风场环境下的巡飞弹航迹跟踪运动补偿算法  

Trajectory Tracking Algorithm for Motion Compensation of Loitering Munition under Wind Environment

作　　者：李增彦[1] 李小民[1] 刘秋生[2] 

机构地区：[1]军械工程学院无人机工程系,河北石家庄050003 [2]军械工程学院弹药工程系,河北石家庄050003

出　　处：《兵工学报》2016年第12期2377-2384,共8页Acta Armamentarii

基　　金：武器装备"十二五"预先研究项目(51325050101)

摘　　要：针对巡飞弹航迹跟踪过程受风速、风向影响的问题,在风场环境下,通过建立运动模型,研究并提出了基于变增益虚拟参考点和系统外回路动态补偿的非线性制导律算法。根据制导律参数中固定距离限制的问题,设计了变增益虚拟参考点并分析了航迹跟踪的稳定性条件,针对系统外回路滞后特性设计了动态反馈补偿因子,同时给出了参数计算方法及运动约束条件。通过数学仿真方法分别对无风及有风条件下的制导律进行验证,考虑到实际飞行试验困难的问题,基于vc++搭建了半实物实时仿真平台,通过硬件在回路仿真,验证了航迹跟踪性能。结果表明:改进制导律可有效克服风干扰、具有较高的跟踪精度且易于工程实现。The trajectory tracking process of loitering munition is affected by wind speed and wind direction. A motion model with wind is established, and a nonlinear guidance law based on the variable gain virtual reference point and outer loop motion compensation is proposed. According to the fixed distance limit of the guidance law parameters, the variable gain virtual reference point is designed, and the stability condition of trajectory tracking is analyzed. Then the dynamic feedback compensation factor is designed for the hysteresis characteristic of the system＇ s outer loop, and the calculation method of the parameters and the kinematic constraints are also given. The guidance law is verified with wind and without wind through mathematical simulation. Considering the difficulty of actual flight, the tracking performance is tested on the semi physical real-time simulation platform which is built based on vc ＋ ＋. The results show that the improved guidance law can effectively overcome the wind disturbance, and it has high tracking accuracy but is easy to be realized.

关 键 词：兵器科学与技术 巡飞弹 航迹跟踪 非线性制导律 运动补偿 半实物仿真 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]