飛彈攔截系統的控制與分析

Abstract

本論文乃根據本實驗室1997~1998年與中科院合作之計畫”中高空飛行體伺服控制系統理論與設計”中所發展的飛彈攔截系統，持續做分析與改良，目的是希望能將系統變的更真實、更具有參考價值。在這篇論文中，我們研究了五個主題。(1)如何減少姿態推進器的個數由原先的八個到六個或四個？(2)如何以順滑模態控制的方式設計姿態控制器？(3)如果目標具有加速度，對攔截系統會有什麼影響？(4)如果開關式推進器有最短全開時間與最短關閉再開啟時間之限制時，會對攔截系統有什麼影響？(5)如何以氣動力模式控制飛彈的加速？每個主題會有參數化的模擬分析並與原計畫做比較。模擬結果可提供未來硬體發展的參考。

In summer 1997, a military defense and academic co-operation project took place at our laboratory. This project, “Theory and Design of Servo Control Systems for Medium-to-High Altitude Flight Vehicles”, supported by Chung-Shan Institute of Science and Technology. In 1998, this project had modeled and programmed design of interceptor missile system. Based on this development, we consider analyzing and modifying it to be more reality and more values of reference. There are five focal topics in this thesis. (1) How to reduce the attitude control thrusters form 8 to 6 or 4? (2) How to design the attitude controller with the method of sliding mode control? (3) Is there any effect on intercepting system when the target has acceleration? (4) Is there any effect on intercepting system when the ON-OFF type thruster has limit of minimum on time and minimum off-to-on time? (5) How to control the missile via three equivalent aerodynamic fins? On each topic, we take some parameters analysis and compare with the original project. The results will supply the coming hardware implementation. 第二章、姿態推進器的設定..........................................................3 2.1 六個姿態推進器的掛法...........................................................3 2.2 控制規則................................................................................4 2.3 模擬條件................................................................................7 2.4 初步模擬結果............................................................................8 2.5 修改排序法..............................................................................10 2.6 初步模擬結果......................................................................12 2.7 參數化模擬..........................................................................14 2.8 四個姿態推進器的掛法....................................................18 2.9 控制規則..............................................................................18 2.10 排序法................................................................................19 2.11 初步模擬條件與模擬結果..............................................21 2.12 參數化模擬........................................................................22 2.13 以八個姿態推進器為基準的模擬.................................26 第三章、以順滑模態設計姿態控制器......................................29 3.1 順滑模態控制簡介.............................................................29 3.2 積分式順滑模態控制簡介....................................................30 3.3 控制問題..................................................................................31 3.4 外迴路控制器設計.................................................................33 3.5 內迴路控制器設計.................................................................34 3.6 模擬結果..................................................................................35 第四章、目標的加速度對攔截的影響.....................................41 第五章、推力器模式改良分析..................................................47 第六章、氣動力模式為主的控制設計.....................................52 6.1 氣動力模式.........................................................................52 6.2 控制器設計..............................................................................55 6.2.1 飛彈滾轉角的控制器設計.............................................55 6.2.2 橫向及縱向加速度動態的線性化................................56 6.2.3 橫向加速度的控制器設計.........................................57 6.3 模擬結果..............................................................................59 6.3.1 滾轉角與加速度控制的結果.....................................60 6.3.2 等效尾翼的動態..........................................................60 6.3.3 飛彈的姿態角...............................................................60 6.3.4 飛彈的受力及其體座標軸上的速度........................61 6.3.5 飛彈受的力矩及其角速度.........................................61 第七章、結論..................................................................................64 參考文獻..........................................................................................66 附錄...................................................................................................67