To study the application of the generalized predictive adaptive control algorithm in missile control system, the algorithm is presented based on the recursive least square estimation, and a controller of the pitch c...To study the application of the generalized predictive adaptive control algorithm in missile control system, the algorithm is presented based on the recursive least square estimation, and a controller of the pitch channel of a missile is designed by using this algorithm. The simulations verify that the designed controller can meet the demands of the task well.展开更多
In this paper, a filtering method is presented to estimate time-varying parameters of a missile dual control system with tail fins and reaction jets as control variables. In this method, the long-short-term memory(LST...In this paper, a filtering method is presented to estimate time-varying parameters of a missile dual control system with tail fins and reaction jets as control variables. In this method, the long-short-term memory(LSTM) neural network is nested into the extended Kalman filter(EKF) to modify the Kalman gain such that the filtering performance is improved in the presence of large model uncertainties. To avoid the unstable network output caused by the abrupt changes of system states,an adaptive correction factor is introduced to correct the network output online. In the process of training the network, a multi-gradient descent learning mode is proposed to better fit the internal state of the system, and a rolling training is used to implement an online prediction logic. Based on the Lyapunov second method, we discuss the stability of the system, the result shows that when the training error of neural network is sufficiently small, the system is asymptotically stable. With its application to the estimation of time-varying parameters of a missile dual control system, the LSTM-EKF shows better filtering performance than the EKF and adaptive EKF(AEKF) when there exist large uncertainties in the system model.展开更多
Aim To present an adaptive missile control system adaped to the external disturbance and the mobility of target movement. Methods Model reference adaptive control (MRAC) was applied and modified in the light of the ...Aim To present an adaptive missile control system adaped to the external disturbance and the mobility of target movement. Methods Model reference adaptive control (MRAC) was applied and modified in the light of the traits of the anti tank missile. Results Simulation results demonstrated this control system satisfied the requirement of anti tank missile of dive overhead attack. Conclusion It is successful to use MRAC in missile control system design, the quality is better than that designed by classical control theory.展开更多
The controller design and digital simulation for the hyper velocity kinetic energy missile is investigated. A mathematical model of the trajectory deviation from the line of sight was established, the guidance closed ...The controller design and digital simulation for the hyper velocity kinetic energy missile is investigated. A mathematical model of the trajectory deviation from the line of sight was established, the guidance closed loop was compensated with a phase advance lag corrective network, a selecting algorithm of the attitude control motors used to steer the missile's attitude was presented. In the presence of a wide variety of disturbances the results of digital simulation are satisfactory to circular error probability(CEP) being less than 0 5?m. The steering scheme utilizing attitude control motors as actuators to control the attitude of the missile is feasible.展开更多
An attitude controller using the second order sliding mode control methodology with a backstepping approach（SOSMCB）is designed and implemented for a spinning missile with two internal moving mass blocks.The system c...An attitude controller using the second order sliding mode control methodology with a backstepping approach（SOSMCB）is designed and implemented for a spinning missile with two internal moving mass blocks.The system consists of a rigid body and two radial internal moving mass blocks and its mathematical model is established based on Newtonian mechanics.The control scheme integrates a second order sliding mode control algorithm into the last step of the backstepping approach,and its stability is proved by means of a Lyapunov function.The performance of the controller is demonstrated by numerical simulations,the results show that the attitude controller is stable and effective.展开更多
The non-minimum phase feature of tail-controlled missile airframes is analyzed. Three selection strategies for desired performance indexes are presented. An acceleration autopilot design methodology based on output fe...The non-minimum phase feature of tail-controlled missile airframes is analyzed. Three selection strategies for desired performance indexes are presented. An acceleration autopilot design methodology based on output feedback and optimization is proposed. Performance and robustness comparisons between the two-loop and classical three-loop topologies are made. Attempts to improve the classical three-loop topology are discussed. Despite the same open-loop structure, the classical three-loop autopilot shows distinct characteristics from a two-loop autopilot with PI compensator. Both the two-loop and three-loop topologies can stabilize a static unstable missile. However, the finite actuator resource is the crucial factor dominating autopilot function.展开更多
The advanced missile uses blended control of nero-fin and reaction-jet to improve missile maneuverability. The blended control design, which is multi-inputs and multi-outputs （MIMO）, severe nonlinear, and model unce...The advanced missile uses blended control of nero-fin and reaction-jet to improve missile maneuverability. The blended control design, which is multi-inputs and multi-outputs （MIMO）, severe nonlinear, and model uncertain, is much more complex than conventional nero-fin control. A novel nonlinear backstepping control approach is proposed to design the blended autopilot. Missile model is reformed to a new one by state reconstruction technique so that it is easy to be handled by the backstepping method. Then a Lyapunov function is chosen to avoid oscillation caused in normal backstepping way when control parameters are mismatched. In distribution of both inputs, optimal energy logic is proposed. In addition, a fuzzy cerebellar model articulation controller （FCMAC） neural network is used to guarantee controller robustness to uncertainties. Finally, simulation results demonstrate the efficiency and advantages of the proposed method.展开更多
The challenge and control problems of static unstable missiles are presented. The steady-state benefits of static instability are illustrated, while the corresponding control challenge is described both by the charact...The challenge and control problems of static unstable missiles are presented. The steady-state benefits of static instability are illustrated, while the corresponding control challenge is described both by the characteristic lag of airframe and the increment of necessary control usage. Control limitation led by unstable zero-pole pair is analyzed for preliminary design and evaluation. Linear control strategy is examined wherein two and three loop acceleration autopilots with different control usages are developed using an optimal control approach combined with frequency domain constraint. The weights selection and relation with system performance are detailed. Then the nonlinear backstepping recursive method is detailed to determine how well it is able to follow command and its engineering feasibility. The results show that a static unstable missile is controllable, while the actuator bandwidth is the crucial limited factor. There should be a compromise between overall performance and actuator payment.展开更多
A movement law of laser beam facula is designed for the injection trajectory of hyper-ve- locity kinetic energy missile to eliminate the influence of motor exhaust smoke on laser signal trans mission. Taking guidance...A movement law of laser beam facula is designed for the injection trajectory of hyper-ve- locity kinetic energy missile to eliminate the influence of motor exhaust smoke on laser signal trans mission. Taking guidance loop of hyper velocity kinetic energy missile as plant, a closed loop control system with desired step response characteristics is constructed and the movement law of laser beam facula for the missile injection trajectory is designed based on the output signal of the closed loop controller under a step input. Six degree of freedom trajectory simulations show that by the guidance of the laser beam facula moving with designed law, the missile can finish transition from the initial trajectory to a stable tracking trajectory without overshoot within the required time.展开更多
A novel integrated guidance and autopilot design method is proposed for homing missiles based on the adaptive block dynamic surface control approach. The fully integrated guidance and autopilot model is established by...A novel integrated guidance and autopilot design method is proposed for homing missiles based on the adaptive block dynamic surface control approach. The fully integrated guidance and autopilot model is established by combining the nonlinear missile dynamics with the nonlinear dynamics describing the pursuit situation of a missile and a target in the three-dimensional space. The integrated guidance and autopilot design problem is further converted to a state regulation problem of a time-varying nonlinear system with matched and unmatched uncertainties. A new and simple adaptive block dynamic surface control algorithm is proposed to address such a state regulation problem. The stability of the closed-loop system is proven based on the Lyapunov theory. The six degrees of freedom （6DOF） nonlinear numerical simulation results show that the proposed integrated guidance and autopilot algorithm can ensure the accuracy of target interception and the robust stability of the closed-loop system with respect to the uncertainties in the missile dynamics.展开更多
This paper investigates the boost phase＇s longitudinal autopilot of a ballistic missile equipped with thrust vector control. The existing longitudinal autopilot employs time-invariant passive resistor-inductor-capaci...This paper investigates the boost phase＇s longitudinal autopilot of a ballistic missile equipped with thrust vector control. The existing longitudinal autopilot employs time-invariant passive resistor-inductor-capacitor （RLC） network compensator as a control strategy, which does not take into account the time-varying missile dynamics. This may cause the closed-loop system instability in the presence of large disturbance and dynamics uncertainty. Therefore, the existing controller should be redesigned to achieve more stable vehicle response. In this paper, based on gain-scheduling adaptive control strategy, two different types of optimal controllers are proposed. The first controller is gain-scheduled optimal tuning-proportional-integral-derivative （PID） with actuator constraints, which supplies better response but requires a priori knowledge of the system dynamics. Moreover, the controller has oscillatory response in the presence of dynamic uncertainty. Taking this into account, gain-scheduled optimal linear quadratic （LQ） in conjunction with optimal tuning-compensator offers the greatest scope for controller improvement in the presence of dynamic uncertainty and large disturbance. The latter controller is tested through various scenarios for the validated nonlinear dynamic flight model of the real ballistic missile system with autopilot exposed to external disturbances.展开更多
Determining characteristics of the initial fixed-focus are a key technique for the design of laser beam riding guidance missile. Through analyzing the effects of the initial cone information field in guidance and cont...Determining characteristics of the initial fixed-focus are a key technique for the design of laser beam riding guidance missile. Through analyzing the effects of the initial cone information field in guidance and control system of missile, those effects are considered as an approximate lead com- pensation network. The position and time of guidance spot initial fixed-focus can be designed. This method is applied to determine the characteristics of the initial fixed-focus of laser information field for a laser beam guidance gun-launched missile. The results of design and simulation show that the initial cone information field apparently speeds up convergence on the initial trajectory, and provides a guarantee for the implementation of minimum range index of a missile system.展开更多
The consensus problem of impact time is addressed for multiple anti-ship missiles. A new distributed cooperative guidance law with the form of biased proportional navigation guidance （BPNG） is presented. The propose...The consensus problem of impact time is addressed for multiple anti-ship missiles. A new distributed cooperative guidance law with the form of biased proportional navigation guidance （BPNG） is presented. The proposed guidance law employs the available measurements of relative impact time error as the feedback information to achieve the consensus of impact time among mis- siles and, by exploiting the special structure of the biased cooperative control term, it can handle the seeker＇s field-of-view （FOV） constraint. The proposed scheme ensures convergence to consensus of impact time under either fixed or switching sensing/communication network, and the topological requirements are less restrictive than those in the existing results. Numerical examples are provided to illustrate the effectiveness of the proposed guidance law.展开更多
This paper concentrates on developing a missile terminal guidance law against a highly maneuvering target whose maneuvering acceleration is very close to that of the missile or even exceeds the missile normal accelera...This paper concentrates on developing a missile terminal guidance law against a highly maneuvering target whose maneuvering acceleration is very close to that of the missile or even exceeds the missile normal acceleration in a finite period of time.A new saturated super-twisting algorithm is proposed and applied to the design of missile guidance law.The proposed algorithm has the advantages of simple structure,easy parameter tuning rules and a full utilization of the limit control input.The designed saturated super-twisting sliding mode guidance law is then employed in a missile guidance system.Simulation and its superior performance against strong maneuvering targets is demonstrated.展开更多
A novel closed-form guidance law with impact time and impact angle constraints is pro- posed for salvo attack of anti-ship missiles, which employs missile＇s normal acceleration （not jerk） as the control command dir...A novel closed-form guidance law with impact time and impact angle constraints is pro- posed for salvo attack of anti-ship missiles, which employs missile＇s normal acceleration （not jerk） as the control command directly. Firstly, the impact time control problem is formulated as tracking the designated time-to-go （the difference between the designated impact time and the current flight time） for the actual time-to-go of missile, and the impact angle control problem is formulated as tracking the designated heading angle for the actual heading angle of missile. Secondly, a biased proportional navigation guidance （BPNG） law with designated heading angle constraint is constructed, and the actual time-to-go estimation for this BPNG is derived analytically by solving the system differential equations. Thirdly, by adding a feedback control to this constructed BPNG to eliminate the time-to-go errorthe difference between the standard time-to-go and the actual time-to-go, a guidance law with adjustable coefficients to control the impact time and impact angle simultaneously is developed. Finally, simulation results demonstrate the performance and feasibility of the proposed approach.展开更多
文摘To study the application of the generalized predictive adaptive control algorithm in missile control system, the algorithm is presented based on the recursive least square estimation, and a controller of the pitch channel of a missile is designed by using this algorithm. The simulations verify that the designed controller can meet the demands of the task well.
文摘In this paper, a filtering method is presented to estimate time-varying parameters of a missile dual control system with tail fins and reaction jets as control variables. In this method, the long-short-term memory(LSTM) neural network is nested into the extended Kalman filter(EKF) to modify the Kalman gain such that the filtering performance is improved in the presence of large model uncertainties. To avoid the unstable network output caused by the abrupt changes of system states,an adaptive correction factor is introduced to correct the network output online. In the process of training the network, a multi-gradient descent learning mode is proposed to better fit the internal state of the system, and a rolling training is used to implement an online prediction logic. Based on the Lyapunov second method, we discuss the stability of the system, the result shows that when the training error of neural network is sufficiently small, the system is asymptotically stable. With its application to the estimation of time-varying parameters of a missile dual control system, the LSTM-EKF shows better filtering performance than the EKF and adaptive EKF(AEKF) when there exist large uncertainties in the system model.
文摘Aim To present an adaptive missile control system adaped to the external disturbance and the mobility of target movement. Methods Model reference adaptive control (MRAC) was applied and modified in the light of the traits of the anti tank missile. Results Simulation results demonstrated this control system satisfied the requirement of anti tank missile of dive overhead attack. Conclusion It is successful to use MRAC in missile control system design, the quality is better than that designed by classical control theory.
文摘The controller design and digital simulation for the hyper velocity kinetic energy missile is investigated. A mathematical model of the trajectory deviation from the line of sight was established, the guidance closed loop was compensated with a phase advance lag corrective network, a selecting algorithm of the attitude control motors used to steer the missile's attitude was presented. In the presence of a wide variety of disturbances the results of digital simulation are satisfactory to circular error probability(CEP) being less than 0 5?m. The steering scheme utilizing attitude control motors as actuators to control the attitude of the missile is feasible.
基金Supported by the National Natural Science Foundation of China(11202023)
文摘An attitude controller using the second order sliding mode control methodology with a backstepping approach（SOSMCB）is designed and implemented for a spinning missile with two internal moving mass blocks.The system consists of a rigid body and two radial internal moving mass blocks and its mathematical model is established based on Newtonian mechanics.The control scheme integrates a second order sliding mode control algorithm into the last step of the backstepping approach,and its stability is proved by means of a Lyapunov function.The performance of the controller is demonstrated by numerical simulations,the results show that the attitude controller is stable and effective.
文摘The non-minimum phase feature of tail-controlled missile airframes is analyzed. Three selection strategies for desired performance indexes are presented. An acceleration autopilot design methodology based on output feedback and optimization is proposed. Performance and robustness comparisons between the two-loop and classical three-loop topologies are made. Attempts to improve the classical three-loop topology are discussed. Despite the same open-loop structure, the classical three-loop autopilot shows distinct characteristics from a two-loop autopilot with PI compensator. Both the two-loop and three-loop topologies can stabilize a static unstable missile. However, the finite actuator resource is the crucial factor dominating autopilot function.
基金the China Aviation Science Foundation (03D12004)
文摘The advanced missile uses blended control of nero-fin and reaction-jet to improve missile maneuverability. The blended control design, which is multi-inputs and multi-outputs （MIMO）, severe nonlinear, and model uncertain, is much more complex than conventional nero-fin control. A novel nonlinear backstepping control approach is proposed to design the blended autopilot. Missile model is reformed to a new one by state reconstruction technique so that it is easy to be handled by the backstepping method. Then a Lyapunov function is chosen to avoid oscillation caused in normal backstepping way when control parameters are mismatched. In distribution of both inputs, optimal energy logic is proposed. In addition, a fuzzy cerebellar model articulation controller （FCMAC） neural network is used to guarantee controller robustness to uncertainties. Finally, simulation results demonstrate the efficiency and advantages of the proposed method.
基金supported by the National Natural Science Foundation of China (60972118)the Funding Project for Academic Human Resources Development in Institutions of Higher Learning under the Jurisdiction of Beijing Municipality (PHR200906131 PHR201006115)
文摘The challenge and control problems of static unstable missiles are presented. The steady-state benefits of static instability are illustrated, while the corresponding control challenge is described both by the characteristic lag of airframe and the increment of necessary control usage. Control limitation led by unstable zero-pole pair is analyzed for preliminary design and evaluation. Linear control strategy is examined wherein two and three loop acceleration autopilots with different control usages are developed using an optimal control approach combined with frequency domain constraint. The weights selection and relation with system performance are detailed. Then the nonlinear backstepping recursive method is detailed to determine how well it is able to follow command and its engineering feasibility. The results show that a static unstable missile is controllable, while the actuator bandwidth is the crucial limited factor. There should be a compromise between overall performance and actuator payment.
文摘A movement law of laser beam facula is designed for the injection trajectory of hyper-ve- locity kinetic energy missile to eliminate the influence of motor exhaust smoke on laser signal trans mission. Taking guidance loop of hyper velocity kinetic energy missile as plant, a closed loop control system with desired step response characteristics is constructed and the movement law of laser beam facula for the missile injection trajectory is designed based on the output signal of the closed loop controller under a step input. Six degree of freedom trajectory simulations show that by the guidance of the laser beam facula moving with designed law, the missile can finish transition from the initial trajectory to a stable tracking trajectory without overshoot within the required time.
基金the Fundamental Research Funds for the Central Universities(No.HIT.NSRIF.2013039)the National Natural Science Foundation of China(Nos.61203125 and 61021002)
文摘A novel integrated guidance and autopilot design method is proposed for homing missiles based on the adaptive block dynamic surface control approach. The fully integrated guidance and autopilot model is established by combining the nonlinear missile dynamics with the nonlinear dynamics describing the pursuit situation of a missile and a target in the three-dimensional space. The integrated guidance and autopilot design problem is further converted to a state regulation problem of a time-varying nonlinear system with matched and unmatched uncertainties. A new and simple adaptive block dynamic surface control algorithm is proposed to address such a state regulation problem. The stability of the closed-loop system is proven based on the Lyapunov theory. The six degrees of freedom （6DOF） nonlinear numerical simulation results show that the proposed integrated guidance and autopilot algorithm can ensure the accuracy of target interception and the robust stability of the closed-loop system with respect to the uncertainties in the missile dynamics.
基金National Natural Science Foundation of China (60904066)National Basic Research Program of China (2010CB327904)"Weishi" Young Teachers Talent Cultivation Foundation of Beihang University (YWF-11-03-Q-013)
文摘This paper investigates the boost phase＇s longitudinal autopilot of a ballistic missile equipped with thrust vector control. The existing longitudinal autopilot employs time-invariant passive resistor-inductor-capacitor （RLC） network compensator as a control strategy, which does not take into account the time-varying missile dynamics. This may cause the closed-loop system instability in the presence of large disturbance and dynamics uncertainty. Therefore, the existing controller should be redesigned to achieve more stable vehicle response. In this paper, based on gain-scheduling adaptive control strategy, two different types of optimal controllers are proposed. The first controller is gain-scheduled optimal tuning-proportional-integral-derivative （PID） with actuator constraints, which supplies better response but requires a priori knowledge of the system dynamics. Moreover, the controller has oscillatory response in the presence of dynamic uncertainty. Taking this into account, gain-scheduled optimal linear quadratic （LQ） in conjunction with optimal tuning-compensator offers the greatest scope for controller improvement in the presence of dynamic uncertainty and large disturbance. The latter controller is tested through various scenarios for the validated nonlinear dynamic flight model of the real ballistic missile system with autopilot exposed to external disturbances.
基金Supported by the Ministerial Level Foundation(62201070412)
文摘Determining characteristics of the initial fixed-focus are a key technique for the design of laser beam riding guidance missile. Through analyzing the effects of the initial cone information field in guidance and control system of missile, those effects are considered as an approximate lead com- pensation network. The position and time of guidance spot initial fixed-focus can be designed. This method is applied to determine the characteristics of the initial fixed-focus of laser information field for a laser beam guidance gun-launched missile. The results of design and simulation show that the initial cone information field apparently speeds up convergence on the initial trajectory, and provides a guarantee for the implementation of minimum range index of a missile system.
基金supported by the National Natural Science Foundation of China (No. 61273058)
文摘The consensus problem of impact time is addressed for multiple anti-ship missiles. A new distributed cooperative guidance law with the form of biased proportional navigation guidance （BPNG） is presented. The proposed guidance law employs the available measurements of relative impact time error as the feedback information to achieve the consensus of impact time among mis- siles and, by exploiting the special structure of the biased cooperative control term, it can handle the seeker＇s field-of-view （FOV） constraint. The proposed scheme ensures convergence to consensus of impact time under either fixed or switching sensing/communication network, and the topological requirements are less restrictive than those in the existing results. Numerical examples are provided to illustrate the effectiveness of the proposed guidance law.
基金National Natural Science Foundation of China(No.61773142)。
文摘This paper concentrates on developing a missile terminal guidance law against a highly maneuvering target whose maneuvering acceleration is very close to that of the missile or even exceeds the missile normal acceleration in a finite period of time.A new saturated super-twisting algorithm is proposed and applied to the design of missile guidance law.The proposed algorithm has the advantages of simple structure,easy parameter tuning rules and a full utilization of the limit control input.The designed saturated super-twisting sliding mode guidance law is then employed in a missile guidance system.Simulation and its superior performance against strong maneuvering targets is demonstrated.
基金supported by National Natural Science Foundation of China(No.61273058)
文摘A novel closed-form guidance law with impact time and impact angle constraints is pro- posed for salvo attack of anti-ship missiles, which employs missile＇s normal acceleration （not jerk） as the control command directly. Firstly, the impact time control problem is formulated as tracking the designated time-to-go （the difference between the designated impact time and the current flight time） for the actual time-to-go of missile, and the impact angle control problem is formulated as tracking the designated heading angle for the actual heading angle of missile. Secondly, a biased proportional navigation guidance （BPNG） law with designated heading angle constraint is constructed, and the actual time-to-go estimation for this BPNG is derived analytically by solving the system differential equations. Thirdly, by adding a feedback control to this constructed BPNG to eliminate the time-to-go errorthe difference between the standard time-to-go and the actual time-to-go, a guidance law with adjustable coefficients to control the impact time and impact angle simultaneously is developed. Finally, simulation results demonstrate the performance and feasibility of the proposed approach.
