| Artillery has low cost and quick response,but its range and mobility are limited.Missiles have a long range,high mobility and powerful,but they are expensive to make.In view of the current demand of our country,it is urgent to develop low cost and high precision guided artillery equipment.A type of glide extended range guided projectile is a typical case,which combines the advantages of projectile and missile,with strong strike force,high precision and low production and use cost.In this paper,the off-line planning and on-line planning,tracking control and terminal guidance law of the proposed trajectory are studied.According to the flight process of guided projectiles,the 6-d OF flight model is established and simplified according to the requirements.Based on the trajectory designed by the non-controlled trajectory and the maximum lift-to-drag ratio method,the influence of launch conditions,air trajectory parameters and rocket parameters on the trajectory characteristics is analyzed by simulation,and the ballistic characteristics of the guided projectile are preliminarily established.Aiming at the problem that the maximum lift-drag ratio method can prolong the range and sacrifice the Angle of descent,a terminal guidance law with the constraints of the Angle of descent and the Angle of attack is designed,and the applicability of the terminal guidance law is verified by the simulation of six groups of projectiles with different positions and velocities hitting the fixed target with the same attitude.Aiming at the problem that off-line planning scheme trajectory is sensitive to launch interference,an online planning algorithm of scheme trajectory is designed.Firstly,the range extension effect of the trajectory designed by the maximum lift-drag ratio method is compared with that designed by the hp Radau pseudo-spectral method.Then,based on different performance indexes and terminal constraints,and considering the initial deviation,several groups of simulation experiments are carried out to prove that the adaptive pseudo-spectral method can meet different tactical requirements.Finally,five groups of trajectory points in the ascending section were randomly selected as the starting point of online trajectory planning,and the falling point and Angle were specified for simulation.The results verified that the self-adaptive hp Radau pseudo-spectral method designed in the paper could accomplish the task of online trajectory planning well.In view of the projectile in flight out of plan trajectory problems encountered interference,trajectory tracking algorithm was designed,and according to the actual position of ballistic trajectory and program relations,free combination ahead or lag,left or right,large error or small error of these three ways,by a far nearly two specified range,to verify the stability of the tracking control system. |
