Midcourse And Terminal Cooperative Trajectory Programming Research Of Hypersonic Vehicles

Cluster cooperation technology and hypersonic vehicle technology are the two most representative research directions in the development of aerospace field in recent two decades,which are of great significance to the construction of national aerospace system.In order to fully reflect the technical advantages of hypersonic vehicles,its application mode must expand towards cluster cooperation.Based on the mature cooperative guidance and control methods and the characteristics of typical hypersonic vehicles,it is necessary and urgent to explore the innovative integration of the two related technologies.In this thesis,theoretical researches and methods innovation are carried out for the cooperative guidance and control of hypersonic gliding vehicle in typical flight stages.The main research works of this thesis includes:(1)For the cooperative trajectory planning problem under complex constraints in multi vehicles gliding phase,a cooperative trajectory optimization design framework based on pseudo spectrum method and a time-separated reentry cooperative strategy based on improved predictor-corrector method are proposed respectively.Firstly,the characteristics of midcourse glide trajectory under complex constraints are analyzed and described,and two different time cooperative strategies are proposed according to whether the total flight time range of each vehicle overlap or not.Aiming at the cooperative problem with intersection of flight time range,a trajectory optimization design framework based on pseudo spectrum method is constructed to obtain the common coordination time;For the cooperative problem without intersection,a time-separated reentry cooperative method based on improved predictor-corrector method is proposed to coordinate and control each vehicle.Simulation results show that the proposed method can adapt to the task planning problem in two collaborative scenarios respectively under complex constraints,and achieve the expected collaborative goal.(2)For the cooperative precision guidance problem of multi hypersonic vehicles terminal guidance under complex constraints,a distributed time cooperative guidance method based on multi-agent consistency theory and considering terminal attack angle constraints is proposed.Firstly,based on the expression of multi-agent double integral system and the relative motion model of missile and target,a second-order system with relative distance and total lead angle as state variables is established.Then,based on the finite time stability theory,a second-order system control protocol with adaptive coefficients is designed to ensure the consistency of the system in finite time.Then the system is decoupled into longitudinal and transverse planes.The longitudinal acceleration adopts the classical proportional navigation method.The transverse acceleration is inversely derived from the equation relationship between the acceleration and the second-order system control protocol,and the parameter compensation is carried out to improve the convergence speed.Different simulation examples verify the effectiveness and robustness of the guidance method.(3)For the three-dimensional trajectory tracking control problem of hypersonic glider,a finite time combined super twisting sliding mode control algorithm based on drag acceleration tracking is proposed.Firstly,the dynamic model of drag acceleration error is deduced and established.Then the global terminal sliding mode surface is constructed by using the drag error state information.Combined with the super twisting sliding mode control algorithm,a combined super twisting sliding mode controller is designed.Based on the results of second chapter,the reference trajectory obtained from the predictor-corrector method is analyzed and compared with the tracking control ability and control accuracy of different traditional sliding mode controllers.The designed controller maintains smaller tracking error and higher tracking accuracy in simultaneous interpreting of drag acceleration and longitudinal state parameters.At the same time,Monte Carlo experiments verify the robustness of the controller.