导弹起竖过程轨迹规划及跟踪控制研究

Trajectory Planning and Tracking Control for Missile Erection Process

为实现导弹的快速平稳起竖,对导弹起竖过程的最优时间轨迹规划和跟踪控制问题进行研究。在分析起竖液压缸负载力的基础上,建立了起竖系统电液比例阀控多级缸的数学模型。为消除起竖过程中多级液压缸换级碰撞带来的液压冲击,提出了采用分级规划的策略。对每一级进行轨迹规划时,为保证起竖过程的平稳性,采用基于非对称组合正弦函数的轨迹规划方法。在综合考虑装备实际中的液压系统压力、流量及负载横向过载约束的基础上,建立了导弹起竖过程的最优时间轨迹规划模型并给出了模型的求解方法。针对导弹起竖系统具有非线性、大范围变负载、模型参数时变的特点,设计了基于H回路成形的鲁棒跟踪控制器。最后,以某型导弹起竖过程的轨迹规划和跟踪控制为例进行了仿真研究,结果表明提出的轨迹规划方法和设计的鲁棒跟踪控制器的有效性。

Time optimal trajectory planning and tracking control were investigated to guarantee missile erect smoothly and quickly. The load was analyzed, and the model of electro-hydraulic proportional valve control multistage hydraulic cylinder was constructed. To avoid hydraulic impact caused by stage change of multistage hydraulic cylinder, stage planning strategy was proposed. In order to make every stage move stable, asymmetry combined sine function was adopted to plan trajectory. Based on the actuating constrains, such as hydraulic pressure and flux, tangential overload of the load in the arms, the optimal time trajectory planning model was constructed, and solving method was also presented. Aiming at solving the problem of nonlinearity, load time-variety and parameters change for erection system model robust tracking controller based on Hoo loop shaping was designed. Finally, the numerical simulation of the time optimal trajectory planning and tracking control for the certain missile was carried out, and the simulation results show that the trajectory planning method proposed and robust tracking controller designed are feasible.