【作者】 张超；

【导师】 晁涛；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2022， 硕士

【摘要】 高超声速滑翔飞行器是一种新型的飞行器,具有飞行速度高,机动范围广的特点,适用于执行远距离的飞行任务。在存在禁飞区的复杂场景下,飞行器需要具备完成飞行任务的能力,这给飞行器制导带来新的挑战。针对存在路径约束的高超声速飞行器滑翔制导问题,开展以下研究工作:首先,对高超声速飞行器考虑路径约束的制导问题进行背景分析,建立飞行器再入运动模型和禁飞区、航路点路径约束模型。其次,开展考虑路径约束的飞行轨迹规划问题研究,针对存在单个禁飞区的场景,以倾侧角的幅值和符号作为规划变量,设计了基于人工势场法的轨迹规划方法,并使用粒子群算法对人工势场的参数进行优化。在此基础上,分析存在多个禁飞区的复杂场景,以多禁飞区分布场景建立有向图模型,引入参考航路点,再结合人工势场法生成参考轨迹。再次,研究对参考轨迹进行跟踪。设计超螺旋滑模控制器,以倾侧角作为控制量,考虑倾侧角幅值约束产生的输入饱和,构造障碍李雅普诺夫函数证明了控制器的稳定性和有限时间收敛性,通过蒙特卡洛仿真验证控制器的跟踪效果。最后整合轨迹规划程序与轨迹跟踪程序,设计GUI界面,开发仿真程序,形成考虑路径约束的高超声速飞行器滑翔制导仿真平台。对多禁飞区分布场景下的飞行器再入滑翔飞行进行仿真。数值仿真结果表明,在多禁飞区分布场景下,所提出的制导方法能够使飞行器满足路径约束和过程约束和终端约束,完成飞行任务。更多还原

【Abstract】 Hypersonic glider is a new type of vehicle,which has the characteristics of high speed and wide range of maneuver,and is suitable for long-distance flight missions.In complex scenarios with no fly zones,vehicle need to have the ability to complete flight missions,which brings new challenges to vehicle guidance.For the glide guidance problem of hypersonic vehicles with path constraints,the following research work is carried out:Firstly,the guidance problem of hypersonic vehicle considering path constraints is investigated,and the vehicle motion model,no fly zone model and waypoint model are established.Secondly,the trajectory planning method considering path constraints is studied.Taking the amplitude and symbol of pitch angle as planning variables,a trajectory planning method based on artificial potential field method is designed,and the parameters of artificial potential field are optimized by particle swarm optimization algorithm.On this basis,the complex scene with multiple no fly zones is analyzed,the digraph model is established based on the distributed scene of multiple no fly zones,the reference waypoints are introduced,and the reference trajectory is generated by combining the artificial potential field method.Thirdly,the super spiral sliding mode controller is designed to track th e longitudinal reference trajectory.Considering the input saturation caused by the amplitude constraint of the pitch angle,the obstacle Lyapunov function is constructed to prove the stability and finite time convergence of the controller.The tracking effect of the controller is verified by Monte Carlo simulation.Finally,integrating the trajectory planning program and trajectory tracking program,designing the GUI interface,and developing the vehicle guidance simulation platform program.The re-entry glide flight of the vehicle in the multi no fly zone distribution scene is simulated.The numerical simulation results show that the proposed guidance method can make the vehicle meet the path constraints,process constraints and terminal constraints and complete the flight mission in the multi no fly zones distributed scenario.更多还原