Observer-based robust high-order fully actuated attitude autopilot design for spinning glide-guided projectiles

This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.

Investigation on the flow control of micro-vanes on a supersonic spinning projectile

Studies have shown that micro-wedge vortex generators(MVG)can effectively control the flow separation of supersonic boundary layer.In order to improve the flight stability of spinning projectile,the original standard 155 mm projectile was taken as an example,and the micro-vanes were mounted at the projectile shoulder to investigate the separation control on the aerodynamic characteristics of projectile.Numerical simulations were performed with the use of DES method for the flow fields of projectiles with and without micro-vanes,and the characteristics of the boundary layer structures and aerodynamic data were compared and discussed.Numerical results show that the micro-vanes can be used to inhibit separation of fluid on projectile surface,and improve the flight stability and firing dispersion of projectile.

A new calibration algorithms of spinning projectile aerodynamic parameters

This paper demonstrates that the application of calibration algorithms of aerodynamic parameters for the trajectory of spinning projectile is successful. First, from the point of view of the trajectory simulation, a general summary of well-known trajectory models is given. A five degrees of freedom （5 DOF） model is developed that can match the projectile motion essentially in the vertex region, and the results obtained by 5 DOF model are in close agreement with those of a more sophisticated 6 DOF model for elevation angles above 45 degrees. Secondly, the calibration algorithms have been developed and are summarized. The methods of calibrating the flight trajectory models are compared, and these methods are shown to be effective in the representative cases. In addition, the method of Math number calibration （MNC） is presented; some possible areas in MNC for further investigation are indicated together with benefits to be gained. The utilization of MNC schemes not only allow a worthwhile reduction of calibration rounds firing in range and accuracy （R＆A） trial and production of firing tables （PFT） test, but also make PFT and fire control data （FCD） more cost effective.

Method of measuring rotation speed of high spinning projectile based on plane magnetic induction coil

For the test of rotation speed of high spinning projectile, the general formula of the motional electromotive force （MEMF） of planar magnetic induction coil （PMIC） is derived in case of 3D rotation in a stable magnetic field. Under a reasona-ble assumption, the MEMF of PMIC is simplified after the aforementioned general formula is used to calculate high spinning PMIC in the geomagnetic field environment. The determination approach of half-cycle is discussed and the method of rotation speed test is studied, and a test is conducted in the paper. The rotation speed curve obtained by the approach in this paper is consistent with the curve by telemetry.

Modeling and Stability Analysis for Dual-Spinning Projectiles with Canards

To develop the guided spin-stabilized projectiles with high hit precision,a class of dual-spinning stabilized projectile equipped with canards in atmospheric is studied.The 7 degrees of freedom(DOF) nonlinear equations are written in a non-rolling body frame.The work reported here focuses on the ballistic property analysis including the spin rates,incidence angle,ballistic drift and lateral velocity.The dual-spinning projectiles are fundamentally less stable than conventional spin-stabilized projectiles.Hence,the gyroscopic stability is also studied in this paper.Theoretical models are given in this work,and the results of numerical analysis are discussed.

Influence of control strategy on stability of dual-spin projectiles with fixed canards

Existing literature has shown that the control force at the nose could cause dynamic instability for controlled projectiles. To lower the adverse impact on the dual-spin projectile with fixed canards under the premise of meeting guidance system requirements, the influence of control moment provided by a motor on the flight stability is analyzed in this paper. Firstly, the effect of the rolling movement on stability is analyzed based on the stability criterion derived using the Hurwitz stability theory. Secondly, the evaluation parameters combining the features of different control periods that could assess the variation of stability features after the motor torque are obtained. These effective formulas are used to indicate that, to reduce the flight instability risks, the stabilized rolling speed of roll speed keeping period should be as small as possible; the variation trend of motor torque during the rolling speed controlling period and the roll angle of the forward body during roll angle switching period are recommended corresponding to the projectile and trajectory characteristics. Moreover,detailed numerical simulations of 155 mm dual-spin projectile are satisfactory agreement with the theoretical results.

Influence of yawing force frequency on angular motion and ballistic characteristics of a dual-spin projectile

A roll-decoupled course correction fuze with canards can improve the hit accuracy of conventional unguided ammunitions. The fuze increases accuracy by reducing the effect of angular and translational motion produced by the cyclical yawing forces applied on the projectile. In order to investigate the influence of yawing forces on angular motion, a theoretical solution of the total yaw angle function with the cyclical yawing forces is deduced utilizing the 7 degrees of freedom(7-DOF) model designed for this calculation. Furthermore, a detailed simulation is carried out to determine the influence rules of yawing force on angular motion. The calculated results illustrate that, when the rotational speed of the forward part is close to the initial turning rate, the total yaw angle increases and the flight range decreases sharply. Moreover, a yawing force at an appropriate frequency is able to correct the gun azimuth and elevation perturbation to some extent.

Method of ballistic control and projectile rotation in a novel railgun

In order to realize the ballistic control of the railgun and the flight stability of the projectile, a new type of railgun is designed, which can control the muzzle velocity and rotation rate. The method of the muzzle velocity and overload control is to adjust the voltage or other parameters of pulse power supply. It would be easy to change velocity accurately in large wide. Another widespread concern problem is launching the spinning stability projectile by railgun. This paper designed a new structure of additional rails to generate an unsymmetrical magnetic field to produce rotational torque in armature. The structure is simple and can control the rotation rate by linear changing the barrel parameters. The calculation formulas of interior ballistic are derived by Biot-Safar law. The important parameter is the deflection angle of the additional rails relative to the symmetry plane of main rail. The larger the angle, the greater the rotation torque generated in the armature. To maintain the flight stability of the projectile, the barrel structural parameters should be proportional to the projectile structural parameters. When changing the muzzle velocity, the rotation rate will also be the equal proportion change. So that the gyro stability is the same. The experiment proves that the railgun designed in this paper can launch the projectile to rotate. And the rotational projectile may not cause the transition or much arcs. This method expands the application of the railgun.

高旋弹二维修正引信双旋结构气动特性及气动力表征

针对配二维弹道修正引信高旋弹具有弹体气动参数非对称、纵向和横向修正紧密耦合等问题,为了准确表征高旋弹气动参数、明确修正弹丸气动特性和产生机理,提出了基于CFD(computational fluid dynamics)仿真的双旋结构气动力计算分析方法.在构建双滚转域流场仿真模型的基础上,对比了二维修正引信不同控制状态下的弹丸受力情况;明确了高旋弹固有气动力和二维修正引信所引起的气动力;建立并推导了攻角与滚转角耦合情况下的舵片受力模型.研究表明:针对二维修正组件,需要考虑合攻角与舵滚转角的相对位置关系以计算诱导阻力;受迎背风和舵片绕流影响,舵片受力模型和弹体的横、纵向气动力均随攻角、滚转角及马赫数变化.

鸭舵转速对双旋弹追随稳定性影响研究

发展了适合双旋弹虚拟飞行仿真的高保真计算流体力学和刚体动力学耦合平台,以此为基础研究了旋转鸭舵对双旋弹弹道追随稳定性的影响。为了准确刻画双旋弹前后体的差动旋转效应,将滑移网格算法引入自研非结构混合网格流场数值模拟程序HUND3D。通过对双旋弹进行定轴转动非定常模拟,考察了不同鸭舵转速下双旋弹的流动特征与气动特性。通过耦合求解非定常雷诺平均NS方程和七自由度刚体动力学方程,实现了双旋弹不同弯度弹道的虚拟飞行仿真,分析了弹道追随过程的动力学机理,并结合气动特性分析结果研究了控制鸭舵转速改善弹道追随稳定性的策略。研究结果表明:鸭舵旋转所产生的气动干扰,能够显著影响弹体的侧向力与偏航力矩。通过控制前体鸭舵转速以产生有利于弹道追随的偏航力矩,能够在一定程度上改善弹道追随稳定性。

圆膛低转速弹丸旋转速度测试方法研究

外轨不偏置的圆膛电磁轨道发射装置中,由于电磁力分布不均造成了弹丸低转速旋转,该现象对电磁轨道发射装置的轨道寿命和射击精度影响较大,针对外弹道姿态不稳定的低转速弹丸,采用常规火炮的弹丸转速测试方法会导致转速测试误差较大,不能满足测试精度要求。基于单目或双目视觉系统,研究了低转速模拟弹的测试原理和方法,进行测试误差分析,并进行了试验测试。结果表明,该测试方法能够完成短距离、弹丸低转速的高精度测试,测试结果准确可靠,该转速的定量测试可对发射装置结构优化和弹药系统研制提供参考。

旋转稳定弹动力学弹道特性分析

不同弹箭的飞行弹道特性对指导外弹道设计、构建一些弹道判据等有重要意义.文章基于弹箭飞行动力学方程组及合理简化,对旋转稳定弹飞行弹道上的质心加速度变化、旋转角加速度变化等动力学弹道环境特性状况,以及旋转圈数同飞行距离的关系等进行了研究,分析得出了它们沿飞行弹道上的变化规律,并建立了相关关系表达式和判据.对两种型号的旋转稳定弹进行外弹道仿真计算,验证了结论的正确性.这些空气弹道特性的研究结果,将对今后开展一些新型弹箭方案研究、弹药信息化利用、控制飞行与安全性设计等提供技术支持.

结合系统辨识和迁移学习的高速旋转弹气动力建模方法

计算流体动力学与刚体动力学(Computational Fluid Dynamics and Rigid Body Dynamics,CFD/RBD)耦合仿真是旋转弹飞行性能评估的常用方法之一,但由于需要进行大量CFD计算,该方法效率较低。建立一个高效、精确且泛化能力强的气动力模型并以之替代耦合仿真中的CFD模块,可以大幅度提升仿真效率。针对前述旋转弹气动力建模问题,提出一种结合系统辨识和迁移学习的建模方法。给定旋转弹运动初始条件并采用CFD/RBD耦合仿真获得样本,采用自回归滑动平均方法建立原始气动力模型,同时采用长短时记忆网络建立状态预测模型。当初始条件变化不大时,原始气动力模型仍然适用;当初始条件发生较大改变时,利用迁移学习将状态预测模型迁移到该初始条件下,并预测相应初始条件下的状态参数,基于预测得到的状态参数,采用自回归滑动平均方法建立气动力模型。算例结果表明:所提方法适用于初始转速和俯仰角变化较大时对旋转弹气动力的精确建模;与直接以CFD/RBD耦合仿真结果为样本、采用自回归滑动平均方法建模相比,在精度相同时建模时间缩短了一半。

鸭舵式双旋弹舵翼非线性控制力建模与分析

鸭舵式双旋弹通过调节前体滚转角方位进行弹道修正,建立准确的舵翼控制力模型是深入研究其弹道特性和进行弹道设计的关键。综合考虑弹体和各片舵翼之间的干扰作用,在非滚转系中利用傅里叶级数对前体纵向对称面相对复攻角平面方位改变产生的周期性效应进行变换,建立适用于该类炮弹大攻角飞行的精确舵翼控制力工程计算模型,从原理上显示其与四片舵翼结构参数、复攻角幅值和相位以及前体滚转角方位间的关系。通过计算流体力学数值方法对不同前体滚转角和复攻角下的舵翼控制力进行仿真分析。研究结果表明:受一对减旋舵和操纵舵的法向力共同影响,舵翼控制力的大小和方向变化均呈现出强非线性特征,在大攻角条件下尤其突出;在任意复攻角和前体滚转角情况下,所建模型能够准确描述鸭舵式双旋弹的舵翼控制力及各因素对它的影响,为该类炮弹的前体结构设计、弹道特性分析和弹道设计等提供了理论依据与参考。

Research on the navigation method of large-scale differential tail-control improvised guided munitions based on rotational speed constraints

In the process of launching guided projectile under the conventional system, it is difficult to effectively obtain the precise navigation parameters of the projectile in the high dynamic environment. Aiming at this problem, this paper describes a new system of guided ammunition based on tail spin reduction. After analyzing the mechanism of the ammunition's tail spin reduction, a navigation method of large scale difference tail control simple guided ammunition based on speed constraint is proposed. In this method,the corresponding navigation constraints can be carried out by combining the rotation speed state of the ammunition itself, and the optimal solution of navigation parameters during the flight of the missile can be obtained by Extended Kalman Filter(EKF). Finally, the performance of the proposed method was verified by the simulation environment, and the hardware-in-the-loop simulation test and flight test were carried out to verify the performance of the method in the real environment. The experimental results show that the proposed method can achieve the optimal estimation of navigation parameters for simple guided ammunition with large-scale difference tail control. Under the conditions of simulation test and hardware-in-loop simulation test, the position and velocity errors calculated by the method in this paper converged. Under the condition of flight test, the spatial average error calculated by the method described in this paper is 6.17 m, and the spatial error of the final landing point is 3.50 m.Through this method, the accurate acquisition of navigation parameters in the process of projectile launching is effectively realized.

Origin of the finite nuclear spin and its effect in intermediate energy heavy ion collisions

The heavy-ion phase-space exploration (HIPSE) model is used to discuss the origin of the nuclear spin in intermediate energy heavy-ion collision (HIC).The spin of maximal projectile-like fragment is found to depend strongly on impact parameter of a reaction system,while it relates weakly to the collision violence.Some interesting multi-fragmentation phenomena related to the spin are shown.We also found that the excitation energy in the de-excitation stage plays a robust role at the de-excitation stage in HIC.

Acceleration tracking control for a spinning glide guided projectile with multiple disturbances

A novel acceleration tracking controller is proposed in this paper, for a Spinning Glide Guided Projectile(SGGP) subject to cross-coupling dynamics, external disturbances, and parametric uncertainties. The cross-coupled dynamics for the SGGP are formulated with mismatched and matched uncertainties, and then divided into acceleration and angular rate subsystems via the hierarchical principle. By exploiting the structural property of the SGGP, model-assisted Extended State Observers(ESOs) are designed to estimate online the lumped disturbances in the acceleration and angular rate dynamics. To achieve a rapid response and a strong robustness, integral sliding mode control laws and sigmoid-function-based tracking differentiators are integrated into the ESO-based Trajectory Linearization Control(TLC) framework. It is proven that the acceleration tracking controller can guarantee the ultimate boundedness of the signals in the closed-loop system and make the tracking errors arbitrarily small. The superiority and effectiveness of the proposed control scheme in its decoupling ability, accurate acceleration tracking performance and antidisturbance capability are validated through comparisons and extensive simulations.

鸭舵式双旋弹非线性角运动及其分岔特性

针对鸭舵式双旋弹在飞行过程中可能出现大攻角情况,使原基于小攻角假设获得的稳定性判据等结论难以对这种状况下弹丸的飞行稳定性进行准确判断,为此对该类炮弹的非线性角运动及其分岔特性展开研究。在非滚转系中建立鸭舵式双旋弹改进的6自由度弹道方程,并在考虑几何非线性和气动非线性条件下,推导精确的广义复攻角运动方程及其状态空间模型;应用霍尔维茨方法提出该类炮弹大攻角飞行时的动态稳定性判据,并通过数值仿真计算分析不同因素对系统分岔特性和极限环半径的影响。研究结果表明:升力和马格努斯力矩的非线性项以及飞行速度是影响系统分岔特性的主要因素;舵片控制力和力矩以及空气密度的增大均容易使极限环半径减小;有控飞行时极限环半径可能进一步减小,但其受前体滚转角控制方位的影响不大,即前体滚转角控制方位改变对飞行稳定性影响较小。

旋转稳定弹道修正弹扰流片气动参数辨识研究

针对采用扰流片控制的旋转稳定弹道修正弹,为寻求合理、高效的控制方案设计,必须尽可能准确地获取扰流片气动参数,故有必要开展该类修正弹的扰流片气动参数辨识研究.在设计及扰流片附加力和力矩的飞行动力学模型基础上,利用最小二乘准则建立目标函数,以扰流片的轴向力系数、法向力系数、静力矩系数为待辨识参数,以带自适应变异算子的差分进化算法为全局优化工具,构建了扰流片参数辨识的总体方案及流程.仿真结果表明:所构建辨识方案可有效辨识扰流片的气动参数;测量数据噪声对参数辨识精度有一定的影响.

远程尾控制导炮弹气动特性及仿真分析

针对高旋制导炮弹高转速导致控制难度大的问题,设计了一种利用船尾装置进行弹体减旋控制的制导炮弹外形,减旋船尾的轴承装置与前部舱段采用非硬连接方式,能够保证弹体出膛后达到船尾减旋效果。对弹体的气动外形进行物理建模,使用GAMBIT进行非结构化网格划分,通过FLUENT软件在Spalart-Allmaras模型的基础上对非硬连接减旋船尾的制导炮弹进行气动特性仿真。仿真结果表明:在500次迭代完成后,随着马赫数的升高,阻力系数的收敛值从0.1740增加到0.4665,升力系数的收敛值从0.06699增加到0.4088,力矩系数的收敛值从0.08668增加到0.6460;弹头和弹尾所受压力值随着马赫数的增加而增大,且弹头所受压力最大值为9.82e+0.5 Pa,弹尾所受压力最大值为1.71e+0.5 Pa。仿真结果表明具有减旋船尾的制导炮弹气动外形合理,所得气动参数可为减旋制导炮弹提供设计依据。