Design Of Guidance And Control System For Vertical Launch Missile Based On Differential Geometry Method

As a strong offensive,defensive and powerful deterrent weapon,the Vertical Launch Missile System has been attracting attentions from all over the world in recent years.During the vertical launch of the missile,the missile track has a strong nonlinear characteristic because of the fast attitude maneuver and the time variant of aerodynamic parameters.Meanwhile,the coupling between each channel of the missile also brings great complexity to the calculation of the missile motion model.All this puts forward higher requirements for the stability and reliability of the missile control system.Besides,the traditional Euler angle missile motion model has the problem of Euler angle singularity during the vertical launch period.Aimed at the above problems,this paper takes the vertical launch missile as the research object,based on missile motion model by quaternion,focuses on the design and research of the vertical turning missile’s rapid turning phase controller and terminal guidance phase guidance law.Based on the method of differential geometric feedback linearization,this paper designs a controller for fast-turning phase of vertical launch missile and adopts FCMAC(fuzzy cerebellar neural network)to modify the controller parameters under the consideration of interference terms.Then,the differential geometry guidance law is designed using differential geometry method and Lie group method.Finally,the validity of the design is verified by simulationFirstly,utilizing the transformation relation between coordinate system and coordinate system of missile space motion equations,the dynamics and kinematics model describing the mass center movement and attitude movement of missile are established based on the analysis and calculation of force and moment of missile during the flight.Furthermore,the aircraft motion model is formulated based on the quaternion.Secondly,to solve the multi-channel coupling,multi-interference,time-varying and nonlinear control problems of the vertical launch,this paper analyzes the turn phase of vertical launch based on the differential geometry and modern control theory,and proposes a method of neural network adaptive feedback linearization.This method introduces the neural network control components,which possess the property of approximating the continuous nonlinear function with arbitrary precision,in the linear feedback to render the feedback linearization method adaptive to the model uncertainty and external disturbance,overcoming the dependence of feedback linearization on the accurate nonlinear model of controlled object,and the sensitivity on model error,as well as the limitation to handle unknown change of dynamic system.Therefore,this paper proposes a method of the attitude decoupling control for vertical launching missiles.Finally,an uncoupled three-dimensional guidance law based on differential geometry and Lie group method is proposed to solve the motion coupling in the vertical launch missile guidance produce.The movement of vertical missile is described by differential geometry and the azimuth angle of the missile is described by the Lie group.The combination of two methods has various advantages,such as the smoother trajectory than the conventional proportional guidance,the smaller overload,the reduction of line-of-sight rate with the decrease of the relative distance between the project and missile,the smaller and faster calculation.It is proved that the proposed differential geometry guidance law can improve the trajectory characteristics of the missile compared with the traditional guidance law.