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قانون هدایت غیرخطی مقاوم با قید زاویه برخورد محدود مبتنی بر بازی دیفرانسیلی | ||
| مکانیک هوافضا | ||
| مقاله 6، دوره 20، شماره 4 - شماره پیاپی 78، اسفند 1403، صفحه 43-69 | ||
| نوع مقاله: گرایش دینامیک، ارتعاشات و کنترل | ||
| نویسندگان | ||
| سعید نصرالهی* 1؛ امیر حسین یحیی زاده2؛ ایمان محمدزمان3 | ||
| 1نویسنده مسئول: استادیار، مجتمع دانشگاهی مهندسی برق و کامپیوتر، دانشگاه صنعتی مالک‌اشتر، تهران، ایران | ||
| 2کارشناسی ارشد، مجتمع دانشگاهی مهندسی برق و کامپیوتر، دانشگاه صنعتی مالک‌اشتر، تهران، ایران | ||
| 3استادیار، مجتمع دانشگاهی مهندسی برق و کامپیوتر، دانشگاه صنعتی مالک‌اشتر، تهران، ایران | ||
| تاریخ دریافت: 31 مرداد 1403، تاریخ بازنگری: 08 مهر 1403، تاریخ پذیرش: 26 مهر 1403 | ||
| چکیده | ||
| با پیشرفت فن‌آوری، اهدافی در کلاس‌های گوناگون و با ویژگی‌های متنوع پا به عرصه میدان گذاشته‌اند. ره‌گیرها نیز خود دارای محدودیت‌هایی از قبیل ابعاد، مقدار سوخت و توانایی مانور اجرا هستند. لذا به‌منظور برخورد مؤثرتر به هدف و حصول عملکرد بهتر، ارائه روش‌های هدایتی جدید امری ضروری است. رویکرد اصلی این پژوهش؛ طراحی قانون هدایت مقاوم با زاویه برخورد محدود با استفاده از تئوری بازی دیفرانسیلی و کنترل بهینه غیرخطی است. در این رویکرد شتاب ره‌گیر و شتاب هدف به‌عنوان دو ورودی مجزا محاسبه می‌شوند؛ ره‌گیر به دنبال کمینه کردن تابع هزینه و هم‌زمان با آن فرض می‌شود که هدف به دنبال بیشینه کردن همان تابع هزینه است. برای این منظور، با در نظر گرفتن معادلات غیرخطی دارای نامعینی یک قانون هدایت مقاوم مبتنی بر معادلات ریکاتی وابسته به حالت ارائه‌شده است. در اینجا، رویکرد تبدیل مسئله کنترل مقاوم به کنترل بهینه است و با استفاده از روش بهینه معادلات ریکاتی وابسته به حالت به حل مسئله پرداخته‌شده است. قانون ارائه‌شده برای دو سناریو ره‌گیر با سرعت ثابت و سرعت متغیر، با در نظر گرفتن آیرودینامیک ره‌گیر، شبیه‌سازی و نتایج آن برای سناریوهایی با زوایای مسیر پرواز اولیه بزرگ ره‌گیر و اهداف با مانورهای پله، سینوسی و تصادفی ارائه‌شده است. همچنین، در انتها با مقایسه روش پیشنهادی در این مقاله با روش ناوبری تناسبی افزوده، نشان داده می‌شود که ره‌گیر در مدت‌زمان و فاصله از دست دهی کمتر و مسیر پیمایش کوتاه‌تر به هدف مانوری برخورد می‌کند و عملکرد مطلوب‌تری دارد. | ||
تازه های تحقیق | ||
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| کلیدواژه‌ها | ||
| هدایت فاز نهایی؛ کنترل مقاوم غیرخطی؛ معادلات ریکاتی وابسته به حالت؛ نامعینی؛ بازی دیفرانسیلی | ||
| عنوان مقاله [English] | ||
| Robust Nonlinear Guidance Law with Impact Angle Constraint Based on Differential Game | ||
| نویسندگان [English] | ||
| Saeed Nasrollahi1؛ Amir Hossein Yahyazadeh2؛ Iman Mohammadzaman3 | ||
| 1Corresponding author: Assistant Professor, Faculty of Electrical and Computer Engineering, Malek-e-Ashtar University of Technology, Tehran, Iran | ||
| 2M.Sc., Faculty of Electrical and Computer Engineering, Malek-e-Ashtar University of Technology, Tehran, Iran | ||
| 3Assistant Professor, Faculty of Electrical and Computer Engineering, Malek-e-Ashtar University of Technology, Tehran, Iran | ||
| چکیده [English] | ||
| With the advancement of technology, targets in various classes and with various features have entered the arena. Interceptors also have limitations such as dimensions, fuel quantity and maneuverability. Therefore, in order to approach the goal more effectively and achieve better performance, it is necessary to provide new guidance methods. The main approach of this research; The design of the robust guidance law with limited angle of attack is based on differential game theory and nonlinear optimal control. In this approach, the acceleration of the interceptor and the acceleration of the target are calculated as two separate inputs; The interceptor seeks to minimize the cost function and at the same time it is assumed that the target seeks to maximize the same cost function. For this purpose, considering nonlinear equations with uncertainty, a robust guidance law based on state-dependent Riccati equations is presented. Here, the approach is to transform the robust control problem into optimal control, and the problem is solved using the state-dependent Riccati equation optimal method. The presented law for two interceptor scenarios with constant speed and variable speed, taking into account the aerodynamics of the interceptor, simulation and its results for scenarios with large initial flight path angles of the interceptor and targets with step, sinusoidal and random maneuvers are presented. Also, at the end, by comparing the method proposed in this article with the augmented proportional navigation method, it is shown that the interceptor hits the maneuvering target in less time and less distance and shorter navigation path and has better performance. | ||
| کلیدواژه‌ها [English] | ||
| Final Terminal Guidance, Nonlinear robust control, State-dependent Riccati equations, Uncertainty, Differential Game | ||
| مراجع | ||
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A model of predictive terminal guidance based on whale optimization algorithm considering the aerodynamic model of the pursuer. Journal of Aerospace Mechanics. 2021; 17(1):37-50. DOR: https://dor.isc.ac/dor/20.1001.1.26455323.1400.17.1.4.5. | ||
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