Optimal guidance for acceleration constrained missile andmaneuvering target

Explicit formulas of optimal guidance laws for an acceleration-constrained, arbitrary-order missile and maneuvering target are derived. These formulas are given in terms of the transfer function and acceleration constraint of the missile and the transfer function/shaping filter of the target. Optimal full-state feedback guidance law is synthesized against a target performing a barrel roll maneuver, and compared with the performance of proportional navigation (PN) for minimum and nonminimum phase missile. Simulation of a third-order missile shows the relative gain from using the full-order guidance law     

Robust Hybrid Control for Ballistic Missile Longitudinal Autopilot

This paper investigates the boost phase’s longitudinal autopilot of a ballistic missile equipped with thrust vector control. The existing longitudinal autopilot employs time-invariant passive resistor-inductor-capacitor (RLC) network compensator as a control strategy, which does not take into account the time-varying missile dynamics. This may cause the closed-loop system instability in the presence of large disturbance and dynamics uncertainty. Therefore, the existing controller should be redesigned to achieve more stable vehicle response. In this paper, based on gain-scheduling adaptive control strategy, two different types of optimal controllers are proposed. The first controller is gain-scheduled optimal tuning-proportional-integral-derivative (PID) with actuator constraints, which supplies better response but requires a priori knowledge of the system dynamics. Moreover, the controller has oscillatory response in the presence of dynamic uncertainty. Taking this into account, gain-scheduled optimal linear quadratic (LQ) in conjunction with optimal tuning-compensator offers the greatest scope for controller improvement in the presence of dynamic uncertainty and large disturbance. The latter controller is tested through various scenarios for the validated nonlinear dynamic flight model of the real ballistic missile system with autopilot exposed to external disturbances.     

基于时滞不确定理论的导弹鲁棒控制系统设计

针对含有参数不确定性、干扰和响应延迟的控制系统鲁棒性设计问题,采用状态反馈控制方法设计控制系统,使得闭环控制系统在保证渐进稳定的同时满足H∞性能指标要求.建立导弹控制系统的线性离散模型,将提出的基于时滞不确定理论的设计方法应用于导弹俯仰-偏航通道的自动驾驶仪设计.通过仿真计算,验证了提出的控制系统设计方法在气动参数摄动...     

Empirical virtual sliding target guidance law design: an aerodynamic approach

We present a novel empirical virtual sliding target (VST) guidance law for the midcourse phase of a long range surface-to-air missile that uses the simplicity of the conventional proportional navigation (PN) guidance law while exploiting the aerodynamic characteristics of a missile's flight through the atmosphere to enable the missile to achieve superior performance than that achieved by conventional PN guidance laws. The missile trajectory emulates the trajectory of an optimal control based guidance law formulated on a realistic aerodynamic model of the missile-target engagement. The trajectory of the missile is controlled by controlling the speed of a virtual target that slides towards a predicted intercept point during the midcourse phase. Several sliding schemes, both linear and nonlinear, are proposed and the effect of the variation of the sliding parameters, which control the sliding speed of the virtual target, on the missile performance, are examined through extensive simulations that take into account the atmospheric characteristics as well as limitations on the missile in terms of the energy available and lateral acceleration limits. Launch envelopes for these sliding schemes for approaching and receding targets are also obtained. These results amply demonstrate the superiority of the proposed guidance law over the conventional PN law.     

弹道式地地导弹精度计算公式及其拟合方法

归纳和总结厂弹道式地地导弹的精度变化规律,根据这些规律和谐波分析理论建立了导弹精度计算公式。文中根据函数逼近理沦,提出了确定谐波函数阶次的方法和具体的拟合步骤。应用这种方法导出了实际导弹的精度计算拟合公式.采用这些公式和采用弹道计算方法分别计算任意相同条件下的导弹精度值.其相对误差小于1%。本文提出的精度计算拟合公式是简便实用的.     

Linear-quadratic and norm-bounded differential game combined guidance strategy against active defense aircraft in three-player engagement

A new type of guidance strategy, combining linear quadratic and norm-bounded game theory, is proposed for the scenario of an attacker against active defense aircraft in three-player engagement. The problem involves three players, an attacker, a defender and a target. The differential game theory and the solution of Hamiltonian equation are utilized to obtain the combined guidance strategy for each player with arbitrary-order dynamics. The game process is divided into 4 phases, C1-C4, according to the switching time. The linear quadratic differential game guidance scheme is employed to reduce the fuel cost in the game parts of C1 and C3. The norm-bounded game guidance strategy is adopted to satisfy the constraint of control input in the game stages C2 and C4. Furthermore, zero-effort miss distance is introduced to meet the constraints of game space and defender’s killing radius in the guidance strategy, which guarantees that the attacker is able to avoid the interception of the defender and hit the target with lower fuel cost and maximum acceleration. And it is proved that the proposed guidance strategy satisfies the Nash equilibrium condition. Finally, the feasibility and superiority of combined guidance strategy are respectively illustrated by nonlinear numerical simulation and verified by comparing with linear quadratic and norm-bounded differential game guidance strategies.     

某型导弹靶标研制的风险评估研究

武器装备研制过程存在各种风险，准确地对风险进行评估，可有效减少风险造成的损失。针对武器装备的研制风险，介绍了风险评估的方法，并结合风险因子、技术特征因子和实验条件因子，给出风险计算公式。最后结合某导弹靶标系统进行了风险评估。     

基于锥形运动的制导火箭速度控制导引律设计

针对制导火箭落点速度的约束要求,提出了一种采用锥形运动控制导弹飞行速度的导引方法。该方法首先设计了满足速度约束的虚拟目标理想运动轨迹,将导弹减速控制问题转化为对虚拟目标的追踪导引问题,通过建立制导火箭与虚拟目标的相对运动模型,分析了弹目相对位置和相对速度的关系,推导了具有速度控制的导引律一般形式,并采用动态逆控制理论设计了锥形运动控制指令和导引参数。通过数字仿真对比了不同落角约束条件下导弹锥形运动的速度控制效果,结果表明该方法设计的导引律能够满足制导火箭速度约束要求,且制导精度高、控制效果好,为导弹锥形运动速度控制技术提供了参考。     

飞航导弹动力装置的预测控制设计

在大空域内实现对于飞航导弹巡航马赫数的有效控制是一个迫切需要解决的问题。首先通过机理分析,确定了连续形式的导弹 动力装置线性化简化数学模型,然后通过一种具有强鲁棒性的递推阻尼最小二乘参数辨识算法,对于它的离散模型特征参数进行实时估计,最后以这个离散模型为基础通过设计预测控制得到了燃油调节规律。通过与传统PID调节方法的比较,显示了这种方法在工况大范围变化的情况下,能够保持马赫数调节的高精度与快速性,改善了动态品质,具有很强的鲁棒性与适应性。     

特征结构配置法及其在飞行控制系统设计中的应用

 本文研究了状态反馈系统的特征结构配置（Eigenstructure Assignment）问题。文中提出了配置具有多重特征值及复共轭特征值的特征结构的算法。并以某飞行控制系统的设计为例说明了算法的应用;最后还给出了设计方案的数字～模拟计算机仿真实验结果。     

Generalized guidance law for homing missiles

The concept of a generalized guidance law is presented, and the closed-form solution for a homing missile pursuing a maneuvering target according to generalized guidance laws is given. It is shown that the guidance laws appearing in the literature are merely special cases of the one proposed by the authors. The derived generalized forms of capture area, missile acceleration, and homing time duration that are derived provide insight into the performance of the guidance laws being considered and lead to the discovery of new ones. The problem of finding a nonlinear optimal guidance law for a homing missile with controlled acceleration, applied so as to capture a maneuvering target with a predetermined trajectory while minimizing a weighted linear combination of time of capture and energy expenditures, is solved in closed form. The derived optimal control law is equal to the LOS (line of sight) rate multiplied by a trigonometric function of the aspect angle. Numerical simulation shows that the resulting guidance law appears to yield a significant advantage over true proportional navigation     

考虑目标安全性的最优协同拦截制导律研究

针对目标和其发射的拦截弹对来袭攻击弹进行协同拦截问题,设计了一种最优协同拦截制导律。建立描述目标、攻击弹和拦截弹三者相对运动关系的模型,引入零控脱靶量对模型进行降阶处理。考虑拦截弹对攻击弹的拦截精度、拦截末端时目标的安全性以及目标、拦截弹的控制能量问题,基于攻击弹-拦截弹零控脱靶量、攻击弹-拦截弹终端横向相对运动速度零控脱靶量、目标-攻击弹零控脱靶量以及目标和拦截弹的加速度,建立了性能指标函数,同时考虑目标和拦截弹加速度的有限性,基于极小值原理设计了最优协同拦截制导律。仿真结果表明,相比目标和拦截弹独立飞行的情况,采用协同拦截制导律,在考虑了目标安全性的前提下,机动性较弱的拦截弹能够以较平直的弹道成功拦截攻击弹。     

红外成像导弹目标截获概率

导弹截获目标的概率是红外成像导弹的一项重要的设计指标。传统的目标截获概率通常通过统计方法得到,该方法需要建立导弹制导控制系统的详细数学模型,因此不适合在导弹总体方案设计阶段使用。针对传统方法的缺陷,通过分析影响红外成像导弹截获概率的主要误差源,从而建立了截获概率的数学模型,从理论分析角度给出了导弹截获概率的计算方法。仿真结果表明,建立的截获概率数学模型正确可信,计算的目标截获概率与传统统计方法结果相当,可以辅助进行各项误差的精度分配以及系统指标的设计,具有重要的理论意义和实际应用价值。     

线性时不变系统的完全跟踪控制器

从线性时不变系统的状态空间模型出发,借助于广义逆矩阵概念和相容线性方程组的最小范数解,从理论上推导了线性时不变系统的完全跟踪控制器方案。     

动态数据建模中时间序列采样间隔的研究

动态数据建模认为,平稳连续随机过程是白噪声激励相应的线性时不变连续时间系统的输出,为便于计算机处理,需要确定对连续随机过程进行采样的采样间隔,通常人们采用仙农采样定理来对待。文中阐述了对动态数据建模中时间序列采样的问题,用多项式插值的采样理论进行了研究,指出在动态数据建模中,若要使从连续时间随机过程到离散时间序列的统计特性得到保持,采样频率应大于系统最大极点自然频率的6倍。     

基于变结构控制理论的航向平面导引规律设计

基于变结构控制理论．针对小型水面机动目标，设计了一种新的导弹航向平面导引律．并对导引律中所需要的目标运动信息给出了估算方法。由于导弹的动态特性对脱靶量有较大影响，为此．本文还研究了导弹动态特性补偿的方法。仿真结果表明．在导弹的动态响应特性较好的情况下，该导引律能提供很高的命中精度；在导弹的动态响应特性很差的情况下，对动态特性补偿后，仍可得到很高的命中精度。     

An optimal one-way cooperative strategy for two defenders against an attacking missile

This paper investigates a cooperative strategy for protecting an aerial target.The problem is solved as a game among four players(a target,two defenders,and a missile).In this scenario,the target launches two defenders(defender-1 and defender-2)simultaneously,to establish a oneway cooperation system(OCS)against an attacking missile.A new optimal evasion strategy for the target is also derived.During the engagement,the target takes into account the reaction of the attacking missile,and guides defender-1 to the interception point by receiving information from defender-1.Depending on the control effort of the target,defender-2 can choose appropriate launch conditions and use very limited maneuvering capability to intercept the missile.For adversaries with first-order dynamics,simulation results show that the OCS allows two defenders to intercept the missile.During the engagement,even if one defender or communication channel is broken,the OCS still allows an interception to be made,thus increasing the target’s survivability.     

Proportional Navigation with a Maneuvering Target

A qualitative analysis of the trajectories of a missile pursuing a maneuvering target according to the proportional navigation law is presented. Conditions for a missile to reach the target from any initial state are determined. The existence of a boundary for the required missile acceleration is demonstrated.     

地空导弹厚壁气动加热温度计算

导弹在飞行中,弹体周围的气流温度会升高,弹体表面被加热;飞行速度越高,加热越严重。介绍了地空导弹厚壁气动加热的工程计算方法,包括空气绕流参数、热交换系数与弹体头部的表面温度计算公式。     

无导引头也无惯导导弹的协同制导

为了在不依赖导弹间实时通信与导弹绝对位置信息的情况下实现无导引头也无惯导导弹的"发射后不管"，考虑为无导引头也无惯导导弹安装两个捷联探测器，从而可对有导引头导弹上的两个特定目标点进行探测。在此基础上，针对静止点目标分别采用一般的负反馈控制方法以及有限时间收敛原理设计了2种协同末制导律，并针对静止面目标采用动态逆控制设计了1种协同末制导律。上述协同制导律均可在有导引头导弹命中目标前实现无导引头也无惯导导弹的速度方向指向其攻击目标，而此后无导引头也无惯导导弹只需要作直线运动即可命中其攻击目标。仿真结果验证了上述协同制导律的有效性以及优势。