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Three-dimensional trajectory tracking guidance law design method based on precise linearization

A trajectory tracking and linearization technology, applied in three-dimensional position/course control, vehicle position/route/height control, non-electric variable control, etc., to achieve the effect of improving robustness and reducing linearization error

Active Publication Date: 2021-12-28
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0010] In order to avoid the deficiencies of the existing technology, the present invention proposes a three-dimensional trajectory tracking guidance law design method based on accurate linearization, which solves the technical problem that the existing tracking needs to improve the linearization accuracy and be applicable in three dimensions

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  • Three-dimensional trajectory tracking guidance law design method based on precise linearization
  • Three-dimensional trajectory tracking guidance law design method based on precise linearization
  • Three-dimensional trajectory tracking guidance law design method based on precise linearization

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Embodiment

[0119] In order to demonstrate the feasibility and effectiveness of the three-dimensional trajectory tracking guidance law design method based on accurate linearization, the present invention designs a simulation verification test. The initial parameter information of the reference trajectory and the tracking trajectory are shown in Table 1, and the simulation step size is 0.001s.

[0120] Table 1 Trajectory initial information

[0121]

[0122] According to the visible beneficial effect of accompanying drawing:

[0123] figure 1 As shown, the initial error between the tracking trajectory and the reference trajectory is in the Y direction, and the difference is 100m. Afterwards, under the control method designed in the present invention, the tracking trajectory can quickly track the reference trajectory and keep it, and the tracking trajectory is relatively smooth. It shows the rapidity, accuracy and stability of the method.

[0124] figure 2 Shown is the pitch and yaw...

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Abstract

The invention relates to a three-dimensional trajectory tracking guidance law design method based on precise linearization. The method comprises the following steps: precise linearization is carried out on a longitudinal plane tracking model in a system; a lateral plane tracking model in the system is constructed, the trajectory inclination angle of a reference trajectory is mainly adopted to replace the actual trajectory inclination angle, and accurate linearization is carried out; in order to improve the robustness of the system, a tracking guidance law is designed for a longitudinal plane and a lateral plane by adopting sliding mode control, and the stability of the tracking guidance law is analyzed by adopting a Lyapunov theory. Compared with a current trajectory tracking control method, according to the technical scheme, existing two-dimensional trajectory tracking is expanded to three-dimensional trajectory tracking, the linearization error is reduced, the guidance law adopts the sliding mode theory, and the robustness of the system and the convergence rapidity are improved.

Description

technical field [0001] The invention belongs to the technical field of missile trajectory tracking, and relates to a three-dimensional trajectory tracking guidance law design method based on accurate linearization, in particular to a three-dimensional trajectory tracking guidance law design method after accurate linearization of a missile tracking model. Background technique [0002] The guidance stage takes the longest time in tactical missiles, and its performance has a great influence on the terminal guidance stage. The middle guidance section needs to meet the constraints of overload, aerodynamics, and finally reaching the middle and last shift point, so the most used method is to use the trajectory optimization method to design the reference trajectory, and then design the tracking guidance law to track the trajectory. In order to improve the performance of the missile, the design of the tracking guidance law is the most important. [0003] At this stage, there are mai...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/107Y02T90/00
Inventor 张科张振林韩治国弋可行李蒲金
Owner NORTHWESTERN POLYTECHNICAL UNIV
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