飛行器控制試驗(yàn)報(bào)告

1、絡(luò)焉感，衣上孽Harbin Institute of Teclinology互行器制導(dǎo)與控制實(shí)驗(yàn)援告專業(yè):動(dòng)七強(qiáng)級(jí):學(xué)號(hào)：1120410333姓名：2015/12/12上機(jī)實(shí)驗(yàn)h使用四階龍格庫(kù)塔法求解微分方程(1)=sin(ftt + b)dx先定義參數(shù)以b,初值條件可以自己任取。1.源程序：function xz y = Ml (fun, xOz xtz yO, PointNum)ifnargin4 | PointNum=0PointNum=100;endifnargin3y0=0;endy(l, :)=y0(:)h= (xt-xO)/(PointNum-1);x=x0+0:(PointNu

2、m)1*h;for k=l:(PointNum)f l=h*feval (fun, x (k.), y (k,:);1 ;f2=h*feval(fun,x (k)+h/2,y (k,:);f2=f2 (:) f ;f3=h*feval (fun, x (k) +h/2z y (k.,:);f3=f3 (:) f ;f4=h*feval(fun,x (k)+h,y (kr:);f4=f4 (: ) f ;y (kfl, :)=y(kr:) + (fl+2*(f2+f3)+f4)/6;end二、運(yùn)行文件：x0=0;xt=2;Num=100;h= (:t-xO) / (Num-1);x=xO+0:N

3、um*h;a=l;yt = l-exp (-a*x);fun=inline(f-y+lf, fx fyf);y0=0;PointNum=100;xrz yr =M1 (fun, xO, xt z yO, Num);Ml_x=xrfMl_y=yrfplot (x,yt, k, xrf yrF 1 r-f)legend(jiexi,Runge-Kutta,2)3、實(shí)驗(yàn)結(jié)果：00050510.39961 03030 6468155560.79230 02020 02020 5253041181 05050 6540157580.79650 04040.04000 54550.42361 07070.

4、66101.59600.80060.06060.05940.56570.43531.09090.66781.61620.80460 080800784058590 44671.11110 6745163640.80850 10100 09700 606104579113130 68111.65660.81240.12120.11530.62630.46881.15150.68751.67680.81620 14140 13310.64650.47961.17170.69391.69700.81990 16160 15060 6667049011.19190 7000171720.82360 1

5、8180 16780 68690.50041 21210 70611 73740.82710.20200.18460.70710.51051.23230.71201.75760.83060 22220.20110.72730.52041.25250.71791.77780.83400 2424021720 74750.53001 27270 72361.79800.83740 26260 23300 76770.53951 29290 7291181820.84070.28280.24850.78790.54881.31310.73461.83840.84390 30300 26370.808

6、10.55801 33330.74001.85860.84700 32320 27860 82830.56691 35350.7452187880.85010 34340 29320 84850.57561 37370.75041.89900.85320.36360.30740.86870.58421.39390.75541.91920.85610 38380 32140.88890.5926141410.76041.93940.85900 4 0400 33510 90910.6008143430.7652195960.861904242034860.92930.6089145450.769

7、91.97980.86470.44440.36170.94950.61681.47470.77462.00000.86740 46460 37460 96970.6245149490.77912.02020.87010 48480 38730 98990.63211 51520.78361 01010.63961 53540.7880上機(jī)實(shí)驗(yàn)2：假設(shè)飛行器恒速率飛行，飛行器的動(dòng)力學(xué)方程可簡(jiǎn)化為:v=0(2)*v= ay-gcos(3)飛行器的運(yùn)動(dòng)學(xué)方程為:女=vcosdcos%(4)(5)y = vsindz= - v cos sin 仁初始條件%,知收，5，），4自己選取，ay,a?為控制加

8、速度,ak)=pmr(l,k-l)+vm*dt*cos(st)*cos(fl)pmr(2jc-l)+vm,t:dt*sin(st).pmr(3,k-l)-vm*dt*cos(st)*sin(ft) % 目標(biāo)位置信息的計(jì)算st=(980-9 8*cos(st)/vm*dt+st, %側(cè)滑角的變化ft=(980/(-vm*cos(st)*dt4ft,endplot3(pmr(l,:),pmr(2,:),pmr(3,:);grid on;實(shí)驗(yàn)圖如F：上機(jī)實(shí)驗(yàn)3：從升降舵舵偏角到彈體俯仰角速率和法向加速度的傳函分別為:G1(s) =6(s)s- +(aj + a4 )s + ajB4 + a2a /f

9、_ny(s)_v a5s2+ 358+3.35-3384D? I c / ，/2(s) g s- + (a1 + a4)s+a1a4 + a2加速度指令指令跟蹤控制系統(tǒng)設(shè)計(jì)為如卜圖所示：(10)其中，G/s),Ga(s)分別為陀螺與加速度計(jì)的傳遞函數(shù)，C(s),G/s)為待設(shè)計(jì)的控制器, 請(qǐng)?jiān)O(shè)計(jì)合適的C(s),Gd(s),使系統(tǒng)能夠跟蹤輸入指令，具有較好的性能。系統(tǒng)性能指標(biāo)及系統(tǒng)模型:實(shí)際系統(tǒng)模型如卜-/、 Hs) -66.54s-72.73Q(s)=-=-名(s) s +2.78s+ 106.65(s) =ny( s)_5 (s) z0.129s2+ 0.129S-72.73s3 + 2.7

10、8s + 106.6系統(tǒng)性能指標(biāo)設(shè)計(jì)內(nèi)外環(huán)控制器，使控制系統(tǒng)達(dá)到預(yù)定的性能指標(biāo)，上升時(shí)間小于0 2s,剪切頻率大 于3rad/s,幅值大于10dB,相角裕度大于500 參數(shù)設(shè)計(jì)內(nèi)環(huán)部分:其中認(rèn)為Gg(s) = 1,則內(nèi)環(huán)反饋通道中傳遞函數(shù)為G1,前向通道上傳遞函數(shù)為1, Gg(s) 采用比例控制器，根據(jù)計(jì)算和試湊可知，有以下結(jié)果：比例 Gq(s)=1.82則開環(huán)Bode圖如卜.：此時(shí)相角裕度90.8”，剪切頻率116rad/s。滿足內(nèi)環(huán)設(shè)計(jì)需求。外環(huán)設(shè)計(jì)Gi(s)Gs)即設(shè)計(jì)C(s)的傳遞函數(shù)，根據(jù)內(nèi)環(huán)設(shè)計(jì)完成后的傳遞函數(shù)，采用PID控制進(jìn)行設(shè)計(jì)，其中傳遞函數(shù)如下：C(s) = 20.039

11、X匕黑惡詈 S(U.U/JLS+X I開環(huán)傳遞函數(shù)波特圖如下:opeo-uoop oooo eano ror cx loop JI。，1O0to*10t.o剪切頻率大于3rad/s,幅值大于10dB,相角裕度大于50 ,滿足性能指標(biāo)需求。Simulink仿真圖如圖所示:ye y-t-T .Tfonsto# Fon2645-72.73，2.”3-06e仿真結(jié)果如卜.:么!由圖可知，實(shí)驗(yàn)結(jié)果基本滿足要求參數(shù)。、實(shí)驗(yàn)結(jié)果分析：實(shí)驗(yàn)設(shè)計(jì)采用比例控制器作為內(nèi)環(huán)，通過計(jì)算和試湊可知，基本滿足參數(shù)需求，之后設(shè) 計(jì)外環(huán)設(shè)計(jì)，采用PID控制器作為外環(huán)設(shè)計(jì)出的雙環(huán)控制系統(tǒng)可以滿足系統(tǒng)的性能指標(biāo)要求, 最終俯仰軸穩(wěn)

12、定控制系統(tǒng)剪切頻率大于3rad/s,幅值大于10dB.相角裕度大于50 ,上升 時(shí)間小于0.2s,符合要求。仿真實(shí)驗(yàn)達(dá)到設(shè)計(jì)目標(biāo)。上機(jī)實(shí)驗(yàn)4：導(dǎo)彈的動(dòng)力學(xué)和運(yùn)動(dòng)學(xué)方程同實(shí)驗(yàn)2,如式(2)(3)(4)(5)(6)(7)所示，目標(biāo)的動(dòng)力學(xué)方程為:目標(biāo)的運(yùn)動(dòng)學(xué)方程為:y =0=ayt-gcos6f COS 4% = ate* = cosq cosk比例導(dǎo)引律:其中,yt =ysin(15)ay = KVq,= -KVq/jq = arctan(16)(17)(18)(19)Og = - arctan XCO)目標(biāo)相對(duì)導(dǎo)彈的運(yùn)動(dòng)方程:其中,CD(22)(23)(24)(25)(26)4 = 4_z初始

13、條件%，4，%，/10，40，乂0,40，40,4如“一設(shè)b Fl機(jī)、的運(yùn)動(dòng)情況自 己假定，選擇合適的比例導(dǎo)引系數(shù)，利用四階龍格庫(kù)塔求解出仿真結(jié)果,繪出導(dǎo)彈與目標(biāo)的 運(yùn)動(dòng)軌跡。clear all;close all;clcdt=O. 1;alpha=pi/6; v_t=0. 42;s_t=v_t*dt;v_m=0. 60; s_m=v_m*dt;x(l)=0;y(l)=0;z(l)=0; % 導(dǎo)彈初始位置pmr(：, l)=x(l);y(l);z(l);ptr(：, 1)=25;5;7;K=3;q(l)=0；o(l)=0;a(l)=0;for(k=2:600)ptr (：, k) =ptr (

14、1, l)_v_t*cos (alpha) *dt*k; ptr (2, 1); ptr (3, 1) +v_t*s in (alpha) *k*dt;r (kl)=sqrt (ptr (1, k-l) pmr (1, kT) 2+ (ptr (2, k-l) pmr (2, k-l) -2+ (ptr (3, kT) -pmr (3, k-l)2);c=sqrt (ptr (1, k)-pmr (1, k-l) -2+(ptr (2, k)-pnir (2, k-l) -2+(ptr (3, k)-pmr (3, k-l) *2); b=acos(r(k-l)*2+s_t-2-c-2)/(2

15、*r(k-l)*s_t);dq=acos (r (k-l) -2s_t -2+c *2)/(2*r (k-l)*c);if abs(imag (b)0b=0. U0000U1;endif abs(imag(dq)0 dq=O. 0000001;end q(k)=q(k-l)+dq;o(k)=o(k_l)+K*dq;a(k)=o(k)-q(k);cl=r (k_l) *sin (b) /sin (a (k) +b);c2=r (k_l) *sin (a (k) /sin (a (k) +b);c3=sqrt(cl_s_m)-2+(c2s_t)-2+2*(cl-s_m)* (c2s_t)*cos(

16、a(k)+b);dq=a (k)_acos (cl_s_m) 2+c3*2-(c2_s_t) *2)/ (2* (cl-s_m) *c3);if abs(imag(dq)0dq=0. 0000001;endq(k)=q(k-l)+dq;o(k)=o(k-l)+K*dq;a(k)=o(k)-q (k);cl=r (k-l) *sin (b) /sin (a (k) +b);c2=r(k_l)*sin(a(k)/sin(a(k)+b);c3=sqrt (cl_s_m) 2+(c2_s_t) -2+2* (cl-s_m) * (c2_s_t) *cos (a(k) +b); dq=a(k)-acos

17、(cl_s_m)-2+c3-2-(c2_s_t)-2)/ (2*(cl-s_m)*c3);if abs(imag(dq)0dq=0. 0000001;endq(k)=q(kl)+dq;o(k)=o(k_l)+K*dq;a(k)=o(k)-q (k);cl=r (k-l)*sin (b)/sin (a (k)+b);c2=r(k-l)*sin(a(k)/sin(a(k)+b);c3=sqrt(cl_s_m)-2+(c2s_t)-2+2*(cl-s_m)*(c2s_t)*cos(a(k)+b);dq=a(k) -acos(cl_s_m)*2+c3(c2_s_t)-2)/(2* (cl_s_m)*c

18、3);if abs(imag(dq)0dq=0. 0000001;endq(k)=q(k_l)+dq;o(k)=o(k-l)+K*dq;a(k)=o(k)-q(k);cl=r (k-l)*sin(b)/sin(a(k)+b);c2=r (k-l) *sin (a (k) /s in (a (k) +b);c3=sqrt(cl-s_m) 2+(c2-s_t)*2+2*(cl-s_m)*(c2_s_t)*cos(a(k)+b);dq=a(k)-acos(cl-s_m) 2+c3 2(c2s.t) 2)/ (2*(cl-s_m)*c3);if abs(imag(dq)0dq=O. 0000001;endq(k)=q(k-l)+dq;o(k)=o(k_l)+K*dq;a(k)=o(k)-q(k);cl=r (k_l) *sin (b) /sin (a (k) +b);c2=r (k_l) *sin (a (k) /sin (a (k) +b);c3=sqrt (cl-s_