Trajectory Optimization And Guidance Technologies For Glide Vehicle With Engine

In this thesis,the research background is the plane-symmetry gliding vehicle with engine,and this work is focused on the key techniques such as the multi-constrained trajectory optimization,three-dimension trajectory tracking,integrated guidance and control and multi-constrained three-dimension guidance law.The main content and the contribution of the thesis are listed as follows:1)For the plane-symmetry gliding vehicle with engine,in the atmosphere,definitions and transformations of some common coordinate systems are given and the equations of motion of the plane-symmetry gliding vehicle with engine,as well as the atmospheric model and the aerodynamic model are established.Then,according to the characteristics of different flight phases,different assumptions were made and the mathematical models of kinematics and dynamics of the vehicle were established at different phases,including the longitudinal plane motion model and the three-degree-of-freedom particle motion model,which will lay the foundation for trajectory optimization,trajectory tracking and guidance and control problems.2)Based on the optimization of the maximum trajectory of the longitudinal plane,the relationship between the parameters of the boost phase and the parameters of the booster engine is analyzed.The method of selecting the thrust of the booster engine is given,and the optimization problem of vertical maximum range trajectory based on the maximum lift-drag-ratio gliding scheme is described,and the method of solving the maximum vertical range trajectory optimization problem by using the extreme value principle is given.A multi-phase adaptive Radau pseudospectral optimization method is proposed to solve the problem of optimal trajectory planning for the multi-phase trajectory optimization method of Bolza-type nonlinear optimal control problem.The method uses the exponential convergence property of Gaussian orthogonalism,and uses the piecewise polynomials to fit the states,and distributes the differential equation at the orthogonal point of each time subinterval.The estimated value of the state and the control is obtained by solving the finite dimensional mathematical programming problem,and the number of segments or the order of the interpolation polynomials in the sector are adapted according to the fitting accuracy of the state quantities.The optimal method is used to solve the problem of longitudinal maximum range problem and three-dimensional obstacle avoidance optimization problem.The simulation results show that the optimization method can plan the optimal trajectory to satisfy the constraint condition.3)In order to solve the problem of three-dimensional flight trajectory tracking of plane-symmetry vehicle,considering the uncertainties caused by the perturbation of the system parameters and the wind disturbance in the actual flight process,using the theory of auto disturbance rejection control,two kinds of auto disturbance rejection trajectory-tracking controller are designed according to the different flight mission requirements,and one controller is strictly following the speed and position information of the desired trajectory,the other controller follow the position of the desired trajectory while the time is unconstrained.The simulation results show that the designed auto disturbance rejection trajectory-tracking controllers effectively compensate the uncertainties caused by the perturbation of the system parameters and the wind disturbance.4)Focused on the problem of inter-channel coupling in the process of bank-to-turn control,this thesis studies the design technology of integrated guidance and control based on the theory of sliding mode variable structure control and dynamic inverse control.Based on the characteristics of plane-symmetry vehicle,an integrated guidance and control model of plane-symmetry vehicle is established.Based on the theory of sliding mode variable structure,an integrated guidance and control controller with terminal angle constraint is proposed,and the equivalent control error is estimated based on the minimum sliding mode error criterion to suppress the chattering generated by the sliding mode controller.Based on the theory of multiple sliding surfaces variable structure,the three-dimensional integrated guidance and control controller is developed by block dynamic inverse method.The feasibility of the integrated controller is verified by the six-degree-of-freedom simulation,and the stability of the aircraft can be maintained during the flight.5)A multi-constrained three-dimensional guidance law with terminal angle constraint based on robust control theory considering channel coupling compensation is proposed for the terminal guidance problem of plane-symmetry vehicle.the motion coupling between the diving plane and the turning plane is analyzed.Considering the situation that the velocity direction of the vehicle is deviated from the target at the end of the boost phase,the three-dimensional robust guidance law is designed to meet the requirements of the miss distance and the terminal angle constraint,and it has the advantages of higher flight stability.