The Control Strategy of Zenith-pass Singularity Problem Under the Roll-pitch Seeker Oblique Scheme

doi:10.12382/bgxb.2022.0631

Abstract

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

CLC Number:

TJ410.3

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.

Figures/Tables 23

Fig.1 Coordinate transformation relationship

Fig.2 Structure diagram of seeker control process

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

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

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

Fig.6 Schematic diagram of oblique stable platform

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

Fig.8 Strategy for projectile roll control

Fig.9 Schematic diagram of projectile rolling

Fig.10 Coordinate transformation relationship of oblique seeker

Fig.11 Control system model

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

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

Fig.12 Bode diagram of speed loop

Fig.13 Bode diagram of pitch channel position loop

Fig.14 Bode diagram of roll channel position loop

Fig.15 Target trajectory on seeker detector

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

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

Fig.18 Response of seeker pitch and roll frames

Fig.19 Diagram of detector error angle

Fig.20 Pitch channel

Fig.21 Roll channel

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