CN107289815B - A kind of electromagnetic railgun armature method for control speed and device - Google Patents
A kind of electromagnetic railgun armature method for control speed and device Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41B—WEAPONS FOR PROJECTING MISSILES WITHOUT USE OF EXPLOSIVE OR COMBUSTIBLE PROPELLANT CHARGE; WEAPONS NOT OTHERWISE PROVIDED FOR
- F41B6/00—Electromagnetic launchers ; Plasma-actuated launchers
- F41B6/006—Rail launchers
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Abstract
The embodiment of the invention discloses a kind of electromagnetic railgun armature method for control speed, this method comprises: making armature setting in motion；When any one fixed point in multiple fixed points preset in armature movement to electromagnetic path, PFU module group corresponding with the fixed point in the pulse power units PFU module group of multiple power generations parallel with one another in the preset pulse power is triggered.The embodiment of the invention also discloses a kind of electromagnetic railgun armature speed control units.Scheme through the embodiment of the present invention, the speed and armature for having accurately controlled electromagnetic railgun emission process go out thorax speed.
Description
Technical field
The present embodiments relate to ELECTROMAGNETIC LAUNCH TECHNOLOGY field, espespecially a kind of electromagnetic railgun armature method for control speed and
Device.
Background technique
Electromagnetic launch system is to provide a kind of hypervelocity launcher of thrust using electric energy for ejection, due to being usually used in army
Thing purposes, and it is commonly called as electric blasting.Electric blasting is divided into magnetic artillery and electrothermal gun, and wherein magnetic artillery is divided into railgun, coilgun and reclosing again
Big gun.Wherein, the principle of electromagnetic railgun is: it is by two parallel guide rails and an armature group slided along rail axis direction
At bullet is placed on the guide rail before armature and forms closed circuit.Guide rail is connected with the pulse power.When emitting bullet,
The power supply of pulse power Xiang Yigen guide rail, by armature, flows to another guide rail.Powerful electric current flows through two closed slides, two
Powerful, contrary linear magnetic field, and the third magnetic field interaction formed with armature are generated between guide rail, are generated powerful
Electromagnetic force.Electromagnetic force pushes armature and the bullet being placed in front of armature to accelerate along guide rail, to obtain very high initial velocity
Degree, bullet is moved out along guide rail to be launched until from gun muzzle end.It is compared with traditional weapon, electromagnetic railgun has very much
Superiority, such as speed is big, far firing range and power are big, and can be controlled by computer, and the letter of weaponry is realized
Breathization and intelligence.But the speed for how accurately controlling electromagnetic railgun emission process becomes current problem to be solved.
Summary of the invention
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of electromagnetic railgun armature method for control speed
And device, it can accurately control the speed of electromagnetic railgun emission process and armature goes out thorax speed.
In order to reach purpose of the embodiment of the present invention, the embodiment of the invention provides a kind of electromagnetic railgun armature speed controls
Method, this method comprises:
Make armature setting in motion；
When any one fixed point in multiple fixed points preset in armature movement to electromagnetic path, trigger preset
PFU module group corresponding with the fixed point in multiple pulse power units PFU module groups parallel with one another in the pulse power.
Optionally, this method further include: calculate equivalent acceleration a when armature does uniformly accelrated rectilinear motion and maintain to be somebody's turn to do
Guide rail average current I needed for uniformly accelrated rectilinear motion.
Optionally, it calculates equivalent acceleration a when armature does uniformly accelrated rectilinear motion and maintains uniformly accelrated rectilinear motion
Required guide rail average current I includes:
Equivalent acceleration a and guide rail average current I is calculated according to following data and uniformly accelrated rectilinear motion formula:
Target goes out thorax speed vp, track length s, track inductor gradient L ' and armature quality m；
Uniformly accelrated rectilinear motion formula includes:
Wherein, v is speed when armature carries out uniformly accelrated rectilinear motion.
Optionally, target goes out thorax speed vpIt include: 1500~2000m/s.
Optionally, any one fixed point in armature movement to electromagnetic path in preset multiple fixed points refers to:
As zero moment at the time of using armature setting in motion；After armature movement, when current time reaches scheduled multiple
Between point in any one time point when, determine armature movement to the time point corresponding fixed point；
Wherein, scheduled multiple time points correspond with multiple fixed points preset on electromagnetic path；Wherein, any one
Predetermined point of time is the estimated time that armature reaches corresponding fixed point.
Optionally, it triggers opposite with the fixed point in multiple PFU module groups parallel with one another in the preset pulse power
Before the PFU module group answered further include: predefine and need to trigger in PFU module group corresponding with each preset fixed point
PFU module number.
Optionally it is determined that the number for the PFU module for needing to trigger in PFU module group corresponding with each preset fixed point
Include:
71, x PFU module in first group of PFU module group is triggered at zero moment zero shift；
72, make armature movement to the first fixed point under the driving of x PFU module；
73, when armature movement is to a preset fixed point, the movement velocity of armature is detected；
74, when the relative error between the movement velocity of armature and the goal pace of the fixed point is that absolute value is the smallest
When error, the number of the number x PFU module for being determined as in PFU module group corresponding with the fixed point needing to trigger is walked
Rapid 75；When relative error is not the smallest error of absolute value, change the numerical value of x, return step 71；
If 75, there is also next fixed points, y PFU module in next group of PFU module group is triggered；If no
There are next fixed points then to terminate；
76, make armature movement to next fixed point, return step 73 under the driving of y PFU module；
Wherein, the total number of PFU module is n, x≤n, y≤n in each group of PFU module group, and y, x and n are positive integer.
Optionally, before making armature setting in motion, this method further include: according to preset algorithm to preset multiple fixations
The position of point optimizes.
Optionally, preset algorithm includes: genetic algorithm；
The distance between every two fixed point is greater than or equal to 0.2m in multiple fixed points.
In order to reach purpose of the embodiment of the present invention, the embodiment of the invention also provides a kind of electromagnetic railgun armature speed controls
Device processed, the device include: drive module and trigger module；
Drive module, for making armature setting in motion；
Trigger module, for when any one fixed point in armature movement to electromagnetic path in preset multiple fixed points
When, trigger PFU module corresponding with the fixed point in multiple PFU module groups parallel with one another in the preset pulse power
Group.
Optionally, device further include: computing module；
Computing module accelerates directly for calculating equivalent acceleration a when armature does uniformly accelrated rectilinear motion and remaining even
Guide rail average current I needed for line movement.
Optionally, computing module calculates equivalent acceleration a when armature does uniformly accelrated rectilinear motion and maintains described even
Accelerate linear motion needed for guide rail average current I include:
Calculate equivalent acceleration a and guide rail average current I according to following data and uniformly accelrated rectilinear motion formula: target goes out
Thorax speed vp, track length s, track inductor gradient L ' and armature quality m；
Uniformly accelrated rectilinear motion formula includes:
Wherein, v is speed when armature carries out uniformly accelrated rectilinear motion.
Optionally, target goes out thorax speed vpIt include: 1500~2000m/s.
Optionally, any one fixed point in armature movement to electromagnetic path in preset multiple fixed points refers to:
As zero moment at the time of using armature setting in motion；After armature movement, when current time reaches scheduled multiple
Between point in any one time point when, determine armature movement to the time point corresponding fixed point；
Wherein, scheduled multiple time points correspond with multiple fixed points preset on electromagnetic path；Wherein, any one
Predetermined point of time is the estimated time that armature reaches corresponding fixed point.
Optionally, device further include: the second determining module；
Second determining module, for triggering multiple PFU moulds parallel with one another in the preset pulse power in trigger module
In block group before PFU module group corresponding with the fixed point, predefine PFU mould corresponding with each preset fixed point
The number for the PFU module for needing to trigger in block group.
Optionally, it needs to trigger in the determining PFU module group corresponding with each preset fixed point of the second determining module
The number of PFU module includes:
171, x PFU module in first group of PFU module group is triggered at zero moment zero shift；
172, make armature movement to the first fixed point under the driving of x PFU module；
173, when armature movement is to a preset fixed point, the movement velocity of armature is detected；
174, when the relative error between the movement velocity of armature and the goal pace of the fixed point is that absolute value is minimum
Error when, the number of the number x PFU module for being determined as in PFU module group corresponding with the fixed point needing to trigger carries out
Step 75；When relative error is not the smallest error of absolute value, change the numerical value of m, return step 171；
If 175, there is also next fixed points, y PFU module in next group of PFU module group is triggered；If no
There are next fixed points then to terminate；
176, make armature movement to next fixed point, return step 173 under the driving of y PFU module；
Wherein, the total number of PFU module is n, x≤n, y≤n in each group of PFU module group, and y, x and n are positive integer.
Optionally, device further include: optimization module；
Optimization module, for before making armature setting in motion, according to preset algorithm to the position of preset multiple fixed points
It sets and optimizes.
Optionally, preset algorithm includes: genetic algorithm；
The distance between every two fixed point is greater than or equal to 0.2m in multiple fixed points.
The embodiment of the present invention includes: make armature setting in motion；When multiple fixations preset in armature movement to electromagnetic path
When any one fixed point in point, trigger solid with this in multiple PFU module groups parallel with one another in the preset pulse power
Pinpoint corresponding PFU module group.Scheme through the embodiment of the present invention has accurately controlled the speed of electromagnetic railgun emission process
Go out thorax speed with armature.
The other feature and advantage of the embodiment of the present invention will illustrate in the following description, also, partly from explanation
It is become apparent in book, or understood by implementing the embodiment of the present invention.The purpose of the embodiment of the present invention and other advantages
It can be achieved and obtained by structure specifically noted in the specification, claims and drawings.
Detailed description of the invention
Attached drawing is used to provide one for further understanding technical solution of the embodiment of the present invention, and constituting specification
Point, it is used to explain the present invention the technical solution of embodiment together with embodiments herein, does not constitute to the embodiment of the present invention
The limitation of technical solution.
Fig. 1 is the electromagnetic railgun armature method for control speed flow chart of the embodiment of the present invention；
Fig. 2 is the basic structure schematic diagram of current electromagnetic railgun；
Fig. 3 is the PFU module equivalent circuit of the embodiment of the present invention；
Fig. 4 is the equivalent circuit topology of the magnetic artillery load-side of the embodiment of the present invention；
When Fig. 5 is the PFU module of the different numbers of first group of triggering of the embodiment of the present invention, the velocity wave form of armature；
Fig. 6 (a) is the rail currents comparison of wave shape figure of the embodiment of the present invention, and chain lines are to be equivalent to even acceleration straight line
The equivalent current of movement, solid line are the rail currents under accurate trigger policy；
Fig. 6 (b) is the armature velocity wave form comparison diagram of the embodiment of the present invention, and chain lines are to be equivalent to even acceleration straight line
The armature velocity wave form of movement, solid line are the armature velocity wave form under accurate trigger policy；
Fig. 7 is the displacement waveform comparison diagram of the embodiment of the present invention；
Fig. 8 is that the target of the embodiment of the present invention goes out thorax speed in the range of 1500~2000m/s, when step-length takes 100m/s
Go out thorax velocity error image；
Fig. 9 is fixed point position position view on guide rail after the fixed point of the embodiment of the present invention optimizes；
Figure 10 is that the fixed point of the embodiment of the present invention optimizes rear rail current vs figure；
Figure 11 is that armature velocity contrast schemes after the fixed point of the embodiment of the present invention optimizes；
Figure 12 is armature displacement comparison figure after the fixed point of the embodiment of the present invention optimizes；
Figure 13 is after the fixed point of the embodiment of the present invention optimizes, and target goes out thorax speed in the range of 1500~2000m/s,
Step-length takes the image for going out thorax velocity error when 100m/s；
Figure 14 is the electromagnetic railgun armature speed control unit schematic diagram of the embodiment of the present invention；
Figure 15 is the electromagnetic railgun armature speed control unit composition block diagram of the embodiment of the present invention.
Specific embodiment
Understand in order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing pair
The embodiment of the present invention is described in detail.It should be noted that in the absence of conflict, embodiment and reality in the application
The feature applied in example can mutual any combination.
Step shown in the flowchart of the accompanying drawings can be in a computer system such as a set of computer executable instructions
It executes.Also, although logical order is shown in flow charts, and it in some cases, can be to be different from herein suitable
Sequence executes shown or described step.
In order to reach purpose of the embodiment of the present invention, the embodiment of the invention provides a kind of electromagnetic railgun armature speed controls
Method, as shown in Figure 1, this method includes S101-S102:
S101, make armature setting in motion.
In embodiments of the present invention, it is considered as zero moment, the starting point view of setting in motion at the time of can be by armature setting in motion
For zero shift, when beginning, needs to be moved from zero moment zero shift place driving armature, before this, needs first to calculate driving
Required guide rail average current I when armature is moved.
Optionally, this method further include: calculate equivalent acceleration a when armature does uniformly accelrated rectilinear motion and maintain to be somebody's turn to do
Guide rail average current I needed for uniformly accelrated rectilinear motion.
In embodiments of the present invention, the movement of armature can be equivalent to uniformly accelrated rectilinear motion for ease of calculation,
The movement of armature can also be equivalent to other forms of motion in other embodiments, to calculate guide rail average current I, the present invention
In embodiment with no restrictions for its circular.
Optionally, it calculates equivalent acceleration a when armature does uniformly accelrated rectilinear motion and maintains the even acceleration straight line
Guide rail average current I needed for movement include: according to following data and uniformly accelrated rectilinear motion formula calculate equivalent acceleration a and
Guide rail average current I: target goes out thorax speed vp, track length s, track inductor gradient L ' and armature quality m.
It in embodiments of the present invention, can be previously according to the customized armature such as hardware configuration situation and power configuration situation
Target go out thorax speed vp.For example, target goes out thorax speed vpIt can be defined according to system parameter shown in table 1, optionally,
The target goes out thorax speed vpIt may include: 1500~2000m/s.Track length s, track inductor gradient L ' and armature quality m
It is to have been determined in the case where the hardware configuration of electromagnetic path has been determined, can be pre-configured with according to different application scenarios, it is right
With no restrictions in its specific value.
Optionally, uniformly accelrated rectilinear motion formula may include: v2=2as；Wherein, v
Speed when uniformly accelrated rectilinear motion is carried out for armature.
In embodiments of the present invention, by above-mentioned data, (target goes out thorax speed vp, track length s, track inductor gradient L ' with
And armature quality m) substitution uniformly accelrated rectilinear motion formula can calculate equivalent acceleration when armature does uniformly accelrated rectilinear motion
Guide rail average current I needed for spending a and maintaining the uniformly accelrated rectilinear motion.
In embodiments of the present invention, the specific value of v, s, L in table 1 ' and m is brought among above-mentioned formula, is led
Rail average current I=4174kA, equivalent acceleration a=3333km/s.
Table 1
S102, when any one fixed point in multiple fixed points preset in armature movement to electromagnetic path, triggering
PFU corresponding with the fixed point in multiple pulse power units PFU module groups parallel with one another in the preset pulse power
Module group.
In embodiments of the present invention, in order to more easily study the properties of electromagnetic railgun, using a kind of experience
The capacitor energy storage type electromagnetic railgun circuit model of its high accuracy is demonstrate,proved, Fig. 2 is its basic structure schematic diagram, left side pulse electricity
Source is made of multiple PFU wired in parallel, as shown in figure 3, wherein S is triggering control switch, C is single PFU module equivalent circuit
Storage capacitor, L are pulse shaping inductance, and R is the sum of PFU resistance.Right side is railgun load, equivalent circuit topology such as Fig. 4
Shown, Lr is guide rail inductance in figure, and Rr is guide rail resistance, and Rc contact resistance between guide rail and armature, RVSEC1 is guide rail contact
Velocity skin-effect resistance, RVSEC2 are armature contacts velocity skin-effect resistance, and Ra is armature resistance, and Rp is gun muzzle blow-out electricity
Resistance, uEMF are armature motional electromotive force.
In embodiments of the present invention, multiple groups PFU module parallel with one another can be set previously according to demand, and in advance in electricity
Multiple fixed points are set on magnetic orbital, wherein the multiple fixed points being arranged successively and the multiple PFU module groups being arranged successively are one by one
It is corresponding.During armature movement, it can be triggered on the fixed point that armature is passed through by successively corresponding with the fixed point
PFU module group achievees the purpose that the armature speed for accurately controlling each fixed point, and velocity control accuracy can be promoted
To within 0.05%.It specifically, may include: that first group of PFU module corresponding with the position is triggered at zero moment zero shift
Group triggers corresponding with the first fixed point second group of PFU module group in the first fixed point, in the second fixed point triggering and the
The corresponding third group PFU module group ... ... of two fixed points, and so on, it is respectively completed corresponding with fixed point at s1~sn
Two groups of PFU module groups to (n+1)th group of PFU module group triggering.
In embodiments of the present invention, also it needs to be determined that armature is before triggering each corresponding PFU module group of fixed point
It is no to have reached corresponding fixed point, it can specifically be realized by following proposal.
Optionally, any one fixed point in armature movement to electromagnetic path in preset multiple fixed points refers to:
As zero moment at the time of using armature setting in motion；After armature movement, when current time reaches scheduled multiple
Between point in any one time point when, determine armature movement to the time point corresponding fixed point；
Wherein, scheduled multiple time points correspond with multiple fixed points preset on electromagnetic path；Any one is predetermined
Time point is the estimated time that armature reaches corresponding fixed point.
In embodiments of the present invention, this estimated time can be is calculated by simulating.
Optionally, in triggering multiple PFU module groups parallel with one another in the preset pulse power with the fixed point phase
Before corresponding PFU module group further include: first pass through simulation in advance and determine PFU module group corresponding with each preset fixed point
The number of the middle PFU module for needing to trigger.
It in embodiments of the present invention, can also include multiple PFU modules in every group of PFU module group, and transported in armature
During dynamic, since the number difference power supply that then pulse power provides of the PFU module of triggering is different, every group of PFU module
The number of the PFU module triggered in group is different, determines between corresponding fixed point armature speed and goal pace
Relative error is different.Based on this principle, can be controlled by the number of the PFU module triggered in every group of PFU module group of control
The relative error between each fixed point armature speed and goal pace is made, to reach the mesh of accurate control armature speed
, it can specifically be realized by following scheme.
Optionally it is determined that the number for the PFU module for needing to trigger in PFU module group corresponding with each preset fixed point
May include S201-S204:
S201, x PFU module in first group of PFU module group is triggered at the zero moment zero shift；
S202, make armature movement to the first fixed point under the driving of x PFU module；
S203, when armature movement is to a preset fixed point, detect the movement velocity V of armature；
S204, when the relative error between the movement velocity V of armature and the goal pace pv of the fixed point be absolute value
When the smallest error, by the number of the number x PFU module for being determined as in PFU module group corresponding with the fixed point needing to trigger,
Carry out step S205；When relative error is not the smallest error of absolute value, change the numerical value of x, return step S201, until electricity
Until relative error between the movement velocity V of pivot and the goal pace pv of the fixed point is the smallest error of absolute value；
If S205, there is also next fixed points, y PFU module in next group of PFU module group is triggered；If
There is no next fixed points then to terminate, i.e., armature goes out thorax；
S206, make the armature movement to next fixed point, return step under the driving of the y PFU module
S203。
Wherein, the total number of PFU module is n, x≤n in each group of PFU module group, and x, y and n are positive integer.
In embodiments of the present invention, through the above scheme, repeatedly it can be simulated or be tested, trigger each group of PFU mould
Different PFU number of modules in block group, to determine to trigger how many a PFU moulds in fixed point corresponding with this group of PFU module group
When block, the relative error between the goal pace of movement velocity and the fixed point of the armature by the fixed point when can be made
The smallest error of absolute value, the feelings below by taking first group of PFU module group as an example, and when the distance between each fixed point is equal
For condition, above scheme is illustrated by specific embodiment.
In embodiments of the present invention, it is assumed that distance 1m between each fixed point triggers first group of PFU at zero moment zero shift
Module group:
If 11 PFU modules (in Fig. 5 shown in 1 line) in first group of PFU module group are triggered, when armature movement to first
At the time of fixed point s1, armature speed is 703.18m/s, can be calculated at this time by above-mentioned acceleration a and run duration
The goal pace of first fixed point can calculate electricity according to currently practical armature speed (703.18m/s) and goal pace
Relative error between pivot speed and goal pace is -13.26%；
If 12 PFU modules (in Fig. 5 shown in 2 lines) in first group of PFU module group are triggered, when armature movement to first
At the time of a fixed point s1, armature speed is 795.73m/s, according to currently practical armature speed (795.73m/s) and expected speed
It is 8.03% that degree, which can calculate the relative error between armature speed and goal pace,；
If 13 PFU modules (in Fig. 5 shown in 3 lines) in first group of PFU module group are triggered, when armature movement to first
At the time of a fixed point s1, armature speed is 887.88m/s, according to currently practical armature speed (887.88m/s) and expected speed
It is 31.23% that degree, which can calculate the relative error between armature speed and goal pace,.
In embodiments of the present invention, by above-mentioned calculating it is found that occurring when first positive value error occurs in relative error
When first relative error is the numerical value greater than zero, it is further added by the PFU number of modules of triggering, relative error can be made bigger, so
It can stop recycling when PFU number of modules increases to 12 according to the above embodiments.It selects to touch in first group of PFU module group
12 PFU modules are sent out, because the mistake absolute value of the difference between goal pace is minimum, can make the fitting of armature movement state is even to add
Speed linear motion.
In embodiments of the present invention, according to the above embodiments data, available trigger policy as shown in Table 2 is implemented
Example.The thorax speed that goes out under this trigger policy is 1.995km/s, and thorax speed absolute relative error is 0.231% out.This hair
Guide rail average current comparison of wave shape figure under bright embodiment, armature velocity wave form comparison diagram is respectively such as Fig. 6 (a) and Fig. 6 (b) institute
Show, it is as shown in Figure 7 that armature is displaced waveform comparison diagram.It can be seen that under this method for control speed, armature movement state quilt substantially
Control is uniformly accelrated rectilinear motion.
| Trigger sequence | 1 | 2 | 3 | 4 | 5 | 6 |
| Triggering moment/ms | 0 | 2.21 | 3.244 | 1.032 | 4.679 | 5.257 |
| Trigger mode block number | 12 | 6 | 5 | 3 | 5 | 1 |
Table 2
In embodiments of the present invention, the position of above-mentioned multiple fixed points s1~sn can preset a big position approximate
It sets, for example, one fixed point is set every 1m, it can be according to the requirement to armature velocity accuracy not in subsequent simulated experiment
It is disconnected that the position of s1~sn is optimized, finally obtain the specific location of s1~sn.It in other embodiments, can also be by pre-
If optimization software or algorithm the position of multiple fixed points is optimized.
Optionally, before making armature setting in motion, this method can also include: according to preset algorithm to preset multiple
The position of fixed point optimizes, and minimizes so that armature finally goes out thorax velocity error.
Optionally, which may include: genetic algorithm；
The distance between every two fixed point is greater than or equal to 0.2m in multiple fixed points.
In embodiments of the present invention, above-mentioned software or algorithm optimization scheme are illustrated using following embodiments.It is false
If optimizing the position of fixed point s1~s5, it is specified that the distance between every two fixed point is not less than 0.2m.First group of PFU module group
It is triggered at zero moment zero shift, five fixed point position s1 to s5 are used as variable；It is arrived with going out thorax objective speed for 1.5km/s
2km/s, step-length 0.1km/s, what is obtained goes out the sum of thorax speed absolute relative error as optimization aim, and it is excellent to carry out single goal
Change (minimum value).Single object optimization can be completed with Calling MATLAB Optimization Tool GA solver, the tool box
It is optimized using genetic algorithm.Table 3 and 4 is respectively the parameter setting of optimization problem and the mathematical description of optimization problem.
| Title | Value/option |
| Adaptive value sequence | Proportional |
| Crossing system | Constraint Dependent |
| Variation mode | Adaptive Dependent |
| Selection mode | Stochastic Uniform |
| Save optimal solution | 1 |
| Population scale | 200 |
| Maximum genetic algebra | 500 |
| Sentence and holds back algebra | 50 |
| Adaptive value tolerance | 10-10 |
| Value tolerance is violated in constraint | 10-10 |
| Individual | s1,s2,s3,s4,s5 |
Table 3
Table 4
In embodiments of the present invention, optimization calculates and can terminate in the 130th generation, because of the continuous 50 generation variation of adaptive optimal control value
Amplitude is less than adaptive value tolerance.As shown in figure 9, for schematic diagram of the fixed point position on the guide rail of 6m long after optimization, the following table 5 is
Optimum results.
Table 5
In embodiments of the present invention, when it is 2km/s that target, which goes out thorax speed, each fixed point is placed according to optimum results,
Available trigger policy is as shown in table 6, and armature goes out thorax speed and thorax velocity error is as shown in table 7 out.
| Trigger sequence | 1 | 2 | 3 | 4 | 5 | 6 |
| Triggering moment/ms | 0 | 1.412 | 2.030 | 3.140 | 3.951 | 5.662 |
| Trigger mode block number | 10 | 4 | 2 | 5 | 7 | 13 |
Table 6
| Armature goes out thorax speed | Thorax speed absolute relative error out |
| 2.001km·s-1 | 0.036% |
Table 7
In embodiments of the present invention, can see from data, after a position optimization is fixed, armature goes out thorax speed
Absolute relative error (0.036%) is far smaller than the thorax speed absolute relative error (0.231%) out of equidistant triggering, speed
Degree control is more accurate.Rail currents comparison of wave shape figure is as shown in Figure 10, armature movement state waveform comparison diagram such as Figure 11~13
It is shown.
In embodiments of the present invention, scanning target goes out thorax speed from 1.5km/s to 2km/s, and step-length takes 0.1km/s, obtains
Figure 13.When target goes out thorax speed within [1.5,2] km/s, out the range of thorax speed absolute relative error be [0,
0.036] %.
In embodiments of the present invention, comparison can be seen according to both of these case after the equidistant optimization with fixed point of fixed point
It arrives, target goes out thorax speed within the scope of [1.5,2] km/s, equidistant to trigger obtained thorax speed absolute relative error out
Range [0,0.410] %, what triggering obtained after distance optimization goes out thorax speed absolute relative error range [0,0.036] %.Away from
It is more accurate to the control of thorax speed out after optimization, it can control out thorax speed absolute relative error below 0.05%.
In order to reach purpose of the embodiment of the present invention, the embodiment of the invention also provides a kind of electromagnetic railgun armature speed controls
Device 1 processed, it should be noted that each embodiment in above-mentioned embodiment of the method suitable for the Installation practice,
This is repeated no more.As shown in Figure 14, Figure 15, the apparatus may include: drive module 11 and trigger module 12；
Drive module 11, for making armature setting in motion；
Trigger module 12, for being fixed when any one in armature movement to electromagnetic path in preset multiple fixed points
When point, PFU module corresponding with the fixed point in multiple PFU module groups parallel with one another in the preset pulse power is triggered
Group.
Optionally, device further include: computing module 13；
Computing module 13, for calculating equivalent acceleration a when armature does uniformly accelrated rectilinear motion and maintaining even acceleration
Guide rail average current I needed for linear motion.
Optionally,
Computing module calculates equivalent acceleration a when armature does uniformly accelrated rectilinear motion and maintains the even acceleration straight line
Moving required guide rail average current I includes:
Calculate equivalent acceleration a and guide rail average current I according to following data and uniformly accelrated rectilinear motion formula: target goes out
Thorax speed vp, track length s, track inductor gradient L ' and armature quality m；
Uniformly accelrated rectilinear motion formula includes:
Wherein, v is speed when armature carries out uniformly accelrated rectilinear motion.
Optionally, target goes out thorax speed vpIt include: 1500~2000m/s.
Optionally, any one fixed point in armature movement to electromagnetic path in preset multiple fixed points refers to: with
As zero moment at the time of armature setting in motion；After armature movement, current time reaches appointing in scheduled multiple time points
When one time point, determine armature movement to the time point corresponding fixed point；
Wherein, scheduled multiple time points correspond with multiple fixed points preset on electromagnetic path；Wherein, any one
Predetermined point of time is the estimated time that armature reaches corresponding fixed point.
Optionally, device further include: the second determining module 14；
Second determining module 14, for triggering multiple PFU parallel with one another in the preset pulse power in trigger module
In module group before PFU module group corresponding with the fixed point, simulation is first passed through in advance and is determined and each preset fixed point
The number for the PFU module for needing to trigger in corresponding PFU module group.
Optionally, it needs to trigger in the determining PFU module group corresponding with each preset fixed point of the second determining module 14
The number of PFU module include:
171, m PFU module in first group of PFU module group is triggered at zero moment zero shift；
172, make armature movement to the first fixed point under the driving of x PFU module；
173, when armature movement is to a preset fixed point, the movement velocity of armature is detected；
174, when the relative error between the movement velocity of armature and the goal pace of the fixed point is that absolute value is minimum
Error when, the number of the number x PFU module for being determined as in PFU module group corresponding with the fixed point needing to trigger carries out
Step 75；When relative error is not the smallest error of absolute value, change the numerical value of x, return step 171；
If 175, there is also next fixed points, y PFU module in next group of PFU module group is triggered；If no
There are next fixed points then to terminate；
176, make armature movement to next fixed point, return step 173 under the driving of y PFU module；
Wherein, the total number of PFU module is n, x≤n, y≤n in each group of PFU module group, and y, x and n are positive integer.
Optionally, device further include: optimization module 15；
Optimization module 15, for before making armature setting in motion, according to preset algorithm to preset multiple fixed points
Position optimizes, and minimizes so that armature finally goes out thorax velocity error.
Optionally, preset algorithm includes: genetic algorithm；
The distance between every two fixed point is greater than or equal to 0.2m in multiple fixed points.
The embodiment of the present invention includes: make armature setting in motion；When multiple fixations preset in armature movement to electromagnetic path
When any one fixed point in point, trigger solid with this in multiple PFU module groups parallel with one another in the preset pulse power
Pinpoint corresponding PFU module group.Scheme through the embodiment of the present invention has accurately controlled the speed of electromagnetic railgun emission process
Go out thorax speed with armature.
Although embodiment disclosed by the embodiment of the present invention is as above, only the present invention is real for ease of understanding for the content
The embodiment applying example and using is not intended to limit the invention embodiment.Skill in any fields of the embodiment of the present invention
Art personnel can be in the form and details of implementation under the premise of not departing from spirit and scope disclosed by the embodiment of the present invention
It is upper to carry out any modification and variation, but the scope of patent protection of the embodiment of the present invention, it still must be with appended claims institute
Subject to the range defined.
Claims (10)
1. a kind of electromagnetic railgun armature method for control speed, which is characterized in that the described method includes:
Predefine the PFU mould for needing to trigger in pulse power units PFU module group corresponding with each preset fixed point
The number of block, comprising:
S1, the s at zero moment zero shift0Trigger the x in first group of PFU module group1A PFU module；In the x1A PFU module
Driving under make armature movement to the first fixed point s1Place；When the armature movement to the fixed point s1When, detect the armature
Movement velocity；When the movement velocity and fixed point s of the armature1Relative error between the goal pace at place is absolute value
When the smallest error, by number x1It is determined as and fixed point s1For the PFU module for needing to trigger in corresponding PFU module group
Number carries out step S2；When the relative error is not the smallest error of absolute value, change x1Numerical value, return step S1；
X in next group of S2, triggering PFU module group1+mA PFU module, in the x1+mMake the electricity under the driving of a PFU module
Pivot moves to next fixed point s1+mPlace, when the armature movement to the fixed point s1+mWhen, detect the movement of the armature
Speed；When the movement velocity and fixed point s of the armature1+mRelative error between the goal pace at place be not absolute value most
When small error, change x1+mNumerical value, return step S2；
When relative error error the smallest for absolute value, by number x1+mIt is determined as and fixed point s1+mCorresponding PFU
The number for the PFU module for needing to trigger in module group；
Judge whether that there is also next fixed points, if there is also next fixed point, m+1 goes to step S2；If do not deposited
Then terminate in next fixed point；
Wherein, the total number of PFU module is n, x in each group of PFU module group1≤n、x1+m≤ n, m, n, x1, x1+mFor positive integer；
Make the armature setting in motion；
When any one fixed point in multiple fixed points preset in the armature movement to electromagnetic path, trigger preset
PFU module group corresponding with the fixed point in multiple pulse power units PFU module groups parallel with one another in the pulse power.
2. electromagnetic railgun armature method for control speed as described in claim 1, which is characterized in that the method also includes:
It calculates the equivalent acceleration a when armature does uniformly accelrated rectilinear motion and maintains to lead needed for the uniformly accelrated rectilinear motion
Rail average current I.
3. electromagnetic railgun armature method for control speed as claimed in claim 2, which is characterized in that the calculating armature does even
Accelerate equivalent acceleration a when linear motion and the required guide rail average current I of the maintenance uniformly accelrated rectilinear motion includes:
Equivalent acceleration a and guide rail average current I is calculated according to following data and uniformly accelrated rectilinear motion formula:
Target goes out thorax speed vp, track length s, track inductor gradient L ' and armature quality m；
The uniformly accelrated rectilinear motion formula includes:
Wherein, v is the speed when armature carries out uniformly accelrated rectilinear motion.
4. electromagnetic railgun armature method for control speed as claimed in claim 3, which is characterized in that the target goes out thorax speed
vpAre as follows: 1500~2000m/s.
5. electromagnetic railgun armature method for control speed as described in claim 1, which is characterized in that the armature movement to electricity
Any one fixed point on magnetic orbital in preset multiple fixed points refers to:
As zero moment at the time of using the armature setting in motion；After the armature movement, current time reaches scheduled more
When any one time point in a time point, determine the armature movement to the time point corresponding fixed point；
Wherein, scheduled multiple time points correspond with multiple fixed points preset on electromagnetic path；Wherein, any one
Predetermined point of time is the estimated time that armature reaches corresponding fixed point.
6. electromagnetic railgun armature method for control speed as described in claim 1, which is characterized in that make armature setting in motion
Before, the method also includes: optimized according to position of the preset algorithm to preset multiple fixed points.
7. electromagnetic railgun armature method for control speed as claimed in claim 6, which is characterized in that
The preset algorithm includes: genetic algorithm；
The distance between every two fixed point is greater than or equal to 0.2m in the multiple fixed point.
8. a kind of electromagnetic railgun armature speed control unit, which is characterized in that described device comprises determining that module, driving mould
Block and trigger module；
The determining module, for predefining pulse power units PFU module group corresponding with each preset fixed point
The number of the middle PFU module for needing to trigger, comprising:
S1, the s at zero moment zero shift0Trigger the x in first group of PFU module group1A PFU module；In the x1A PFU module
Driving under make armature movement to the first fixed point s1Place；When the armature movement to the fixed point s1When, detect the armature
Movement velocity；When the movement velocity and fixed point s of the armature1Relative error between the goal pace at place is absolute value
When the smallest error, by number x1It is determined as and fixed point s1For the PFU module for needing to trigger in corresponding PFU module group
Number carries out step S2；When the relative error is not the smallest error of absolute value, change x1Numerical value, return step S1；
X in next group of S2, triggering PFU module group1+mA PFU module, in the x1+mMake the electricity under the driving of a PFU module
Pivot moves to next fixed point s1+mPlace, when the armature movement to the fixed point s1+mWhen, detect the movement of the armature
Speed；When the movement velocity and fixed point s of the armature1+mRelative error between the goal pace at place be not absolute value most
When small error, change x1+mNumerical value, return step S2；
When relative error error the smallest for absolute value, by number x1+mIt is determined as and fixed point s1+mCorresponding PFU
The number for the PFU module for needing to trigger in module group；
Judge whether that there is also next fixed points, if there is also next fixed point, m+1 goes to step S2；If do not deposited
Then terminate in next fixed point；
Wherein, the total number of PFU module is n, x in each group of PFU module group1≤n、x1+m≤ n, m, n, x1, x1+mFor positive integer；
The drive module, for making the armature setting in motion；
The trigger module, for consolidating when any one in the armature movement to electromagnetic path in preset multiple fixed points
When fixed point, trigger in multiple pulse power units PFU module groups parallel with one another in the preset pulse power with the fixed point
Corresponding PFU module group.
9. electromagnetic railgun armature speed control unit as claimed in claim 8, which is characterized in that further include: optimization module；
The optimization module, for before making armature setting in motion, according to preset algorithm to the position of preset multiple fixed points
It sets and optimizes.
10. electromagnetic railgun armature speed control unit as claimed in claim 9, wherein
The preset algorithm includes genetic algorithm；
The distance between every two fixed point is greater than or equal to 0.2m in the multiple fixed point.
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| JP2020063865A (en) * | 2018-10-16 | 2020-04-23 | 三菱電機株式会社 | Pulse power supply apparatus for electromagnetic acceleration system, electromagnetic acceleration system |
| CN110127085A (en) * | 2019-05-16 | 2019-08-16 | 中国科学院电工研究所 | Driven with current sources type electromagnetic launch system |
| CN110645828B (en) * | 2019-08-29 | 2021-11-19 | 西北机电工程研究所 | Common rail type double-tube rail gun |
| CN110686559B (en) * | 2019-08-29 | 2022-07-08 | 西北机电工程研究所 | Tandem common rail type double-tube rail gun |
| CN113983862B (en) * | 2021-10-19 | 2022-09-20 | 华中科技大学 | Real-time control method, device and system for firing speed of electromagnetic rail gun |
| CN113932650B (en) * | 2021-10-19 | 2022-06-21 | 华中科技大学 | Machine learning-based method, device and system for controlling discharge speed |
| CN115420143B (en) * | 2022-08-15 | 2024-04-09 | 燕山大学 | Discontinuous and repeated control method for improving armature outlet speed precision |
| CN117198564B (en) * | 2023-09-04 | 2024-07-16 | 华中科技大学 | Electromagnetic injection armature bore-out speed dynamic control method for fracture alleviation |
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