch channel position loop

图14 滚转通道位置环伯德图

Fig.14 Bode diagram of roll channel position loop

图15 导引头探测器上目标运动轨迹

Fig.15 Target trajectory on seeker detector

图16 导引头俯仰和滚转框架角随时间变化

Fig.16 Change of seeker’s pitch and roll frame angle with time

图17 探测器俯仰和偏航误差角随时间变化

Fig.17 Frame of detector’s pitch and yaw error angles varying with time

图18 导引头俯仰和滚转框架响应

Fig.18 Response of seeker pitch and roll frames

图19 探测器误差角

Fig.19 Diagram of detector error angle

图20 俯仰通道

Fig.20 Pitch channel

图21 滚转通道

Fig.21 Roll channel

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