CN107478111B - Target seeker model identification system and the Guidance and control analogue system for applying it - Google Patents

Target seeker model identification system and the Guidance and control analogue system for applying it Download PDF

Info

Publication number
CN107478111B
CN107478111B CN201710651813.0A CN201710651813A CN107478111B CN 107478111 B CN107478111 B CN 107478111B CN 201710651813 A CN201710651813 A CN 201710651813A CN 107478111 B CN107478111 B CN 107478111B
Authority
CN
China
Prior art keywords
target seeker
angular velocity
target
identification
bullet
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201710651813.0A
Other languages
Chinese (zh)
Other versions
CN107478111A (en
Inventor
符胜楠
夏群利
杜肖
尹健
刘石祥
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Technology BIT
Original Assignee
Beijing Institute of Technology BIT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Technology BIT filed Critical Beijing Institute of Technology BIT
Priority to CN201710651813.0A priority Critical patent/CN107478111B/en
Publication of CN107478111A publication Critical patent/CN107478111A/en
Application granted granted Critical
Publication of CN107478111B publication Critical patent/CN107478111B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42AMMUNITION; BLASTING
    • F42BEXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B35/00Testing or checking of ammunition
    • F42B35/02Gauging, sorting, trimming or shortening cartridges or missiles

Abstract

The invention discloses the target seeker model identification systems based on parasitic loop, the system includes that module occurs for analog signal, emulator and Model Distinguish module, module transmission simulation frequency sweep input signal occurs as theoretical by analog signal and plays 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, the guiding head model that identification obtains is used in guidance system design, improve the accuracy of guidance system Digital Simulation, also Guidance control loop Digital Simulation can be made independent of Seeker Hardware-in-the-Loop Simulation system, full working scope only can be carried out by Digital Simulation form A plurality of trajectory guidance control emulation, so that the workload of HWIL simulation is reduced, so that the research of target seeker and guidance control system digitizes.

Description

Target seeker model identification system and the Guidance and control analogue system for applying it
Technical field
The present invention relates to the calculating systems of missile homer transmission function, and in particular to target seeker model identification system and answers With its Guidance and control analogue system.
Background technique
As tracking detection system, target seeker needs the control system offer line of sight rate on bullet to make it according to scheduled Guidance Law controls guided missile target.Important component of the target seeker as advanced precision guided weapon, in detection target While need to realize stabilization of the guiding header detector on inertial space, while providing the visual line angle of bullet and bullet that can be used for guiding Line of sight angular velocity information realizes information required for intercepting and capturing and tracking target, output realization guidance law, eliminates body disturbance pair Target seeker is directed toward stable influence in space.Wherein, target seeker is known as target seeker isolation to the characteristic that body disturbs in engineering Spend characteristic.
For target seeker and thereon, the research of parasitic loop is more in the prior art, such as China application No. is 201110415516.9 patent document disclosed in Laser Terminal Homing Projectile target seeker isolation degree test system, propose one The isolation discrimination method of kind Laser Simulator, for another example disclosed in the Chinese patent document application No. is 201410183582.1 Strapdown infrared seeker isolation parasitic loop assessment system, propose a kind of parasitic for strapdown infrared seeker isolation The evaluation method of loop stability, but in the prior art, isolation parasitic loop does not consider the influence that target seeker exports Inside.When a link of the target seeker as guidance control system, true output characteristics, which is only target seeker, influences guidance The basic reason of control system, so in order to really reflect influence of the isolation to guidance control system, it 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 of target seeker isolation mainly tests isolation in the prior art, primary test can only obtain It is equivalent to a fixed value 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, it does not account for but returning in isolation parasitism Target seeker reality output under the influence of road and the influence to guidance system.China application No. is 201410183582.1 it is special In sharp document, patent object is strapdown seeker, and isolation model is by the quarter of rate gyroscope on bullet and guiding header detector Caused by spending ruler mismatch, line of sight rate cannot be extracted directly;
Further, body attitude movement 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 conditions, many factors Accounting be different, due to processing preparation process, the isolation of each target seeker is also different.
So being in the prior art far from enough about probing into for practical engineering application for target seeker isolation , it cannot ignore or simplify target seeker isolation, guiding is researched and analysed on the basis of fully considering target seeker isolation The working condition of head, carries out various analogue simulations and operating condition, trajectory analysis.
The present inventor analyses in depth existing target seeker and isolation due to the above reasons, to design one Kind is able to solve the target seeker model identification system of the above problem.
Summary of the invention
In order to overcome the above problem, present inventor has performed sharp studies, design a kind of guiding based on parasitic loop Head model identification system, the system include that module, emulator and Model Distinguish module occur for analog signal, pass through analog signal Module transmission simulation frequency sweep input signal occurs as theoretical and plays line of sight angular velocity information, guides emulator work, emulation 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 really The visual angular velocity of bullet recognizes to obtain guiding head model to get the target seeker transmitting letter arrived based on target seeker isolation parasitic loop The obtained guiding head model of identification is used in guidance system design by number, can make Guidance control loop Digital Simulation independent of Seeker Hardware-in-the-Loop Simulation system only can be carried out the Guidance and control emulation of a plurality of trajectory of full working scope by Digital Simulation, from And the workload of HWIL simulation is greatly reduced, the research of target seeker and guidance control system is digitized, together The accuracy of Shi Tigao guidance system Digital Simulation, thereby completing the present invention.
In particular it is object of the present invention to the target seeker model identification system with a kind of based on parasitic loop is provided, The system includes,
Module 1 occurs for analog signal, is used to send simulation frequency sweep input signal as the visual angular velocity letter of theoretical bullet It ceases to emulator 2 and Model Distinguish module 3;
Emulator 2 is used for simulant missile movement, and output coupling has the true bullet of target seeker isolation parasitic loop Line of sight angular velocity information;With
Model Distinguish module 3 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 It is selected as, which is the fixed periodic signal of amplitude.
Wherein, the emulator 2 includes
Target simulator 21 is used to receive analog signal and the theoretical bullet line of sight angular velocity information that module 1 issues occurs, And simulated target moves accordingly, and the virtual target motion information of acquisition is sent to target seeker 22;
Three axis High Precision Flight Simulators 23 are used to receive the body attitude angle information of the sending of Guidance and control computer 24, according to This simulant missile attitude motion;
Target seeker 22 is used to receive the virtual target motion information of the sending of target simulator 21;Track virtual target fortune Dynamic information, obtains really 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 is used to receive the true bullet line of sight angular velocity information of the sending of target seeker 22, accordingly Body attitude variation is obtained, and body attitude angle information is sent to three axis High Precision Flight Simulators 23;
The virtual target motion information feeling the pulse with the finger-tip is marked on the virtual location in simulator;
Angle angular speed between three axis and the plane of reference of the three axis High Precision Flight Simulator of turntable attitude angular velocity information;
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, obtains the true guiding head model comprising isolation parasitic loop.Preferably, the Model Distinguish module 3 uses matlab The ident identification toolbox of system handles the inputoutput data of target seeker, obtains 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 bullet extracted from instruction place 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 from angular velocity gyro feedback signal.
The target seeker identification Method based on parasitic loop that the present invention also provides a kind of, 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 more trajectory guidances of full working scope to control analogue system, the more trajectory guidance controls of full working scope The analogue system packet 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 guidances control analogue systems of the full working scope further include digital simulation module and calculation processing module,
Wherein, digital simulation module is used for simulation output various working information and a variety of trajectory messages;
Calculation processing module is 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.
Emulation modes are controlled the present invention also provides a kind of more trajectory guidances of full working scope, and this method is using described above complete The more trajectory guidance control analogue systems realizations of operating condition,
Alternatively,
It include the target seeker identification Method described above based on parasitic loop in the step of this method.
Beneficial effect possessed by the present invention includes:
(1) the target seeker model identification system based on parasitic loop provided according to the present invention obtains isolation parasitic loop The true model for acting on target seeker, the actual performance of target seeker can be accurately characterized using the model, can carry out various operating conditions Under the analysis of target seeker isolation, guidance system stability analysis, guidance control system precision simulation, have wider array of applicability And accuracy;
(2) the target seeker model identification system based on parasitic loop provided according to the present invention is in primary test, 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;
It (3) can be respectively from target seeker control in the target seeker model identification system based on parasitic loop provided according to the present invention The visual angular velocity of bullet extracted at the instruction of system processed and at angular velocity gyro feedback signal, two are extracted the guiding that point obtains 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 carries out guidance system precision simulation so that it is determined that suitable preferably extract point;
(4) the more trajectory guidance control analogue systems of the full working scope provided according to the present invention can make Guidance control loop number imitative Very independent of Seeker Hardware-in-the-Loop Simulation system, the guidance control of a plurality of trajectory of full working scope only can be carried out by Digital Simulation System emulation, so that the workload of HWIL simulation is greatly reduced, so that the research for target seeker and guidance control system It can digitize.
Detailed description of the invention
The target seeker model identification system based on parasitic loop that Fig. 1 shows a kind of preferred embodiment according to the present invention is whole Body structural module diagram;
Fig. 2 shows target seeker model identification systems based on parasitic loop of a kind of preferred embodiment according to the present invention etc. Imitate test model block diagram;
Fig. 3 shows the theoretical bullet in one experimental example of the target seeker model identification system based on parasitic loop according to the present invention Visual angular velocity schematic diagram;
Fig. 4 shows the true bullet in one experimental example of the target seeker model identification system based on parasitic loop according to the present invention Visual angular velocity schematic diagram;
Fig. 5 shows the identification bullet in one experimental example of the target seeker model identification system based on parasitic loop according to the present invention Visual angular velocity schematic diagram;
The bullet that Fig. 6 is shown in one experimental example of the target seeker model identification system based on parasitic loop according to the present invention is visual Schematic diagram after angular velocity comparison diagram and Fig. 3, Fig. 4 and Fig. 5 combination;
Fig. 7 shows one experimental example of the target seeker model identification system based on parasitic loop according to the present invention and is hit by a bullet line of sight The partial enlarged view of angular speed comparison diagram and the partial enlarged view of Fig. 6.
Drawing reference numeral explanation:
Module occurs for 1- analog signal
2- emulator
21- target simulator
22- target seeker
Tri- axis High Precision Flight Simulator of 23-
24- Guidance and control computer
3- Model Distinguish module
Specific embodiment
Below by drawings and examples, the present invention is described in more detail.Illustrated by these, the features of the present invention It will be become more apparent from advantage clear.
Dedicated word " exemplary " means " 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 attached drawings In terms of kind, but unless otherwise indicated, it is not necessary to attached drawing drawn to scale.
The target seeker model identification system based on parasitic loop provided according to the present invention, the identification objects of the system are flat Platform target seeker especially considers the target seeker of isolation and disturbance torque, can directly acquire 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 subsequent simulation calculating, eliminates complicated isolation estimation and calculated Journey;Specifically, which includes that module 1 occurs for analog signal, 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 is used for simulant missile movement, and output coupling has the true bullet of target seeker isolation parasitic loop Line of sight angular velocity information;With
Model Distinguish module 3 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 as low as The signal of high consecutive variations, preferably, the signal are the fixed periodic signal of amplitude.
The input signal under different frequency is simulated by simulation frequency sweep input signal, motivates the sound under target seeker different frequency Characteristic is answered, to obtain completely guiding head model.
Simulate frequency sweep input signal using a set of frequencies from low to high, the fixed periodic signal of amplitude is as excitation letter Number.Preferably, the sinusoidal signal that swept-frequency signal uses frequency linearly to increase from 0.1 hertz (Hz) to 5 hertz (Hz), signal amplitude For 1 radian (rad), which covers all frequencies of target seeker work in engineering, and the signal incentive action time is 15~ 30s is more electedly 20s.
In one preferred embodiment, the emulator 2 includes target simulator 21, three axis High Precision Flight Simulators 23, 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 the sending of module 1 occurs for analog signal Breath, and simulated target moves accordingly, and the virtual target motion information of acquisition is sent to target seeker 22;
Three axis High Precision Flight Simulators 23 are used to receive the body attitude angle information of the sending of Guidance and control computer 24, accordingly mould Quasi- body attitude movement;
Target seeker 22 is target seeker to be identified, is used to receive the virtual target movement letter of the sending of target simulator 21 Breath;Virtual target motion information is tracked, obtains really 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 mounted on three-axle table, and the true bullet line of sight angular velocity information obtained is certainly It is so to be obtained on the basis of having coupled the turntable attitude angular velocity information of three-axle table itself, while three-axle table is also in mould Quasi- body movement;
Guidance and control computer 24 is used to receive the true bullet line of sight angular velocity information of the sending of target seeker 22, obtains accordingly Body attitude variation, and body attitude angle information is sent to three axis High Precision Flight Simulators 23;
The virtual target motion information feeling the pulse with the finger-tip is marked on the virtual location in simulator;
Angle angular speed between three axis and the plane of reference of the three axis High Precision Flight Simulator of turntable attitude angular velocity information;
The body attitude angle information refers to the angle between the guided missile longitudinal axis and the plane of reference.
Theory plays the guided missile and target angle angular speed that line of sight angular velocity information refers to that theoretical calculation goes out;
True bullet line of sight angular velocity information refers to guided missile and target angle angle when target seeker tracks virtual target signal 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, since 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 true target seeker isolation Model needs to test true target seeker by means of turntable.
After emulator 2 starts work, since the presence of target seeker internal interference torque causes isolation, body attitude Movement is coupled into target seeker performance loop, so as to form target seeker isolation parasitic loop, believes Real line-of-sight angular speed Breath has an impact;
Outputting and inputting for target seeker is measurable signal when introducing parasitic loop, so it is based on isolation parasitic loop The transmission function of target seeker can be used HWIL simulation and sweep check added to obtain.
In one preferred embodiment, the Model Distinguish module 3 recognizes tool by the ident of matlab system 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, the guiding head model for considering parasitic loop can be obtained, i.e. guided missile flies True guiding head model during row completes target seeker Model Distinguish.The ident of heretofore described matlab system is distinguished Knowing tool box is common Model Distinguish tool in art of mathematics.
In one preferred embodiment, the specific data processing method of the ident identification toolbox of matlab system It is as follows:
(1) storage guiding connector analog frequency sweep input signal is the theoretical visual angular velocity of bullet (input data) and target seeker Time domain response output signal, that is, visual the angular velocity of true bullet (output data), inputoutput data are target seekers under time domain Input and output;
In the present invention, time domain response is system after the input signal for applying certain forms, to study the output of system Measure the rule that changes with time.The time domain response of control system is made of dynamic process and steady-state process two parts, wherein dynamic Process refers to that system experienced the variation of a period of time from original state, reaches the response process of end-state;Steady-state response mistake Journey refers to the stabilization output state of system after dynamic process.
(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 the dimension of s is the inverse of time, i.e., [t]-1
M characterizes pole number in transmission function in denominator,Indicate mXiang Liancheng, TpjIt is each Pole 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 has been determined that pole number m, zero number n have determined guiding head model in transmission function.It is usual to guide head model It is of equal value to can according to need progress, if first order modeling, m=1, n=0, T at this timed=0;If being equivalent to second-order model, m= 2, 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、TdIt is recognized, then obtains 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 find out the transmitting 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 obtain select phase with the similarity degree of guiding head model Guiding head model is used as like maximum transmission function is spent.
In one preferred embodiment, 5 poles are had 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, verifying is originally The validity and correctness of target seeker model identification system in invention based on parasitic loop and method.Arrow indicates letter in Fig. 2 Cease the direction of transmitting;The input of test macro 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 beOrAt this point, test macro includes dress Filter model, conductance model processed, pilot model in Guidance and control computer 24, 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, from And it is further driven to target seeker movement.
Test system model as shown in Figure 2 mainly includes that disturbance torque circuit, stable loop, tracking loop and parasitism return Road.Wherein stable loop plays Steric stabilization;Tracking loop plays the role of accurately tracking;Disturbance torque circuit is due to leading In leader rotation process various conducting wires pull and rotation connection at sound friction etc. caused by, couple the movement of body Into in target seeker movement, the control precision of target seeker is reduced;Parasitic loop introduces guidance loop among model.
In tracking loopIndicate the signal integration based on classical control theory;Detector error angle is ε=qt-qs;e-τs For the Time Delay that many reasons such as detector reception, processing, communication are formed, τ is the sampling period, and in the present invention, τ value is preferred Be selected as 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 the present 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, G2It (s) 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 the present invention, k2Value preferably selects It is 12;For torque motor transmission function, wherein L is inductance, and in the present invention, L value is preferably selected as 0.0035, R For resistance, in the present invention, R value is preferably selected as 8;KTFor electromagnetic torque coefficient, in the present invention, KTValue preferably selects It is 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, It is mainly acted on by disturbance torque, then degree of coupling is related to the control parameter of target seeker and disturbance torque coefficient at this time. Based in engineering practice to the test result of isolation it is found that 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 circuit,For load blocks, wherein J is motor rotary inertia, and in the present invention, J value is preferred 0.0020995 is selected as,Indicate the signal integration based on classical control theory;GDIt (s) is disturbance torque equivalent transfer function, The disturbance torque model simplification of linearisation is the spring torque of the damping torque that angular speed interferes and angle interference, i.e.,Wherein KnFor spring torque coefficient, in the present invention, KnValue is preferably selected as 0.02;KwFor damping force Moment coefficient, the present invention in, KwValue is preferably selected as 0.01.
In parasitic loop, GF(s) simplified for guidance filter transfer function for visual representations characteristic, enabledWherein, TgFor filter time constant, in the present invention, TgValue is preferably selected as 0.02;NVcFor guidance Restrain transmission function, wherein N be proportional navigation law Effective navigation ratio, the present invention in, N value is preferably selected as 4, VcTo lead Bullet and target are relatively close to speed, in the present invention, VcValue is preferably selected as 800;GFIt (s) is pilot transmission function, in order to Visual representations characteristic, is simplified, and is enabledWherein, w be pilot frequency band, the present invention in, w value is excellent Choosing is selected as 4 π, and u is pilot damped coefficient, and in the present invention, u value is preferably selected as 0.7;For body power Transmission function is learned, wherein TαFor angle of attack time constant, in the present invention, TαValue is preferably selected as 0.5, VmFor missile velocity, sheet In invention, VmValue is preferably selected as 800.In addition, acIt overloads and instructs for guided missile, amFor the practical overload of guided missile,For body appearance State angular speed.
Ga(s) indicate that pilot, H (s) indicate angular rate gyroscope.
In one preferred embodiment, the true bullet line of sight angular velocity information is from mentioning inside target seeker 22 An extraction is taken to obtain, specifically,
The true line of sight angular velocity information that plays is the visual line angle speed of bullet extracted from instruction place 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 from angular velocity gyro feedback signal.
It is the C point in Fig. 2 at the instruction of target seeker control system, is the S point in Fig. 2 at angular velocity gyro feedback signal, The extraction point is above-mentioned C point and S point;The visual angular velocity of bullet extracted from instruction place of target seeker control system is denoted asThe visual angular velocity of bullet extracted from angular velocity gyro feedback signal is denoted as
If target seeker disturbance torque based on viscous damping torque, can extract guidance signal from C point, at this time guidance letter Number stability margin is big, if should extract guidance signal from S point based on spring torque.Since project situation guides head model It is unknown, the superiority-inferiority of C point, S point can not be judged in advance, can not learn which extracts point from extracts bullet line of sight magnitude of angular velocity energy Enough help to obtain more accurate target seeker transmission function.
The visual angular velocity of bullet is extracted from C point and S point respectively in the preferred embodiment of C point and S point at one, And the method in the present invention is combined using the visual angular velocity of the two bullets, it calculates separately identification and obtains target seeker transmission function, Compare the miss distance of the corresponding simulation ammunition of 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 Extracting point is optimum extraction point.The program is the specified optimal case of the present invention, centainly can obtain precision most with this solution High target seeker transmission function.
In another preferred embodiment for being directed to C point and S point, the selection that can be put without extraction, but directly from S It extracts, carries out subsequent target seeker Model Distinguish;The time that point is extracted in many experiments judgement can be saved in this way, although obtaining The Real line-of-sight angular speed precision obtained may be affected, but since 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 invention.
In third in the preferred embodiment of C point and S point, the isolation at the instruction of target seeker control system is obtained Spend absolute value, obtain angular velocity gyro feedback signal at isolation absolute value, the size of more above-mentioned two absolute value,
It selects visual as true bullet from the lesser bullet line of sight angular velocity information for extracting point extraction of isolation absolute value Angular velocity information carries out target seeker Model Distinguish.
Preferably, the isolation is known by following formula (one):
Wherein, RDREIndicate isolation,For the difference of the visual angular velocity of true bullet and the theoretical visual angular velocity of bullet, For body attitude angular speed.
By taking third is for the preferred embodiment of C point and S point as an example, 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.Real line-of-sight is extracted in C point and S point respectively Angular speed, the expression formula of isolation are as follows: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 point and S point are taken herein Isolation, available C point isolation are up to -0.0349, S point isolation and are up to -0.0051, choose isolation absolute value It is lesser to put the extraction point, that is, S point recognized as following model.
It is further preferred that the ident identification toolbox using matlab system recognizes guiding head model, model The identification sampling interval is 0.001s, and target seeker transmission function abbreviation is polynomial expression form are as follows:
Wherein e refers to 10 in scientific notation^
The above-mentioned target seeker model identification system based on parasitic loop provided according to the present invention, can be by once testing Directly obtain the target seeker transmission function based on isolation parasitic loop, in experiment the time of input simulation frequency sweep input signal be 15~30 seconds, along with the time spent by the preparation before experiment and the identification process after acquisition inputoutput data is also shorter , the target seeker transmission function based on isolation parasitic loop, Ke Yiju can be obtained by the system in a relatively short period of time This carries out subsequent simulated experiment, and subsequent simulated experiment no longer needs semi-matter simulating system, can be with acquired Transmission function of taking the lead substitution.
And these features are not had in the technology being related in background technique, such as China application No. is 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 is merely capable of knowing a certain Target seeker isolation situation in a frequency changes a kind of working environment or the visual angular velocity of different bullets, and isolation must It so changes, it is also necessary to measure estimation again, practical function is far from enough.
To solve the above problems, a kind of target seeker identification Method based on parasitic loop provided according to the present invention, It is changed on its basis, the isolation model of target seeker is recognized.Input is still simulation frequency sweep input signal, output Become body attitude angular speed, the ident of Model Distinguish tool and use identical matlab system with target seeker Model Distinguish Identification toolbox, to obtain isolation transmission function.By isolation transmission function, only obtained by emulation under different operating conditions The isolation of accurate target seeker.
The target seeker identification Method based on parasitic loop that the present invention also provides a kind of, this method are based on by above-mentioned What the target seeker model identification system of parasitic loop was realized, by design input signal to motivate target seeker different frequencies in this method Response characteristic under rate obtains the complete output of target seeker, true comprising parasitic loop by obtaining to target seeker Model Distinguish Real guiding head model.Target seeker isolation not only influences the precision of the line of sight rate information of target seeker output, while also making It leads back in road and forms the stability and precision of parasitic loop influence guidance system, wrapped in the guiding head model obtained by this method The effect for having contained parasitic loop is true model of the target seeker in practical 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 more trajectory guidances of full working scope to control analogue system, 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 guidances control analogue systems of the full working scope further include digital simulation module and calculation processing module,
Wherein, digital simulation module is used for simulation output various working information and a variety of trajectory messages;
Calculation processing module is 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 more trajectory guidances of full working scope to control emulation mode, which is characterized in that
This method be realized using the more trajectory guidances control analogue systems of full working scope described above, alternatively,
It include the target seeker identification Method described above based on parasitic loop in the step of this method,
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;The guiding head model that identification obtains is used to make 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 number It really can be carried out the Guidance and control emulation of a plurality of trajectory of full working scope, so that the workload of HWIL simulation is greatly reduced, Research for target seeker and guidance control system is digitized, while improving the accurate of guidance system Digital Simulation Property.
Experimental example:
It chooses S point and extracts bullet line of sight angular velocity signal, carry out target seeker Model Distinguish.Module occurs by analog signal Simulation frequency sweep input signal as shown in Figure 3 (theory plays line of sight angular velocity information) is issued 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 as shown in Figure 4, is output signal wherein having contained the influence of isolation parasitic loop;
Model Distinguish module is believed according to the theoretical bullet line of sight angular velocity information and the visual angular velocity of the true bullet Breath identification obtains guiding head model, obtains the visual angular velocity of corresponding identification bullet 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 compared, partial enlarged view Fig. 7 of Fig. 6 and Fig. 6 is obtained,
According to above-mentioned Fig. 3, Fig. 4 and Fig. 5, or according to Fig. 6 and Fig. 7, it can know, the true visual angular velocity phase of bullet Angular velocity visual for theoretical bullet has certain lag, this is because detector Time Delay, filter delay and body are dynamic Caused by mechanics, the true visual angular velocity of bullet is slightly less than the visual angular velocity of theoretical bullet, this is because caused by isolation, and Test dot frequency is bigger, and the true visual angular velocity of bullet is smaller, i.e., isolation is bigger.The identification visual angular velocity of bullet is to use to distinguish Know the time domain response of the target seeker transmission function obtained, 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.
Combining preferred embodiment above, the present invention is described, but these embodiments are only exemplary , only play the role of illustrative.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 scope of invention.

Claims (10)

1. a kind of target seeker model identification system based on parasitic loop, which is characterized in that the system includes,
Module (1) occurs for analog signal, is used to send simulation frequency sweep input signal as theoretical and plays line of sight angular velocity information To emulator (2) and Model Distinguish module (3);
Emulator (2) is used for simulant missile movement, and output coupling has the true bullet mesh of target seeker isolation parasitic loop Line of sight rate information;With
Model Distinguish module (3) is used for according to the theoretical bullet line of sight angular velocity information and the visual line angle of true bullet Velocity information recognizes to obtain guiding head model;
The simulation frequency sweep input signal is the signal of frequency consecutive variations from low to high in predetermined band;
The emulator (2) includes,
Target simulator (21) is used to receive analog signal and the theoretical bullet line of sight angular velocity information that module (1) issues occurs, And simulated target moves accordingly, and the virtual target motion information of acquisition is sent to target seeker (22);
Three axis High Precision Flight Simulators (23) are used to receive the body attitude angle information of Guidance and control computer (24) sending, according to This simulant missile attitude motion;
Target seeker (22) is used to receive the virtual target motion information of target simulator (21) sending, tracking virtual target fortune Dynamic information, obtains really playing line of sight angular velocity information, and send it to Guidance and control computer (24) and Model Distinguish mould Block (3);The target seeker is mounted on three-axle table, and the true bullet line of sight angular velocity information obtained is to couple three axis It is obtained on the basis of the turntable attitude angular velocity information of turntable itself;With
Guidance and control computer (24) is used to receive the true bullet line of sight angular velocity information of target seeker (22) sending, accordingly Body attitude variation is obtained, and body attitude angle information is sent to three axis High Precision Flight Simulators (23);
The virtual target motion information feeling the pulse with the finger-tip is marked on the virtual location in simulator;
The turntable attitude angular velocity information refers to the angle angular speed between three axis and the plane of reference of three axis High Precision Flight Simulators;
The body attitude angle information refers to the angle between the guided missile longitudinal axis and the plane of reference;
The 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.
2. system according to claim 1, which is characterized in that
The Model Distinguish module (3) uses the ident identification toolbox of matlab system to the inputoutput data of target seeker It is handled, obtains the true guiding head model comprising isolation parasitic loop.
3. system according to claim 1, which is characterized in that
The simulation frequency sweep input signal is the fixed periodic signal of amplitude.
4. system according to claim 1, which is characterized in that
The 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 from instruction place of target seeker control system, And/or
The true line of sight angular velocity information that plays is the visual angular velocity of bullet extracted from angular velocity gyro feedback signal.
5. a kind of target seeker identification Method based on parasitic loop, which is characterized in that this method is by such as claim 1 What the target seeker model identification system described in~4 any one based on parasitic loop was realized.
6. the target seeker identification Method according to claim 5 based on parasitic loop, which is characterized in that analog signal It is hertz sinusoidal signal linearly increased, signal from 0.1 hertz to 5 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.
7. the target seeker identification Method according to claim 6 based on parasitic loop, which is characterized in that
The incentive action time of the signal is 20s.
8. a kind of more trajectory guidances of full working scope control analogue system, which is characterized in that
The more trajectory guidance control analogue systems of full working scope include as described in Claims 1 to 4 any one based on parasitism The target seeker model identification system in circuit obtains the true guiding head model comprising parasitic loop by the model identification system.
9. the more trajectory guidances of full working scope according to claim 8 control analogue system, which is characterized in that
The more trajectory guidances control analogue systems of the full working scope further include digital simulation module and calculation processing module,
Wherein, digital simulation module is used for simulation output various working information and a variety of trajectory messages;
Calculation processing module is 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.
10. a kind of more trajectory guidances of full working scope control emulation mode, which is characterized in that
This method controls analogue systems using the more trajectory guidances of full working scope according to any one of claims 8 and realizes,
Alternatively,
It include the target seeker identification Method based on parasitic loop described in claim 5 in the step of this method.
CN201710651813.0A 2017-08-02 2017-08-02 Target seeker model identification system and the Guidance and control analogue system for applying it Active CN107478111B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710651813.0A CN107478111B (en) 2017-08-02 2017-08-02 Target seeker model identification system and the Guidance and control analogue system for applying it

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710651813.0A CN107478111B (en) 2017-08-02 2017-08-02 Target seeker model identification system and the Guidance and control analogue system for applying it

Publications (2)

Publication Number Publication Date
CN107478111A CN107478111A (en) 2017-12-15
CN107478111B true CN107478111B (en) 2019-04-12

Family

ID=60598196

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710651813.0A Active CN107478111B (en) 2017-08-02 2017-08-02 Target seeker model identification system and the Guidance and control analogue system for applying it

Country Status (1)

Country Link
CN (1) CN107478111B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110487509B (en) * 2018-05-14 2021-05-04 哈尔滨工业大学 Three-channel pupil coupling laser semi-active target simulator
CN109634211B (en) * 2018-12-18 2020-06-30 华中科技大学 Alternating current servo system model identification method based on frequency data and control system
CN109596013A (en) * 2018-12-27 2019-04-09 北京航天飞腾装备技术有限责任公司 Ground-attack weapon Guidance and control method and apparatus
CN109900157B (en) * 2019-02-22 2021-04-02 中国人民解放军海军工程大学 Semi-physical simulation platform and method for guidance ammunition terminal guidance law
CN110345814A (en) * 2019-06-14 2019-10-18 上海航天控制技术研究所 A kind of terminal guidance algorithm not depending on itself target seeker metrical information
CN110906955A (en) * 2019-12-04 2020-03-24 哈尔滨工业大学 Strapdown optical seeker decoupling method considering measurement delay

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5760772B2 (en) * 2011-07-08 2015-08-12 三菱電機株式会社 Flying object guidance control device
CN102494566B (en) * 2011-12-13 2014-04-02 北京理工大学 System for testing isolation of guide head of laser terminal guided projectile
CN103954179B (en) * 2014-04-30 2015-08-19 北京理工大学 Strapdown infrared seeker isolation parasitic loop evaluating system

Also Published As

Publication number Publication date
CN107478111A (en) 2017-12-15

Similar Documents

Publication Publication Date Title
US10617926B2 (en) Swing analysis method using a swing plane reference frame
US9261968B2 (en) Methods and systems for dynamic calibration of movable game controllers
CN102580298B (en) Motion analysis device and motion analysis method
US9273982B2 (en) Hybrid location test system and method
Cannon Dynamics of physical systems
JP6179916B2 (en) Golf swing analysis device, golf swing analysis system, golf swing analysis program, recording medium, and golf swing analysis method
CN102589350B (en) Semi-physical simulation system for developing laser terminal guidance ammunition round
Bishop et al. An introduction to the kalman filter
CN101367015B (en) Self contained inertial navigation system for interactive control using movable controller
CN106500695B (en) A kind of human posture recognition method based on adaptive extended kalman filtering
CN103706108B (en) golf swing analysis device and golf swing analysis method
KR20140044754A (en) Golf swing analyzing apparatus and method of analyzing golf swing
US20150018111A1 (en) Interpretation of characteristics of a golf swing using motion analysis
CN104225899A (en) Motion analysis method and motion analysis device
US8788249B2 (en) Gyrocompass modeling and simulation system (GMSS) and method thereof
CN103308073B (en) Strap down inertial navigation/combinations of satellites navigation detection system and emulation test method thereof
CN102221369B (en) Gesture recognizing method and device of ball game and gesture auxiliary device
CN104023799A (en) Method and system to analyze sports motions using motion sensors of mobile device
CN102620605B (en) Global positioning system (GPS) and inertial navigation system (INS) combination guidance system for semi-physical simulation
WO2014097579A1 (en) Motion analysis system and motion analysis method
CN101131311B (en) Alignment and calibration method for intelligentized aircraft missile movable base
CN102814033A (en) Swing analyzing device, swing analyzing program, and recording medium
CN105043415B (en) Inertial system Alignment Method based on quaternion model
CN106643737A (en) Four-rotor aircraft attitude calculation method in wind power interference environments
KR101931002B1 (en) System and Method of guided missile dynamic ground test

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant