| In this dissertation,a new type a guided projectile named "Dual-Spinning Proj ectile" is considered as the subject.Focusing on some theoretical and technical problems encounter during the research process,the ballistic properties,the theoretical of stability,attitude measuring,aerodynamically parameters identification and guided laws are investigated,which are included as follows:1.The method of establishing ballistic model and the property analysis of dual-spinning projectile is studied.The Newton-Euler’s method is used to establish the 7degeer ballistic model and have a detailed study and analysis for ballistic property with a simulation verification.The result shows that the established model can correctly described the motion of the given projectile.2.The stability theory of dual-spinning projectile is studied.According to the stability theory of traditional spinning projectile,the stability theory of dual-spinning projectile is established and then the stable flight condition of dual-spinning projectile is constructed based on the theory,the gyroscopic stable factor and dynamic stable factor is also deduced.According to the factors we can judge any element how to influence the stability of dual-spinning projectiles.Using the method of solving the complex angle of attack differential equation,the structure parameters how to influence the stability is studied.At last,the compare of stability between conventional spinning projectile and dual-spinning projectile is given by the way of numerical simulation.3.Studying the in-flight initial alignment,real-time attitude estimation and the method of how to process rotational speed data for dual-spinning projectile.To supply the initial information of inertial navigation system,the output signal of magnetic and 3-axis MEMS gyroscope are used to construct the in-flight initial alignment method of dual-spinning projectile.The algorithm of UKF is also used to estimate the attitude information of the projectile and to obtain the real time attitude.Aim at the characteristic of large measurement noise and complex data interpretation,the FFT method is used to process the rotation speed signal.The result shows that the method of initial alignment and rotation speed data process is feasible,the precision of attitude real-time resolving also meet the necessary in engineering.4.The method of C-K and MLE are used to identify the aerodynamic parameters of dual-spinning projectile,and compare with these two methods is studied.The result shows that MLE is better th an the C-K in the area of aerodynamic parameters identification of this type of proj ectile.A new intelligent optimization algorithm is also investigated and is applied to the identification works.5.The guidance law of dual-spinning projectile is studied.First,the relation of relative motion between projectile and target is given.Then,the theory of sliding model variable structure is supplied.At last,a guidance law with finite time convergence and falling angel constrained is designed.By the method from theoretical and numerical simulation verified the correction of the designed guidance law as well as the angle error coefficient and switch gain.6.The control law for pitch and yaw is studied.Using PI and FBLC to design the control system.The out loop designed to tracking the acceleration signal and the inner loop designed to stabilize the angle speed.The result shows that the designed control law have a good performance in engineering. |
