[1]路 浩,吝 科,石敏超.基于二阶平滑的巡航导弹航路跟踪控制[J].弹道学报,2018,(04):13.[doi:10.12115/j.issn.1004-499X(2018)04-003]
 LU Hao,LIN Ke,SHI Minchao.Cruise Missile Path Tracking Based on Path Second-order Smoothing[J].Journal Of Ballistics,2018,(04):13.[doi:10.12115/j.issn.1004-499X(2018)04-003]
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基于二阶平滑的巡航导弹航路跟踪控制()
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《弹道学报》[ISSN:1004-499x/CN:32-1343/TJ]

卷:
期数:
2018年04期
页码:
13
栏目:
出版日期:
2018-12-31

文章信息/Info

Title:
Cruise Missile Path Tracking Based on Path Second-order Smoothing
文章编号:
1004-499X(2018)04-0013-06
作者:
路 浩吝 科石敏超
空军西安飞行学院 理论训练系,西安 710306
Author(s):
LU HaoLIN KeSHI Minchao
PLA Air Force Xi’an Flight Academy,Xi’an 710306,China
关键词:
巡航导弹 航路 跟踪控制 轨迹跟踪
Keywords:
cruise missile path tracking control trajectory tracking
分类号:
TP316
DOI:
10.12115/j.issn.1004-499X(2018)04-003
文献标志码:
A
摘要:
针对巡航导弹航路的精确跟踪控制问题,采用对称极多项式曲线对初始折线航路进行平滑,并基于反馈线性化方法和最优控制理论设计了轨迹跟踪控制器。基于“提前转弯式”的航路平滑思想,用对称极多项式曲线航路替换存在夹角的相邻航路段的部分航路,实现飞行航路的二阶平滑过渡; 采用基于“虚拟目标”的航路跟踪方法建立了巡航导弹轨迹跟踪误差状态方程,并采用线性二次最优控制理论设计了轨迹跟踪控制器。仿真结果表明,基于对称极多项式曲线的平滑航路曲率连续,且满足导弹机动性能约束,能够有效减小航路跟踪误差,实现巡航导弹的精确航路跟踪。
Abstract:
In order to solve the precise path tracking problem of cruise missile,the symmetrical polar polynomial curve was used to smooth the flight path composed of line segments,and the trajectory tracking controller was designed based on feedback linearization and the optimal control theory. Based on the idea of“turning in advance”,symmetrical polar polynomial curve was used to replace a portion of path with inclination to realize the second-order smoothing of flight path. A virtual target moving on the pre-specified path was used to structure the tracking error state model,and a trajectory tracking controller was designed based on linear quadratic optimal control theory. Simulation results show that the curvature of smooth path based on symmetrical polar polynomial curve is continuous,and meets the restriction of turn radius of cruise missile. The proposed method can achieve a smaller tracking error effectively and realize precise tracking of the pre-specified flight path.

参考文献/References:

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XIE Xiaofang,SUN Tao,OUYANG Zhonghui. Path planning for anti-ship missile[M]. Beijing:National Defense Industry Press,2010.
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MA Xifeng,ZHANG Lei. Smooth path generation for mobile robots based on symmetrical polar polynomials[J]. Robot,2005,27(5):450-454,459.(in Chinese)
[3]丁明跃,郑昌文,周成平,等. 无人飞行器航迹规划[M]. 北京:电子工业出版社,2009.
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QIAN Xingfang,LIN Ruixiong,ZHAO Yanan. Flight mechanics of missile[M]. Beijing:Beijing Institute of Technology Press,2011.(in Chinese)
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备注/Memo

备注/Memo:
收稿日期:2018-06-11作者简介:路浩(1990-),男,硕士研究生,研究方向为制导控制,飞行原理。E-mail:huhu0517@163.com。
更新日期/Last Update: 2018-12-30