CN107478111A - Target seeker model identification system and apply its Guidance and control analogue system - Google Patents
Target seeker model identification system and apply its Guidance and control analogue system Download PDFInfo
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- CN107478111A CN107478111A CN201710651813.0A CN201710651813A CN107478111A CN 107478111 A CN107478111 A CN 107478111A CN 201710651813 A CN201710651813 A CN 201710651813A CN 107478111 A CN107478111 A CN 107478111A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B35/00—Testing or checking of ammunition
- F42B35/02—Gauging, sorting, trimming or shortening cartridges or missiles
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Abstract
The invention discloses the target seeker model identification system based on parasitic loop,The system includes analog signal and module occurs,Emulator and Model Distinguish module,Module transmission simulation frequency sweep input signal is occurred by analog signal and is used as theoretical bullet line of sight angular velocity information,Guide emulator work,Target seeker in emulator exports the true visual angular velocity of bullet,Model Distinguish module recognizes to obtain guiding head model according to the visual angular velocity of theoretical bullet and the visual angular velocity of true bullet,Obtain the target seeker transmission function based on target seeker isolation parasitic loop,Obtained guiding head model will be recognized in guidance system design,Improve the accuracy of guidance system Digital Simulation,Guidance control loop Digital Simulation can also be made independent of Seeker Hardware-in-the-Loop Simulation system,The a plurality of trajectory guidance control emulation of full working scope only can be carried out by Digital Simulation form,So as to reduce the workload of HWIL simulation,So that the research digitlization of target seeker and guidance control system.
Description
Technical field
The present invention relates to the calculating system of missile homer transmission function, and in particular to target seeker model identification system and should
With its Guidance and control analogue system.
Background technology
As tracking detection system, target seeker needs to make it according to predetermined to control system offer line of sight rate on bullet
Guidance Law controls guided missile target.Important component of the target seeker as advanced precision guided weapon, it is in detection target
While need to realize stabilization of the guiding header detector on inertial space, while provide the visual line angle of bullet and bullet available for guidance
Line of sight angular velocity information, realize intercept and capture and track target, information required for guidance law is realized in output, eliminates body disturbance pair
Target seeker points to stable influence in space.Wherein, the characteristic that target seeker disturbs to body is referred to as target seeker isolation in engineering
Spend characteristic.
For target seeker and thereon, the research of parasitic loop is more in the prior art, such as the Application No. of China
The target seeker isolation degree test system of Laser Terminal Homing Projectile disclosed in 201110415516.9 patent document, it is proposed that one
The isolation discrimination method of kind Laser Simulator, and for example disclosed in the patent document of Chinese Application No. 201410183582.1
Strapdown infrared seeker isolation parasitic loop assessment system, it is proposed that it is a kind of parasitic for strapdown infrared seeker isolation
The evaluation method of loop stability, but in the prior art, the influence for not exporting isolation parasitic loop to target seeker considers
Inside.When a link of the target seeker as guidance control system, its real output characteristics, which is only target seeker, influences guidance
The basic reason of control system, so in order to truly reflect influence of the isolation to guidance control system, need to be to based on isolation
The true guiding head model of parasitic loop is recognized, so that it is determined that target seeker model transfer function；Specifically：
The research for target seeker isolation is mainly tested isolation in the prior art, and once test can only obtain
A fixed value is equivalent to the target seeker isolation of single frequency, and by the target seeker isolation, to carry out other simulations
Operation, or guidance system stability assessment is carried out by calculating target seeker isolation, do not account for but returning in isolation parasitism
Target seeker reality output under the influence of road and the influence to guidance system.In the special of Chinese Application No. 201410183582.1
In sharp document, patent object is strapdown seeker, and its isolation model is the quarter by rate gyroscope on bullet and guiding header detector
Caused by spending chi mismatch, its line of sight rate can not be extracted directly；
Further, body attitude motion is coupled into target seeker performance loop, due to target seeker internal interference torque
In the presence of isolation is caused, so as to form target seeker isolation parasitic loop；The isolation of target seeker is integrated by many factors
Caused, target seeker internal interference torque includes spring torque and viscous damping torque etc.；Under different operating modes, many factors
Accounting be different, due to processing preparation technology, the isolation of each target seeker is also different.
So it is in the prior art far from enough on probing into for practical engineering application for target seeker isolation
, it is impossible to ignore or simplify target seeker isolation, guiding is researched and analysed on the basis of target seeker isolation is taken into full account
The working condition of head, carries out various analogue simulations and operating mode, trajectory analysis.
For these reasons, the present inventor analyses in depth to existing target seeker and isolation, to design one
Kind can solve the problem that the target seeker model identification system of above mentioned problem.
The content of the invention
In order to overcome above mentioned problem, present inventor has performed studying with keen determination, a kind of guiding based on parasitic loop is designed
Head model identification system, the system include analog signal and module, emulator and Model Distinguish module occur, and pass through analog signal
Generation module sends simulation frequency sweep input signal and plays line of sight angular velocity information, guiding emulator work, emulation as theoretical
Target seeker in equipment spreads out of the true visual angular velocity of bullet, and Model Distinguish module is according to the visual angular velocity of theoretical bullet and truly
The visual angular velocity of bullet recognizes to obtain guiding head model, that is, obtains the target seeker based on target seeker isolation parasitic loop and transmit letter
Number, obtained guiding head model will be recognized and be used in guidance system design, can make Guidance control loop Digital Simulation independent of
Seeker Hardware-in-the-Loop Simulation system, the Guidance and control emulation of a plurality of trajectory of full working scope is only can be carried out by Digital Simulation, from
And greatly reduce the workload of HWIL simulation so that the research of target seeker and guidance control system can digitize, together
The accuracy of Shi Tigao guidance system Digital Simulations, so as to complete the present invention.
In particular it is object of the present invention to provide with a kind of target seeker model identification system based on parasitic loop,
The system includes,
Module 1 occurs for analog signal, and it is used to send simulation frequency sweep input signal as the visual angular velocity letter of theoretical bullet
Cease to emulator 2 and Model Distinguish module 3；
Emulator 2, it is used for simulant missile motion, and output coupling has the true bullet of target seeker isolation parasitic loop
Line of sight angular velocity information；With
Model Distinguish module 3, it is used for according to the theoretical bullet line of sight angular velocity information and the true bullet line of sight
Angular velocity information recognizes to obtain guiding head model.
Wherein, the simulation frequency sweep input signal is the signal of frequency consecutive variations from low to high in predetermined band, excellent
Elect as, the signal is the periodic signal that amplitude is fixed.
Wherein, the emulator 2 includes
Target simulator 21, it is used to receive the theoretical bullet line of sight angular velocity information that analog signal generation module 1 is sent,
And simulated target is moved accordingly, and the virtual target movable information of acquisition is sent to target seeker 22；
Three axle High Precision Flight Simulators 23, it is used to receive the body attitude angle information that Guidance and control computer 24 is sent, according to
This simulant missile attitude motion；
Target seeker 22, it is used to receive the virtual target movable information that target simulator 21 is sent；Track virtual target fortune
Dynamic information, obtains truly playing line of sight angular velocity information, and send it to Guidance and control computer 24 and Model Distinguish module
3；With
Guidance and control computer 24, it is used to receive the true bullet line of sight angular velocity information that target seeker 22 is sent, accordingly
Body attitude change is obtained, and body attitude angle information is sent to three axle High Precision Flight Simulators 23；
The virtual target movable information feeling the pulse with the finger-tip is marked on the virtual location in simulator；
Angle angular speed between three axles and the plane of reference of the axle High Precision Flight Simulator of turntable attitude angular velocity information three；
The body attitude angle information refers to the angle between the guided missile longitudinal axis and the plane of reference.
Wherein, the Model Distinguish module 3 using System Identification Toolbox to the inputoutput data of target seeker at
Reason, obtain including the true guiding head model of isolation parasitic loop.Preferably, the Model Distinguish module 3 uses matlab
The ident identification toolbox of system is handled the inputoutput data of target seeker, is obtained comprising isolation parasitic loop
True guiding head model.
Wherein, the true line of sight angular velocity information that plays is obtained from the extraction point extraction inside target seeker 22, is had
For body,
The true line of sight angular velocity information that plays is the visual line angle speed of the bullet extracted at the instruction of target seeker control system
Degree, and/or
The true line of sight angular velocity information that plays is the visual angular velocity of bullet extracted at angular velocity gyro feedback signal.
The present invention also provides a kind of target seeker identification Method based on parasitic loop, and this method is by described above
Target seeker model identification system based on parasitic loop realize；
Preferably, wherein, it is from 0.1 hertz to 5 hertz that the simulation frequency sweep input signal that module 1 is sent, which occurs, for analog signal
The sinusoidal signal linearly increased, the signal amplitude are 1 radian, and the incentive action time of the signal is 15~30s, more preferably
20s。
The present invention also provides a kind of full working scope more trajectory guidance control analogue systems, the more trajectory guidance controls of full working scope
The analogue system bag target seeker model identification system described above based on parasitic loop, is wrapped by the model identification system
True guiding head model containing parasitic loop,
The more trajectory guidance control analogue systems of full working scope also include digital simulation module and calculate processing module,
Wherein, digital simulation module is used for simulation output various working information and a variety of trajectory messages；
Processing module is calculated to be used for according to various working information, a variety of trajectory messages and true target seeker containing parasitic loop
Model carries out Guidance and control emulation.
The present invention also provides a kind of full working scope more trajectory guidances control emulation modes, and this method is using described above complete
The more trajectory guidance control analogue systems realizations of operating mode,
Or
The step of this method, includes the target seeker identification Method described above based on parasitic loop.
Beneficial effect includes possessed by the present invention：
(1) isolation parasitic loop is obtained according to the target seeker model identification system provided by the invention based on parasitic loop
The true model of target seeker is acted on, the actual performance of target seeker can be accurately characterized using the model, various operating modes can be carried out
Under the analysis of target seeker isolation, guidance system stability analysis, guidance control system precision simulation, there is wider array of applicability
And the degree of accuracy；
(2) according to the target seeker model identification system provided by the invention based on parasitic loop in once testing, to leading
Data in leader operating frequency range are all tested, and can be led by analyzing the guiding head model of acquisition
The isolation of all frequencies in working range of taking the lead；
(3) according to can be respectively from target seeker control in the target seeker model identification system provided by the invention based on parasitic loop
The visual angular velocity of bullet extracted at the instruction of system processed and at angular velocity gyro feedback signal, the guiding that two extraction points obtain
There is certain difference in head model, target seeker Model Distinguish can be carried out according to target seeker physical condition selection and withdrawal point, or use and distinguish
Know obtained guiding head model and carry out guidance system precision simulation so that it is determined that suitable preferably extraction point；
(4) according to the more trajectory guidance control analogue systems of full working scope provided by the invention Guidance control loop numeral can be made imitative
Very independent of Seeker Hardware-in-the-Loop Simulation system, the guidance control of a plurality of trajectory of full working scope is only can be carried out by Digital Simulation
System emulation, so as to greatly reduce the workload of HWIL simulation so that the research for target seeker and guidance control system
It can digitize.
Brief description of the drawings
Fig. 1 shows whole according to a kind of target seeker model identification system based on parasitic loop of preferred embodiment of the present invention
Body construction module figure；
Fig. 2 is shown according to a kind of target seeker model identification system based on parasitic loop of preferred embodiment of the present invention etc.
Imitate test model block diagram；
Fig. 3 shows the theoretical bullet in one experimental example of target seeker model identification system of the present invention based on parasitic loop
Visual angular velocity schematic diagram；
Fig. 4 shows the true bullet in one experimental example of target seeker model identification system of the present invention based on parasitic loop
Visual angular velocity schematic diagram；
Fig. 5 shows the identification bullet in one experimental example of target seeker model identification system of the present invention based on parasitic loop
Visual angular velocity schematic diagram；
Fig. 6 shows that the bullet in one experimental example of target seeker model identification system of the present invention based on parasitic loop is visual
Schematic diagram after angular velocity comparison diagram, and Fig. 3, Fig. 4 and Fig. 5 combination；
Fig. 7 shows to be hit by a bullet line of sight according to one experimental example of target seeker model identification system of the present invention based on parasitic loop
The partial enlarged drawing of angular speed comparison diagram, and Fig. 6 partial enlarged drawing.
Drawing reference numeral explanation：
Module occurs for 1- analog signals
2- emulators
21- target simulators
22- target seekers
The axle High Precision Flight Simulators of 23- tri-
24- Guidance and control computers
3- Model Distinguish modules
Embodiment
Below by drawings and examples, the present invention is described in more detail.Pass through these explanations, the features of the present invention
It will be become more apparent from clearly with advantage.
Special word " exemplary " is meant " being used as example, embodiment or illustrative " herein.Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.Although each of embodiment is shown in the drawings
In terms of kind, but unless otherwise indicated, it is not necessary to accompanying drawing drawn to scale.
According to the target seeker model identification system provided by the invention based on parasitic loop, the identification objects of the system are flat
Platform target seeker, the target seeker of isolation and disturbance torque is especially considered, can directly obtained with isolation parasitic loop
Target seeker transmission function, need not both consider the precision of target seeker, need not also consider the size and stability of isolation, can be with
The transmission function that directly application obtains carries out the operations such as follow-up simulation calculating, eliminates the isolation estimation of complexity and calculated
Journey；Specifically, the system includes, and module 1 occurs for analog signal, and it is used to send simulation frequency sweep input signal as theoretical bullet
Line of sight angular velocity information is to emulator 2 and Model Distinguish module 3；
Emulator 2, it is used for simulant missile motion, and output coupling has the true bullet of target seeker isolation parasitic loop
Line of sight angular velocity information；With
Model Distinguish module 3, it is used for according to the theoretical bullet line of sight angular velocity information and the true bullet line of sight
Angular velocity information recognizes to obtain guiding head model.
In one preferred embodiment, the simulation frequency sweep input signal be in predetermined band, frequency by it is low to
The signal of high consecutive variations, it is preferably that the signal is the periodic signal that amplitude is fixed.
By simulating the input signal under frequency sweep input signal simulation different frequency, the sound under target seeker different frequency is encouraged
Characteristic is answered, to obtain completely guiding head model.
Simulation frequency sweep input signal using a class frequency from low to high, the periodic signal fixed of amplitude be used as excitation letter
Number.Preferably, swept-frequency signal uses the sinusoidal signal that frequency linearly increases from 0.1 hertz (Hz) to 5 hertz (Hz), signal amplitude
For 1 radian (rad), target seeker works in frequency range covering engineering all frequencies, the signal incentive action time is 15~
30s, it is more electedly 20s.
In one preferred embodiment, the emulator 2 includes target simulator 21, three axle High Precision Flight Simulators
23rd, target seeker 22 and Guidance and control computer 24.
Wherein, target simulator 21 is used to receive the visual angular velocity letter of theoretical bullet that analog signal generation module 1 is sent
Breath, and simulated target is moved accordingly, and the virtual target movable information of acquisition is sent to target seeker 22；
Three axle High Precision Flight Simulators 23 are used to receive the body attitude angle information that Guidance and control computer 24 is sent, accordingly mould
Intend body attitude motion；
Target seeker 22 is target seeker to be identified, and it is used to receive the virtual target motion letter that target simulator 21 is sent
Breath；Virtual target movable information is tracked, obtains truly playing line of sight angular velocity information, and send it to Guidance and control computer
24 and Model Distinguish module 3；The target seeker is arranged on three-axle table, and true bullet line of sight angular velocity information that it is obtained is certainly
It is so to be obtained on the basis of the turntable attitude angular velocity information of three-axle table itself has been coupled, while three-axle table is also in mould
Intend body motion；
Guidance and control computer 24 is used to receive the true bullet line of sight angular velocity information that target seeker 22 is sent, and obtains accordingly
Body attitude changes, and body attitude angle information is sent to three axle High Precision Flight Simulators 23；
The virtual target movable information feeling the pulse with the finger-tip is marked on the virtual location in simulator；
Angle angular speed between three axles and the plane of reference of the axle High Precision Flight Simulator of turntable attitude angular velocity information three；
The body attitude angle information refers to the angle between the guided missile longitudinal axis and the plane of reference.
Theory plays line of sight angular velocity information and refers to guided missile and target angle angular speed that theoretical calculation goes out；
The true line of sight angular velocity information that plays refers to guided missile when target seeker tracks virtual target signal and target angle angle
Velocity information；
Target seeker internal interference torque includes spring torque and viscous damping torque etc..
In the present invention, isolation index is the key index of target seeker, because process deviation, environment are poor in actual production
Different, modeling accuracy factor causes to have differences between theoretical model and material object, in order to obtain real target seeker isolation
Model by means of turntable, it is necessary to test true target seeker.
After emulator 2 starts work, because the presence of target seeker internal interference torque causes isolation, body attitude
Motion is coupled into target seeker performance loop, and so as to form target seeker isolation parasitic loop, Real line-of-sight angular speed is believed
Breath has an impact；
When introducing parasitic loop target seeker input and output be measurable signal, so be based on isolation parasitic loop
The transmission function of target seeker can add sweep check to obtain using HWIL simulation.
In one preferred embodiment, the Model Distinguish module 3 recognizes instrument by the ident of matlab systems
Case identification obtains guiding head model.The identification toolbox comparative simulation frequency sweep input signal (theory plays line of sight angular velocity information)
With the Real line-of-sight angular velocity information time domain response of output, you can obtain the guiding head model for considering parasitic loop, i.e. guided missile flies
True guiding head model during row, complete target seeker Model Distinguish.The ident of heretofore described matlab systems is distinguished
It is the Model Distinguish instrument commonly used in art of mathematics to know tool box.
In one preferred embodiment, the specific data processing method of the ident identification toolbox of matlab systems
It is as follows：
(1) storage guiding connector analog frequency sweep input signal is the visual angular velocity of theoretical bullet (input data), and target seeker
Time domain response output signal is the visual angular velocity of true bullet (output data), and inputoutput data is target seeker under time domain
Input and output；
In the present invention, time domain response is system after the input signal of certain forms is applied, to study the output of system
Measure the rule that changes with time.The time domain response of control system is made up of dynamic process and steady-state process two parts, wherein dynamic
Process refers to that system experienced the change of a period of time from original state, reaches the response process of end-state；Steady-state response mistake
Journey refers to that dynamic process terminates the stable output state of rear system.
(2) target seeker transfer function model is chosen；Target seeker standard transfer function model is following formula (two)
In formula, s is complex variable, and s dimension is the inverse of time, i.e., [t]-1；
M characterizes limit number in transmission function in denominator,Represent mXiang Liancheng, TpjIt is each
Limit term coefficient；
N characterizes zero number in transmission function in molecule,Show nXiang Liancheng, TziIt is each zero
Point term coefficient；
In denominatorRepresent delay item, TdFor system delay time, unit is the second, due to TdValue very little, postpone item
First order inertial loop can be usedApproximation replaces, and guides head model and becomes
It is determined that limit number m, zero number n determine guiding head model in transmission function.It is usual to guide head model
Row equivalent can be entered as needed, if first order modeling, now m=1, n=0, Td=0；If being equivalent to second-order model, m=
2nd, n=1, Td=0.The guiding head model for considering parasitic loop is generally high-order model, in order to more accurately describe target seeker
Transmission function, the guiding head model that need to choose different orders are recognized.
(3) load transfer function coefficient is recognized；According to target seeker transfer function model is chosen, using optimization criterion to transmitting letter
T in numberpj、Tzi、TdRecognized, then obtain the target seeker transmission function under Selection Model, and record "current" model and guiding
The similarity of head output.
(4) round-robin algorithm is taken to obtain the transmission letter to match with simulation frequency sweep input signal and time domain response output signal
Several each term coefficients, the transmission function that more different transmission function templates are drawn select phase with the similarity degree of guiding head model
Like the maximum transmission function of degree as guiding head model.
In one preferred embodiment, 5 limits are have chosen, the transmission function template of 3 zero points is following formula (three)：
In one preferred embodiment, as shown in Fig. 2 by equivalent test model analog simulation equipment 2, checking is originally
The validity and correctness of target seeker model identification system and method in invention based on parasitic loop.Arrow represents letter in Fig. 2
Cease the direction transmitted；The input of test system is the visual angular velocity of theoretical bulletTo simulate frequency sweep input signal, test
The output of system is the visual angular velocity of true bulletIts specific value can beOrNow, test system includes dress
Filter model, conductance model processed in Guidance and control computer 24, pilot model, by Guidance and control simulation computer solution
Body attitude angular speed at calculationAnd the body attitude angular speed that will be calculatedAs the movement instruction of target seeker pedestal, so that
It is further driven to target seeker motion.
Test system model mainly includes disturbance torque loop, stable loop, tracking loop and parasitism time as shown in Figure 2
Road.Wherein stable loop plays Steric stabilization；Tracking loop plays accurate tracer action；Disturbance torque loop is due to lead
In leader rotation process various wires pull and rotation connection at sound friction etc. caused by, couple the motion of body
Enter in target seeker motion, reduce the control accuracy of target seeker；Parasitic loop introduces guidance loop among model.
In tracking loopRepresent the signal integration based on classical control theory；Detector error angle is ε=qt-qs；e-τs
The Time Delay formed for many reasons such as detector reception, processing, communications, τ is the sampling period, and in the present invention, τ values are preferred
Selection be 0.05；G1(s) it is tracking loop corrective network transmission function, in the present invention, for visual representations characteristic, carries out letter
Change, G1(s) value is preferably selected as 1；k1For receiver gain coefficient, in of the invention, k1Value is preferably selected as 12.Separately
Outside, qtFor the visual line angle of theoretical bullet, qsFor the visual line angle of true bullet.
In stable loop, G2(s) it is stable loop corrective network transmission function, in the present invention, for visual representations characteristic,
Simplified, G2(s) value is preferably selected as 1；k2For stable loop gain coefficient, in of the invention, k2Value preferably selects
For 12；For torque motor transmission function, wherein L is inductance, and in the present invention, L values are preferably selected as 0.0035, R
For resistance, in of the invention, R values are preferably selected as 8；KTFor electromagnetic torque coefficient, in of the invention, KTValue preferably selects
For 0.2334.In addition, u is torque motor voltage, EaFor torque motor counter electromotive force.
In inertial space reference stable loop, body disturbance is not to be directly coupled in target seeker control loop, its
Mainly acted on by disturbance torque, then now degree of coupling is related to the control parameter and disturbance torque coefficient of target seeker.
Based on being understood in engineering practice to the test result of isolation, using inertial space reference stable loop guiding head model more
Rationally, the physical meaning of target seeker isolation can correctly be embodied.
In disturbance torque loop,For load blocks, wherein J is motor rotary inertia, and in the present invention, J values are preferable
Select as 0.0020995,Represent the signal integration based on classical control theory；GD(s) it is disturbance torque equivalent transfer function,
The disturbance torque model simplification of linearisation is the spring torque that the damping torque of angular speed interference and angle are disturbed, i.e.,Wherein KnFor spring torque coefficient, in of the invention, KnValue is preferably selected as 0.02；KwFor damping force
Moment coefficient, in of the invention, KwValue is preferably selected as 0.01.
In parasitic loop, GF(s) it is guidance filter transfer function, for visual representations characteristic, is simplified, madeWherein, TgFor filter time constant, in of the invention, TgValue is preferably selected as 0.02；NVcFor guidance
Transmission function is restrained, wherein N is proportional navigation law Effective navigation ratio, and in the present invention, N values are preferably selected as 4, VcTo lead
Bullet and target are close to speed, in the present invention, VcValue is preferably selected as 800；GF(s) it is pilot transmission function, in order to
Visual representations characteristic, is simplified, orderWherein, w is pilot frequency band, and in the present invention, w values are excellent
The selection of choosing is 4 π, and u is pilot damped coefficient, and in the present invention, u values are preferably selected as 0.7；For body power
Learn transmission function, wherein TαFor angle of attack time constant, in of the invention, TαValue is preferably selected as 0.5, VmFor missile velocity, sheet
In invention, VmValue is preferably selected as 800.In addition, acOverload and instruct for guided missile, amFor the actual overload of guided missile,For body appearance
State angular speed.
Ga(s) pilot is represented, H (s) represents angular rate gyroscope.
In one preferred embodiment, the true line of sight angular velocity information that plays is from carrying inside target seeker 22
Take what an extraction obtained, specifically,
The true line of sight angular velocity information that plays is the visual line angle speed of the bullet extracted at the instruction of target seeker control system
Degree, and/or
The true line of sight angular velocity information that plays is the visual angular velocity of bullet extracted at angular velocity gyro feedback signal.
It is the C points in Fig. 2 at the instruction of target seeker control system, is the S points in Fig. 2 at angular velocity gyro feedback signal,
The extraction point is above-mentioned C points and S points；The visual angular velocity of bullet extracted at the instruction of target seeker control system is designated asThe visual angular velocity of bullet extracted at angular velocity gyro feedback signal is designated as
If target seeker disturbance torque based on viscous damping torque, can extract guidance signal, now guidance letter from C points
Number stability margin is big, if based on spring torque, should extract guidance signal from S points.Because project situation guides head model
It is unknown, C points, the superiority-inferiority of S points can not be judged in advance, can not learn which extracts point extraction from plays line of sight magnitude of angular velocity energy
It is enough to help to obtain more accurate target seeker transmission function.
In the preferred embodiment that one is directed to C points and S points, the visual angular velocity of bullet is extracted from C points and S points respectively,
And the method in the present invention is combined using the visual angular velocity of the two bullets, identification is calculated respectively obtains target seeker transmission function,
Compare the miss distance that ammunition is simulated corresponding to two groups of target seeker transmission functions, selection hit essence by guidance system precision simulation again
One group of high target seeker transmission function is spent as final transmission function, meanwhile, it is corresponding with this group of target seeker transmission function
Extraction point is optimum extraction point.The program is the optimal case that the present invention specifies, and necessarily precision can be obtained most by the program
High target seeker transmission function.
, can be without the selection of extraction point, but directly from S in another preferred embodiment for C points and S points
Extracted, carry out follow-up target seeker Model Distinguish；The time that many experiments judge extraction point can be so saved, although obtaining
The Real line-of-sight angular speed precision obtained may be affected, but because error is smaller, save the time, in actual experiment or have
There is very high feasibility, the program can be used as another alternative embodiment of the present invention.
In the preferred embodiment that the 3rd is directed to C points and S points, the isolation at the instruction of target seeker control system is obtained
Absolute value is spent, obtains the isolation absolute value at angular velocity gyro feedback signal, compares the size of above-mentioned two absolute value,
Select the bullet line of sight angular velocity information from the less extraction point extraction of isolation absolute value visual as true bullet
Angular velocity information carries out target seeker Model Distinguish.
Preferably, the isolation is known by following formula (one)：
Wherein, RDRERepresent isolation,For the difference of the visual angular velocity of true bullet and the visual angular velocity of theoretical bullet,
For body attitude angular speed.
By the 3rd for exemplified by the preferred embodiment of C points and S points, fixed frequency signal, letter are inputted to emulator
Number frequency is 2Hz, and amplitude is that 1/180* π rad, π are pi, takes sinusoidal signal.Respectively in C points and S points extraction Real line-of-sight
Angular speed, the expression formula of isolation are：Wherein RDREFor isolation,For the visual angular velocity of true bullet and reason
By the difference of the visual angular velocity of bullet,For body attitude angular speed.Equivalent test model test C points and S points are taken herein
Isolation, can obtain C point isolations and be up to -0.0349, S point isolations being up to -0.0051, choose isolation absolute value
Less point is S points as the extraction point of following model identification.
It is further preferred that guiding head model is recognized using the ident identification toolbox of matlab systems, model
The identification sampling interval is 0.001s, and target seeker transmission function abbreviation is that polynomial expression form is：
Wherein e refers to 10 in scientific notation^。
, can be by once testing according to the above-mentioned target seeker model identification system based on parasitic loop provided by the invention
Directly obtain the target seeker transmission function based on isolation parasitic loop, in experiment input simulation frequency sweep input signal time be
15~30 seconds, along with the preparation before experiment and the time spent by the identification process after acquisition inputoutput data are also shorter
, the target seeker transmission function based on isolation parasitic loop, Ke Yiju can be obtained by the system in the short period of time
This carries out follow-up simulated experiment, and follow-up simulated experiment no longer needs semi-matter simulating system, can be with acquired
Transmission function of taking the lead substitutes.
And these features are not had in the technology being related in background technology, such as Application No. of China
201410183582.1 patent document disclosed in strapdown infrared seeker isolation parasitic loop assessment system, only propose
A kind of evaluation method for strapdown infrared seeker isolation parasitic loop stability, this method are merely capable of knowing a certain
Target seeker isolation situation in individual frequency, a kind of working environment or the visual angular velocity of different bullets are changed, its isolation must
So change, it is also necessary to measure estimation again, its practical function is far from enough.
To solve the above problems, according to a kind of target seeker identification Method based on parasitic loop provided by the invention,
It is changed on its basis, the isolation model of target seeker is recognized.Input is still simulation frequency sweep input signal, output
It is changed into body attitude angular speed, Model Distinguish instrument is with using the ident with target seeker Model Distinguish identical matlab systems
Identification toolbox, so as to obtain isolation transmission function.By isolation transmission function, only obtained under different operating modes by emulation
The isolation of accurate target seeker.
The present invention also provides a kind of target seeker identification Method based on parasitic loop, and this method is based on by above-mentioned
What the target seeker model identification system of parasitic loop was realized, encourage the different frequencies of target seeker by designing input signal in this method
Response characteristic under rate, the complete output of target seeker is obtained, by target seeker Model Distinguish, obtaining true comprising parasitic loop
Real guiding head model.Target seeker isolation not only influences the precision of the line of sight rate information of target seeker output, while is also making
Lead back in road and form the stability and precision of parasitic loop influence guidance system, wrapped in the guiding head model obtained by this method
Contain the effect of parasitic loop, be true model of the target seeker in actual guidance system, the target seeker obtained using the model
Output can more embody genuine property of the target seeker under parasitic loop effect.
The present invention also provides a kind of full working scope more trajectory guidance control analogue systems, the more trajectory guidance controls of full working scope
Analogue system includes the target seeker model identification system described above based on parasitic loop, is obtained by the model identification system
True guiding head model comprising parasitic loop,
The more trajectory guidance control analogue systems of full working scope also include digital simulation module and calculate processing module,
Wherein, digital simulation module is used for simulation output various working information and a variety of trajectory messages；
Processing module is calculated to be used for according to various working information, a variety of trajectory messages and true target seeker containing parasitic loop
Model carries out Guidance and control emulation.
The present invention also provides a kind of full working scope more trajectory guidance control emulation modes, it is characterised in that
This method is realized using the more trajectory guidance control analogue systems of full working scope described above, or,
The step of this method, includes the target seeker identification Method described above based on parasitic loop,
In this method, obtained guiding head model is analyzed, it can be estimated that the stabilization of guidance system under parasitic loop
Property；The true target seeker output under parasitic loop effect can also be obtained simultaneously；Obtained guiding head model will be recognized for making
In guiding systems design, Guidance control loop Digital Simulation can be made independent of Seeker Hardware-in-the-Loop Simulation system, it is only imitative by numeral
The Guidance and control emulation of the true a plurality of trajectory that can be carried out full working scope, so as to greatly reduce the workload of HWIL simulation,
Research for target seeker and guidance control system is digitized, while improves the accurate of guidance system Digital Simulation
Property.
Experimental example：
Choose the extraction of S points and play line of sight angular velocity signal, carry out target seeker Model Distinguish.Module is occurred by analog signal
Simulation frequency sweep input signal as shown in Figure 3 (theory plays line of sight angular velocity information) is sent to emulator, simulation frequency sweep is defeated
The frequency for entering signal is 0.1Hz~5Hz, and the time continues 20s；
Emulator receives the simulation frequency sweep input signal, the visual line angle of true bullet of the target seeker outflow in emulator
Velocity information is output signal wherein having contained the influence of isolation parasitic loop as shown in Figure 4；
Model Distinguish module is believed according to the theoretical bullet line of sight angular velocity information and the true visual angular velocity of bullet
Breath identification is obtained guiding head model, and the corresponding identification visual angular velocity of bullet is obtained according to the model, as shown in Figure 5,
It is the time domain response obtained under swept-frequency signal input；
Above-mentioned Fig. 3, Fig. 4 and Fig. 5 are placed on a figure and contrasted, obtains Fig. 6 and Fig. 6 partial enlarged drawing Fig. 7,
According to above-mentioned Fig. 3, Fig. 4 and Fig. 5, or according to Fig. 6 and Fig. 7, can know, the true visual angular velocity phase of bullet
There is certain hysteresis for the visual angular velocity of theoretical bullet, this is due to that detector Time Delay, filter delay and body move
Caused by mechanics, the true visual angular velocity of bullet is slightly less than the visual angular velocity of theoretical bullet, caused by this is due to isolation, and
Test dot frequency is bigger, and the true visual angular velocity of bullet is smaller, i.e., isolation is bigger.The visual angular velocity of identification bullet is to use to distinguish
Know the time domain response of the target seeker transmission function drawn, it can be seen that the identification visual angular velocity of bullet and the visual line angle of true bullet
Speed essentially coincides, i.e., identification model is very high with true model matching degree, can be with equivalent target seeker true model.
Above in association with preferred embodiment, the present invention is described, but these embodiments are only exemplary
, only play illustrative effect.On this basis, a variety of replacements and improvement can be carried out to the present invention, these each fall within this
In the protection domain of invention.
Claims (10)
- A kind of 1. target seeker model identification system based on parasitic loop, it is characterised in that the system includes,Module (1) occurs for analog signal, and it is used for transmission simulation frequency sweep input signal and plays line of sight angular velocity information as theoretical To emulator (2) and Model Distinguish module (3)；Emulator (2), it is used for simulant missile motion, and output coupling has the true bullet mesh of target seeker isolation parasitic loop Line of sight rate information；WithModel Distinguish module (3), it is used for according to the theoretical bullet line of sight angular velocity information and the visual line angle of the true bullet Velocity information recognizes to obtain guiding head model.
- 2. system according to claim 1, it is characterised in thatThe simulation frequency sweep input signal is the signal of frequency consecutive variations from low to high, it is preferable that the letter in predetermined band Number for amplitude fix periodic signal.
- 3. system according to claim 1, it is characterised in thatThe emulator (2) includes,Target simulator (21), it is used to receive the theoretical bullet line of sight angular velocity information that analog signal generation module (1) is sent, And simulated target is moved accordingly, and the virtual target movable information of acquisition is sent to target seeker (22)；Three axle High Precision Flight Simulators (23), it is used to receive the body attitude angle information that Guidance and control computer (24) is sent, according to This simulant missile attitude motion；Target seeker (22), it is used to receive the virtual target movable information that target simulator (21) is sent, tracking virtual target fortune Dynamic information, obtains truly playing line of sight angular velocity information, and send it to Guidance and control computer (24) and Model Distinguish mould Block (3)；WithGuidance and control computer (24), it is used to receive the true bullet line of sight angular velocity information that target seeker (22) is sent, accordingly Body attitude change is obtained, and body attitude angle information is sent to three axle High Precision Flight Simulators (23)；The virtual target movable information feeling the pulse with the finger-tip is marked on the virtual location in simulator；Angle angular speed between three axles and the plane of reference of the axle High Precision Flight Simulator of turntable attitude angular velocity information three；The body attitude angle information refers to the angle between the guided missile longitudinal axis and the plane of reference.
- 4. system according to claim 1, it is characterised in thatThe Model Distinguish module (3) is handled the inputoutput data of target seeker using System Identification Toolbox, is obtained True guiding head model comprising isolation parasitic loop.Preferably, the Model Distinguish module (3) is using matlab systems Ident identification toolbox is handled the inputoutput data of target seeker, obtains truly leading comprising isolation parasitic loop Leader model.
- 5. system according to claim 3, it is characterised in thatThe true line of sight angular velocity information that plays is obtained from the internal extraction point extraction of target seeker (22), specifically,The true line of sight angular velocity information that plays is the visual angular velocity of bullet extracted at the instruction of target seeker control system, And/orThe true line of sight angular velocity information that plays is the visual angular velocity of bullet extracted at angular velocity gyro feedback signal.
- 6. a kind of target seeker identification Method based on parasitic loop, it is characterised in that this method is by such as claim 1 What the target seeker model identification system based on parasitic loop described in~5 any one was realized.
- 7. the target seeker identification Method according to claim 6 based on parasitic loop, it is characterised in that analog signal It is the sinusoidal signal linearly increased, the signal from 0.1 hertz to 5 hertz that the simulation frequency sweep input signal that module (1) is sent, which occurs, Amplitude is 1 radian, and the incentive action time of the signal is 15~30s, more preferably 20s.
- A kind of 8. more trajectory guidance control analogue systems of full working scope, it is characterised in thatThe more trajectory guidance control analogue systems of full working scope are included as claimed in any one of claims 1 to 5, wherein based on parasitism The target seeker model identification system in loop, the true guiding head model for including parasitic loop is obtained by the model identification system.
- 9. the more trajectory guidance control analogue systems of full working scope according to claim 8, it is characterised in thatThe more trajectory guidance control analogue systems of full working scope also include digital simulation module and calculate processing module,Wherein, digital simulation module is used for simulation output various working information and a variety of trajectory messages；Processing module is calculated to be used for according to various working information, a variety of trajectory messages and true guiding head model containing parasitic loop Carry out Guidance and control emulation.
- A kind of 10. more trajectory guidance control emulation modes of full working scope, it is characterised in thatThis method is realized using the more trajectory guidance control analogue systems of full working scope described in claim 8,OrThe step of this method, includes the target seeker identification Method based on parasitic loop described in claim 6.
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| CN110906955B (en) * | 2019-12-04 | 2021-07-13 | 哈尔滨工业大学 | Strapdown optical seeker decoupling method considering measurement delay |
| CN112965365A (en) * | 2021-02-23 | 2021-06-15 | 浙江中智达科技有限公司 | Model identification method, device and system of PID control loop and storage medium |
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