Study On Robust Control Method Of SINS/GPS Guided Bomb

Based on disadvantages of the third generation laser guided bomb in the war, new guided bomb with SINS/GPS which is low-cost and high-precision has been developed rapidly. At present, the inventory of aerial bombs without control is at large and the safety of carrier aircraft and precision of the bombs is poor. Accordingly, further rearch on the correlation theory and technology has important practical and military significance.In terms of the external disturbance and un-modeled perturbation in huge airspace, the key technology of guidance and control system based on robust control theory has been presented in this paper. And also numerical simulation, hardware in the loop simulation, simulation-bombing test by the car and bombing test has been presented.According to the characteristic and requirements for techniques and tactics of the guided bomb, a compound guidance law including midcourse and terminal guidance has been proposed to increase range and improve precision. In midcourse guidance phase, the best glide-attack-angle has been obtained to increase the range of guided bomb. In terminal guidance phase, a robust guidance law which meets the L2-gain and constraint of falling angle has been designed for the feasibility of engineering application. The terminal robust guidance law aims to keep the line-of-sight angle stable. As a result, it has simple state variables, and does not need requiring velocity of the bomb controllable.To ensure flight control system stability within the external disturbance and un-modeled perturbation, the state space model including S/T/R is deduced. In the way the mixed sensitivity problem is transformed into standard H∞problem. Then the general selection principle has been discussed, the general selection method has been proposed, and the general form has been given at the most possibility.The conventional method of choosing weight functions needs to adjust repeatedly, and can't design optimization controller. As a result, artificial fish swarm algorithm has been used to solve the problem. According to disadvantages of artificial fish swarm algorithm, an improved artificial fish swarm algorithm introducing starvation-factor which can adaptive adjust visual, step and crowding-factor has been presented. It is used to optimize weight functions and design the robust controller of the guided bomb.H∞mixed sensitivity method can solve robust problems, but the application has some difficulty fot its high order. Furthermore, multiple performance indices are almost required in control system. Accordingly, a multi-objective optimization method based on artificial fish school algorithm has been proposed. Firstly, multi-objective requirements of guided bomb have been analyzed. Then under the precondition of guaranteeing the robust performance, time domain indexes of inner and outer loop have been choosed, and Pareto optimal solutions of the system have been solved. With the help of Pareto optimal solutions, every performance indexes can be considerated, conservative results can be avoided.The dissertation performs numerical simulation, and also has design hardware in the loop simulation, simulation-bombing test by the car and bombing test. The guidance and control system has been poved well by the success of bombing test.