Research On Integrated Navigation And Guidance And Decoupling Control Technologies Of Spinning Projectiles

Spinning projectiles have been widely applied in the guidance weapon system beacause of many advantages such as simplifying the guidance and control systems,and reducing the prime cost of weapon systems.With the rotation,adversely affects of the aerodynamic,the structural asymmetry,the mass eccentricity,and the thrust eccentricity are weakened.So that spinning projectiles has great potentialities with trends of miniaturizations,intelligentizations,clusterings,and low costs.Taking spinning projectile as the main research object,basing on backgrounds of the low cost and the high precision guidance demand,the integrated navigation and the guidance system and decoupling control technologies for spinning projectiles are studied.Firstly,a dynamic model of the spinning projectile is set up.In view of the problem that the rolling rate of a high dynamic spinning projectile can not be measured accurately and directly,a near gyro free inertial group(NGF-MIMU)of five accelerometers and two gyros is introduced,which has the ability to finish off the algorithm of calculating the rolling rate.Considering the characteristics of MEMS,the dual sample and Runge Kutta navigation algorithm based on angular velocities and accelerations are studied,which can realize a high precision navigation for spinning projectiles.Secondly,aiming at the initial alignment problem of the integrated navigation system during the flight of spinining projectiles,an in-flight self-aligning method of attitudes is studied.A coarse alignment plan based on satellite and NGF-MIMU is proposed.On this basis,with the kalman filtering technique,a lateral maneuver scheme is proposed using the satellite and the NGF-MSINS combined system to assist the fine alignment of the roll rate,results show that the accuracy of the roll attitude is not only higher in the complex dynamic environment with measurement errors,but the robustness is also enhanced.Thirdly,aiming at the special mission requirement of spinning projectiles,a simplified model of GNSS/NGF-MSINS integrated navigation for spinning projectiles is built,the loose combination plan of the velocity and position is accomplished,realizing a high precision navigation for spinning projectiles.Ulteriorly,the relative relation model between the projectile and the target in three-dimensional space is established,basing which the three dimensional guidance algorithm under the combination system can be derived.The combined guidance technology of the rolling projectile using a loose combination plan is further studied,simulations display that the performance is better than the inertial guidance system or the satellite guidance system,such as the stability of attitudes and the CEP.Fourthly,the decoupling control technology is studied for the intentions to sovle the inertia,aerodynamic and control coupling of the spinning projectile.Considering the two order dynamic characteristics of the proportional actuator after establishing the model of it,a dual channel full-decoupling overload autopilot is designed,which can completely eliminate the coupling effect caused by inertia,aerodynamic and control from contrast results between the full-decoupling autopilot,the three-loop autopilot and the actuator decoupling autopilot.Because of the nonlinear characteristic of the aerodynamic when a projectile has a large airspace flight,the robustness of the interpolation gain scheduling is reduced.An adaptive scheduling method based on BP neural network(BPASM)is designed to solve the gain scheduling problem of control parameters in the autopilot,the simulation shows that the BPASM improves the performance comparing with the interpolation gain scheduling method.