北京航空航天大学学报 ›› 2017, Vol. 43 ›› Issue (10): 2143-2153.doi: 10.13700/j.bh.1001-5965.2016.0833

• 论文 • 上一篇    下一篇

基于在线约束限制的飞行器预测校正制导

程阳, 程林, 张庆振, 倪昆, 储培   

  1. 北京航空航天大学 电气科学与自动化工程学院, 北京 100083
  • 收稿日期:2016-10-27 修回日期:2017-02-06 出版日期:2017-10-20 发布日期:2017-02-24
  • 通讯作者: 程阳 E-mail:chengyang1104@163.com
  • 作者简介:程阳,男,硕士研究生。主要研究方向:再入制导;程林,男,博士研究生。主要研究方向:再入制导、自适应控制、智能优化算法;张庆振,男,博士,副教授。主要研究方向:制导、控制与故障诊断。

Aircraft predictor-corrector guidance based on online constraint limit enforcement

CHENG Yang, CHENG Lin, ZHANG Qingzhen, NI Kun, CHU Pei   

  1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2016-10-27 Revised:2017-02-06 Online:2017-10-20 Published:2017-02-24

摘要: 针对传统预测校正算法在再入过程中弹道性能与约束无法保障等问题,提出了一种基于倾侧角参数化的离线弹道优化与在线预测校正相结合的再入制导方法。基于平衡滑翔条件对过程约束进行分析,并证明了倾侧角剖面对射程的单调性。离线部分通过控制量参数化(CVP)方法构建控制模型,并使用序列二次规划(SQP)方法对弹道进行优化,从而大幅度提高弹道性能。在线部分利用Gauss-Newton法实时对弹道进行迭代求解,得出满足终端约束的倾侧角剖面,引导飞行器平稳、精确地飞向末端能量段并满足射程约束,Gauss-Newton法求解弹道具有收敛速度快、精度高的特点。针对高升阻比飞行器导致平衡滑翔条件难以成立以及飞行过程中的强干扰使约束超出的问题,提出了一种约束限制方法,对再入时的过程约束进行了有效的保障。仿真结果表明,本文方法对投放偏差、飞行器参数与大气模型等不确定因素具有良好的鲁棒性,对弹道性能的保障具有工程应用价值。

关键词: 再入制导, 轨迹优化, 实时预测校正, 约束预测校正, 蒙特卡罗仿真

Abstract: In view of current research situation that the ballistic performance and constraints are unable to be guaranteed by traditional prediction correction algorithm in the reentry process, a new reentry guidance method was proposed, which combines the offline trajectory optimization based on simple parameterization of bank angle profile and the online prediction and correction. Process constraints were analyzed through equilibrium glide condition and the monotonic property of range to bank angle profile was proved. For offline section, control model was built through control variable parameterization (CVP) and the trajectory was optimized through sequence quadratic program (SQP) to improve the ballistic performance greatly. For online section, the solution of bank angle profile was obtained in real time, which satisfied terminal constraints through trajectory iteration based on Gauss-Newton method. Gauss-Newton method has fast convergence speed and high precision for solving trajectory. Finally, a constraint limit method was proposed to cope with the problems that high L/D aircraft would make equilibrium glide condition hard to be established and that strong interference would make constraints be violated, which provided powerful protection to process constraints in reentry. The simulation results show that this method is adaptable to uncertain factors such as throwing deviation, aircraft parameters and atmospheric model, and is of engineering application value for trajectory performance guarantee.

Key words: reentry guidance, trajectory optimization, real-time predictor-corrector, constraint predictor-corrector, Monte Carlo simulation

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