《彈箭飛行控制原理》姓名:學(xué)號(hào):專業(yè)：武器系統(tǒng)與發(fā)射工程3.掌握各種典型自動(dòng)駕駛儀結(jié)構(gòu)，具有一定地自動(dòng)駕駛儀參數(shù)設(shè)計(jì)與分析4.增強(qiáng)對(duì)制導(dǎo)彈箭飛行控制系統(tǒng)的認(rèn)識(shí)、理解、工程設(shè)計(jì)能力，鍛煉通過(guò)1)制導(dǎo)彈箭自動(dòng)駕駛儀功能及工作過(guò)程演示實(shí)驗(yàn)2)彈箭線性化傳遞函數(shù)的計(jì)算實(shí)驗(yàn)函參數(shù)進(jìn)行比較，檢查自己的計(jì)算結(jié)果。3)彈箭典型控制系統(tǒng)的設(shè)計(jì)及性能分析實(shí)驗(yàn)提交實(shí)驗(yàn)相關(guān)程序。、實(shí)驗(yàn)人員和實(shí)驗(yàn)時(shí)間巡航段、末制導(dǎo)段典型特征點(diǎn)，計(jì)數(shù)，并進(jìn)行時(shí)域和頻域的動(dòng)態(tài)品質(zhì)9、偏航角ψ、滾轉(zhuǎn)角γ、攻角α、側(cè)滑角β、速度傾斜角，俯仰指令(分段改撰寫(xiě)實(shí)驗(yàn)報(bào)告。ytm1)初始發(fā)射段方程組：3)末端攻擊段方程組：-2)巡航段方程組：lJMa=ZJMa=Z24JM6za=z25Ja=34mV=aKMTMT1飛MzZzMMM1-aa+aa=25343524aa+a2234241--a-aa242234-aa'+a=352425aa-aa25343524-a-a'+a=2224342-a-aa242234(s)K(Ts+1) z=M16(s)T2s2+2Ts+1zMMMaaK0.4131-0.4722---0.22623.83550.3981-0.4131-0.4131-a------a------a1------aMTMT15M432參數(shù)參數(shù)a1參數(shù)a2參數(shù)a3參數(shù)a4舵機(jī)比例參數(shù)舵機(jī)時(shí)間參數(shù)-0.0051-699.4136-540.93012.487611函數(shù)著手，系統(tǒng)的開(kāi)環(huán)傳遞函數(shù):(s)K(Ts+1) z=M16(s)T2s2+2Ts+1zMMM內(nèi)內(nèi)Kwz頻域設(shè)計(jì)時(shí)域設(shè)計(jì)回0.080幅值裕相角裕度穿越頻率超調(diào)量(%)上升時(shí)間調(diào)節(jié)時(shí)間路度(db)(°)(Hz)(s)(s)Inf91.355.84630.0050.240外外控制參數(shù)頻域設(shè)計(jì)時(shí)域設(shè)計(jì)回KpKi賦值裕相角裕度穿越頻率超調(diào)量上升時(shí)調(diào)節(jié)時(shí)路度(db)(°)(Hz)(%)間(s)間(s)25180Inf78.624.590.2501.8001)俯仰回路姿態(tài)控制內(nèi)回路頻域響應(yīng)Bode圖2)俯仰回路姿態(tài)控制內(nèi)回路時(shí)域階躍響應(yīng)圖3)俯仰回路姿態(tài)控制外回路頻域響應(yīng)Bode圖4)俯仰回路姿態(tài)控制外回路時(shí)域階躍響應(yīng)圖(1)y-x曲線(2)、y-t曲線(3)、攻角Apa—t曲線(4)、V—t曲線(5)、彈道傾角θ?t曲線(6)、俯仰舵偏角6??t曲線1)計(jì)算K：W=?????(?1?+1)??2+(2????+??????1)?+?????+1根據(jù)期望的阻尼系數(shù)為0.707來(lái)計(jì)算相應(yīng)的控制參數(shù)???，表達(dá)式如下：???=(???++√)/??其中的??=2????/?1,??=2????/?1通過(guò)公式求解出???為-0.0802)求Kp在設(shè)計(jì)K時(shí)，應(yīng)將K所在的支路斷開(kāi)，此時(shí)的開(kāi)環(huán)傳遞函數(shù)為piW=???????(?1?+1)?(??2+(2????+??????1)?+?????+1)K所在的回路為增穩(wěn)回路，增穩(wěn)回路的帶寬??與導(dǎo)彈固有頻率為：??≥p?1??,將W換算成頻域形式，令|W|=1，計(jì)算出K為25。p3)求????所在的回路為制導(dǎo)回路，此時(shí)系統(tǒng)的開(kāi)環(huán)傳遞函數(shù)為W=?????????(?1?+1)?2(??2+(2????+??????1)?+?????+1)制導(dǎo)回路帶寬為?1≥?2??，，將W轉(zhuǎn)換成頻域形式，此時(shí)令|W|=1，計(jì)算出??為180.法(1)程序首先開(kāi)始是根據(jù)彈道方程，通過(guò)龍格庫(kù)塔法計(jì)算出彈道方程，上個(gè)學(xué)劃分中遇到了一些問(wèn)題，通過(guò)了向之前用過(guò)MATLAB的同學(xué)行軌跡。(2)接下來(lái)是進(jìn)行彈道特征點(diǎn)的選擇，我沒(méi)有編寫(xiě)專門(mén)的程序進(jìn)行編寫(xiě)，而是通過(guò)查看彈道軌跡數(shù)據(jù)手動(dòng)選擇，將選出的特征點(diǎn)的V,H,M輸進(jìn)程序計(jì)算KMT1SM (3)接下來(lái)是進(jìn)行K??KPK?的選擇。在沒(méi)有控制的情況下，系統(tǒng)非常不穩(wěn)定在程序剛開(kāi)始編制的時(shí)候，我先是使用了多次嘗試的方法，畫(huà)出K??KPK?在不同情況下的各種時(shí)域響應(yīng)圖然后根據(jù)圖像選擇最后的情況，之后上課的PPT上講了詳細(xì)的K??KPK?的計(jì)算方法，我又重新計(jì)算了結(jié)果得到了更好的制導(dǎo)序說(shuō)明(1)MATLAB文件包含6個(gè)M函數(shù)，分別為主程序mainzhuhanshu.m，微分方程函dxlhmhmh3.m,控制參數(shù)計(jì)算函數(shù)r1.m. (2)程序圖像文件包含軌跡圖像和時(shí)域圖，伯德圖。clc;clear;closeall;R0=1.225*(1.0-2.0323*10^(-5)*7100)^4.83;%?????ü?èμ?????S=0.456;q0=0.5*R0*260*260;tspan=0:0.05:60;nspan=[2600071002250q000];[t,y]=ode45('dxl',tspan,nspan);figure(1),plot(t,y(:,1),'r-','LineWidth',2),gridon;%?????ù?è??ê±??±??ˉ?ú??title('V-T±??ˉ?ú??'),xlabel('t/s');ylabel('v/(m/s)')figure(2),plot(y(:,3),y(:,4),'r-','LineWidth',2),gridon;%???????è???àà?±??ˉ?ú??title('Y-X±??ˉ?ú??'),xlabel('x/m');ylabel('y/m');figure(3),plot(t,y(:,2),'r-','LineWidth',2),gridon;%????μˉμà??????ê±??±??ˉ?ú??title('|è-T±??ˉ?ú??'),xlabel('t/s');ylabel('theta/rad')figure(4),plot(t,y(:,4),'r-','LineWidth',2),gridon;%???????è??ê±??±??ˉ?ú??title('Y-T±??ˉ?ú??'),xlabel('t/s');ylabel('y/m');figure(5),plot(t,y(:,6),'r-','LineWidth',2),gridon;%????1￥????ê±??±??ˉ?ú??title('|á-T±??ˉ?ú??'),xlabel('t/s');ylabel('alpha/?￡');figure(6),plot(t,y(:,7),'r-','LineWidth',2),gridon;%?????ˉ?1??ê±??±??ˉ?ú??title('q-T±??ˉ?ú??'),xlabel('t/s');ylabel('q/pa');figure(7),plot(t,y(:,8),'r-','LineWidth',2),gridon;%????Dèó?1y????ê±??±??ˉ?ú??title('N-T±??ˉ?ú??'),xlabel('t/s');ylabel('n/(m/s^2)');figure(8),plot(t,y(:,9),'r-','LineWidth',2),gridon;%????????????ê±??±??ˉ?ú??title('|?-T±??ˉ?ú??'),xlabel('t/s');ylabel('dz/?￡');%1y??×?′óì??÷μ?????clc;clear;closeall;S=0.456;%???yp=3000;L=2.358;Jz=60.85;Jy=60.85;Jx=3.45;%×?′ó1y??2?êy????Vnmax=283.68;Hnmax=6986.8;qnmax=23026;mnmax=220.8;%1y??×?′óμ??à1?2?êmanmax=Vnmax/(20.046*(288.34-5.86*0.001*Hnmax)^0.5);MA=[0.6,0.8,0.9,1.0,1.2];%MA?a?ío?êyCX0=[-0.2000,-0.2210,-0.2315,-0.2420,-0.2500];CXAA=[-0.0005,-0.0005,-0.0005,-0.0005,-0.0005];CYA=[0.2505,0.253,0.254,0.255,0.256];CYDZ=[0.04,0.047,0.043,0.045,0.045];MZA=[-0.0290,-0.0298,-0.0300,-0.0302,-0.0302];MZDZ=[-0.0220,-0.0240,-0.0232,-0.0230,-0.0234];MZWZ=[-0.002,-0.0015,-0.0015,-0.0012,-0.0016];MXWX=[-0.0002,-0.00045,-0.0005,-0.00052,-0.00052];MXDZ=[-0.0028,-0.0027,-0.0028,-0.0028,-0.0028];%?¨á￠???ˉá|ó????ˉá|???μêyêy×é￡??a??oóμ?2??μ×?×?±?gnmax=9.806*(1.0-2*Hnmax/6371000);%??á|?ó?ù?èμ?????R=1.225*(1.0-2.0323*10^(-5).*Hnmax)^4.83;%?????ü?èμ?????cx0=spline(MA,CX0,manmax);cxaa=spline(MA,CXAA,manmax);cya=spline(MA,CYA,manmax);cydz=spline(MA,CYDZ,manmax);mza=spline(MA,MZA,manmax);mzdz=spline(MA,MZDZ,manmax);%à?ó?èy′??ùì?2??μμ?μ??à1????ˉá|?μêymzwz=spline(MA,MZWZ,manmax);mxwx=spline(MA,MXWX,manmax);mxdz=spline(MA,MXDZ,manmax);a22=mzwz*qnmax*S*L*L/(Jz*Vnmax);a24=57.3*mza*qnmax*S*L/Jz;a25=57.3*mzdz*qnmax*S*L/Jz;a34=(57.3*cya*qnmax*S+p)/(mnmax*Vnmax);a35=57.3*cydz*qnmax*S/(mnmax*Vnmax);%????μˉì?′?μY?μêyKmm=(-a25*a34+a35*a24)/(a22*a34+a24);%KmTmm=1/(-a24-a22*a34)^0.5;Emm=(-a22+a34)/(-a24-a22*a34)^0.5/2;T1m=a25/(a25*a34-a35*a24);%ì??÷·?3ì?μêy%P1m=-A33+A34-A22-A11;%|?m%P2m=A31*A14-A31*A13+A22*A33-A22*A34-A24+A33*A11-A34*A11+A22*A11;%P3m=-A21*A14-A31*A22*A14+A22*A31*A13+A24*A33-A22*A33*A11+A22*A34*A11+A24*A11;%P4m=A21*A33*A14-A13*A21*A34+A24*A31*A13-A24*A33*A11;%num=[Kmm*T1m];den=[Tmm^2,2*Tmm*Emm,1];%′?μYoˉêyμ?·?×óoí·???μ??μêy%?ˉ?1×?D?ì??÷μ?????clc;clear;closeall;S=0.456;%???yp=3000;L=2.358;Jz=60.85;Jy=60.85;Jx=3.45;%?ˉ?1×?D?2?êy????Vnmax=260;Hnmax=7100;qnmax=19507;mnmax=225;%?ˉ?1×?D?μ??à1?2?êy????manmax=Vnmax/(20.046*(288.34-5.86*0.001*Hnmax)^0.5);MA=[0.6,0.8,0.9,1.0,1.2];%MA?a?ío?êyCX0=[-0.2000,-0.2210,-0.2315,-0.2420,-0.2500];CXAA=[-0.0005,-0.0005,-0.0005,-0.0005,-0.0005];CYA=[0.2505,0.253,0.254,0.255,0.256];CYDZ=[0.04,0.047,0.043,0.045,0.045];MZA=[-0.0290,-0.0298,-0.0300,-0.0302,-0.0302];MZDZ=[-0.0220,-0.0240,-0.0232,-0.0230,-0.0234];MZWZ=[-0.002,-0.0015,-0.0015,-0.0012,-0.0016];MXWX=[-0.0002,-0.00045,-0.0005,-0.00052,-0.00052];MXDZ=[-0.0028,-0.0027,-0.0028,-0.0028,-0.0028];%?¨á￠???ˉá|ó????ˉá|???μêyêy×é￡??a??oóμ?2??μ×?×?±?gnmax=9.806*(1.0-2*Hnmax/6371000);%??á|?ó?ù?èμ?????R=1.225*(1.0-2.0323*10^(-5).*Hnmax)^4.83;%?????ü?èμ?????cx0=spline(MA,CX0,manmax);cxaa=spline(MA,CXAA,manmax);cya=spline(MA,CYA,manmax);cydz=spline(MA,CYDZ,manmax);mza=spline(MA,MZA,manmax);mzdz=spline(MA,MZDZ,manmax);%à?ó?èy′??ùì?2??μμ?μ??à1????ˉá|?μêymzwz=spline(MA,MZWZ,manmax);mxwx=spline(MA,MXWX,manmax);mxdz=spline(MA,MXDZ,manmax);a22=mzwz*qnmax*S*L*L/(Jz*Vnmax);a24=57.3*mza*qnmax*S*L/Jz;a25=57.3*mzdz*qnmax*S*L/Jz;a34=(57.3*cya*qnmax*S+p)/(mnmax*Vnmax);a35=57.3*cydz*qnmax*S/(mnmax*Vnmax);%????μˉì?′?μY?μêyKmm=(-a25*a34+a35*a24)/(a22*a34+a24);%KmTmm=1/(-a24-a22*a34)^0.5;Emm=(-a22+a34)/(-a24-a22*a34)^0.5/2;T1m=a25/(a25*a34-a35*a24);%|?m%?ˉ?1×?′óì??÷μ?????clc;clear;closeall;S=0.456;%???yp=3000;L=2.358;Jz=60.85;Jy=60.85;Jx=3.45;%?ˉ?1×?′ó2?êy????Vnmax=289.39;Hnmax=0;qnmax=51114;mnmax=189.0851;%?ˉ?1×?′óμ??à1?2?êy?manmax=Vnmax/(20.046*(288.34-5.86*0.001*Hnmax)^0.5);MA=[0.6,0.8,0.9,1.0,1.2];%MA?a?ío?êyCX0=[-0.2000,-0.2210,-0.2315,-0.2420,-0.2500];CXAA=[-0.0005,-0.0005,-0.0005,-0.0005,-0.0005];CYA=[0.2505,0.253,0.254,0.255,0.256];CYDZ=[0.04,0.047,0.043,0.045,0.045];MZA=[-0.0290,-0.0298,-0.0300,-0.0302,-0.0302];MZDZ=[-0.0220,-0.0240,-0.0232,-0.0230,-0.0234];MZWZ=[-0.002,-0.0015,-0.0015,-0.0012,-0.0016];MXWX=[-0.0002,-0.00045,-0.0005,-0.00052,-0.00052];MXDZ=[-0.0028,-0.0027,-0.0028,-0.0028,-0.0028];%?¨á￠???ˉá|ó????ˉá|???μêyêy×é￡??a??oóμ?2??μ×?×?±?gnmax=9.806*(1.0-2*Hnmax/6371000);%??á|?ó?ù?èμ?????R=1.225*(1.0-2.0323*10^(-5).*Hnmax)^4.83;%?????ü?èμ?????cx0=spline(MA,CX0,manmax);cxaa=spline(MA,CXAA,manmax);cya=spline(MA,CYA,manmax);cydz=spline(MA,CYDZ,manmax);mza=spline(MA,MZA,manmax);mzdz=spline(MA,MZDZ,manmax);%à?ó?èy′??ùì?2??μμ?μ??à1????ˉá|?μêymzwz=spline(MA,MZWZ,manmax);mxwx=spline(MA,MXWX,manmax);mxdz=spline(MA,MXDZ,manmax);a22=mzwz*qnmax*S*L*L/(Jz*Vnmax);a24=57.3*mza*qnmax*S*L/Jz;a25=57.3*mzdz*qnmax*S*L/Jz;a34=(57.3*cya*qnmax*S+p)/(mnmax*Vnmax);a35=57.3*cydz*qnmax*S/(mnmax*Vnmax);%????μˉì?′?μY?μêyKmm=(-a25*a34+a35*a24)/(a22*a34+a24);%KmTmm=1/(-a24-a22*a34)^0.5;Emm=(-a22+a34)/(-a24-a22*a34)^0.5/2;T1m=a25/(a25*a34-a35*a24);%|?m%n×?′óμ?Km1=-1.5108;Tm1=0.0378;Em1=0.0471;T11=0.5119;%×?ì????????·éè??μúò???2?êyKwzKwz=-0.080;%ì??÷μ?1μ?ê±óò?ìó|num=[Kwz*Km1*T11Kwz*Km1];den=[Tm1^22*Tm1*Em11];Gs1=tf(num,den);[Gm1,Pm1,Wcg1,Wcp1]=margin(Gs1);sys1=feedback(Gs1,1);t=0:0.01:6;y=step(sys1,t);figure(1),plot(t,y);gridontitle('Unit-StepResponsekwz=-0.080'),xlabel('Time(seconds)');figure(2),margin(num,den),gridon%éè??2?êyKp￡?kiKp=25;%ó°?ìμ÷??ê±??Ki=180;%ó°?ì·ù?μ?￡?èoí?à???￡?èò2?áó°?ìμ÷??ê±??￡¨?úkp2?±???￡?êêμ±??D?ki?à???￡?è??′ó·ù?μ?￡?èò2??′ó;?úki2?±???￡???′ókp?à???￡?è??D?￡?·ù?μ?￡?è??D?￡???D?kp?à???￡?è??′ó￡?%ì??÷μ?1??ó|óúkiμ??μóò?ìó|ò??°ía???·±??·ê±óò?ìó|num=[Kp*Kwz*Km1*T11Kwz*Km1*(Kp+Ki*T11)Kwz*Km1*Ki];den=[Tm1^22*Tm1*Em1+Kwz*Km1*T111+Kwz*Km100];figure(3),margin(num,den),gridonGs13=tf(num,den);sys13=feedback(Gs13,1);y=step(sys13,t);figure(4),plot(t,y),gridontitle('Unit-StepResponseKp=25Ki=180'),xlabel('Time(seconds)');functiondy=dxl(t,y)dy=zeros(9,1);%dy(1)?a?ù?è??ê±??μ?±??ˉ?ê%dy(2)?aμˉμà??????ê±??μ?±??ˉ?ê%dy(3)?a?????àà???ê±??μ?±??ˉ?ê%dy(4)?a???è??ê±??μ?±??ˉ?ê%dy(5)?a?êá???ê±??μ?±??ˉ?ê%dy(6)?a1￥????ê±??±??ˉ?êmc=0.7;p=3000;%??á÷á?ò??°·￠?ˉ?úí?á|MA=[0.6,0.8,0.9,1.0,1.2];%MA?a?ío?êyCX0=[-0.2000,-0.2210,-0.2315,-0.2420,-0.2500];CXAA=[-0.0005,-0.0005,-0.0005,-0.0005,-0.0005];CYA=[0.2505,0.253,0.254,0.255,0.256];CYDZ=[0.04,0.047,0.043,0.045,0.045];MZA=[-0.0290,-0.0298,-0.0300,-0.0302,-0.0302];MZDZ=[-0.0220,-0.0240,-0.0232,-0.0230,-0.0234];%?¨á￠???ˉá|ó????ˉá|???μêyêy×é￡??a??oóμ?2??μ×?×?±?C=20.046*(288.34-5.