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为实现导弹的快速平稳起竖,对导弹起竖过程的最优时间轨迹规划和跟踪控制问题进行研究。在分析起竖液压缸负载力的基础上,建立了起竖系统电液比例阀控多级缸的数学模型。为消除起竖过程中多级液压缸换级碰撞带来的液压冲击,提出了采用分级规划的策略。对每一级进行轨迹规划时,为保证起竖过程的平稳性,采用基于非对称组合正弦函数的轨迹规划方法。在综合考虑装备实际中的液压系统压力、流量及负载横向过载约束的基础上,建立了导弹起竖过程的最优时间轨迹规划模型并给出了模型的求解方法。针对导弹起竖系统具有非线性、大范围变负载、模型参数时变的特点,设计了基于H回路成形的鲁棒跟踪控制器。最后,以某型导弹起竖过程的轨迹规划和跟踪控制为例进行了仿真研究,结果表明提出的轨迹规划方法和设计的鲁棒跟踪控制器的有效性。
In order to realize the rapid and steady launch of missiles, the optimal time trajectory planning and tracking control of missile launch process are studied. Based on the analysis of the load capacity of vertical hydraulic cylinder, a mathematical model of electro-hydraulic proportional valve-controlled multistage cylinder of vertical system was established. In order to eliminate the hydraulic impact caused by the collision of multi-stage hydraulic cylinders in the vertical process, a strategy of hierarchical planning was proposed. For each level of trajectory planning, in order to ensure the smoothness of the vertical process, the trajectory planning method based on asymmetric combination of sinusoidal functions is adopted. Based on the consideration of hydraulic system pressure, flow and load lateral overload constraints in equipment, the optimal time trajectory planning model of missile launch process is established and the solution method of the model is given. Aiming at the non-linear characteristics of the missile hoisting system, varying loads over a wide range and time-varying model parameters, a robust tracking controller based on H-loop is designed. Finally, the trajectory planning and tracking control of a certain type of missile starting process are simulated. The results show that the proposed trajectory planning method and the robust tracking controller are effective.