CN107860273A - It is a kind of that the cycle is revolved as the Novel rotary bullet control method of control benchmark using rotating missile bullet - Google Patents
It is a kind of that the cycle is revolved as the Novel rotary bullet control method of control benchmark using rotating missile bullet Download PDFInfo
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- CN107860273A CN107860273A CN201711055695.3A CN201711055695A CN107860273A CN 107860273 A CN107860273 A CN 107860273A CN 201711055695 A CN201711055695 A CN 201711055695A CN 107860273 A CN107860273 A CN 107860273A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
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- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The cycle is revolved as the Novel rotary bullet control method of control benchmark using rotating missile bullet the invention provides a kind of, the equivalent angle of rudder reflection of pitching and equivalent angle of rudder reflection of going off course that the steering instruction that the program is resolved to obtain by gps signal is defined under missile coordinate system are, it is necessary to the actual pitching being converted to respectively under missile coordinate system and driftage angle of rudder reflection；When control surface deflection is to reference position, then actual angle of rudder reflection is the pi/2 times of equivalent angle of rudder reflection in respective steering instruction, and control surface deflection commutates partially to progress rudder during reference position, then realizes compensated decoupling to rotating guided missile two-channel control system processed using setting gyro preset angle.
Description
Technical field
It is especially a kind of that the cycle is revolved as the Novel rotary bullet of control benchmark using rotating missile bullet the present invention relates to one kind
Control method.
Background technology
Rotating missile refers to play flight device around a kind of of the continuous rolling of its longitudinal axis in flight course have simplify control system
System structure and composition, penetration ability is improved, relaxes processing and manufacturing error margin, avoid a series of advantages such as asymmetric ablation, extensively
General shell, rocket projectile, tactical missile, the strategic missile of seeing reenters bullet etc., represents one during Weapon Development
The a variety of guided cartridges of XM982, the whirlwind rocket projectile of Russia of important directions, such as U.S..The state-of-the art RAM air defenses in the U.S. are led
Bullet and the guided missile of patriot -3, the bullet etc. that reenters of people's militia's-III strategic missiles of attack section use rotating missile system.With war
The transformation of pattern is striven, precision strike capability has turned into modern war for the core requirement of weaponry, thus triggered routine
The guidance upsurge of shell, rocket projectile.Rotating missile is as a kind of low cost for being best suited for conventional ammunition guidanceization, high-precision body
How system, improve its attack precision and have become the forward position studied both at home and abroad and focus.
High performance control technology is that rotating missile carries out the precondition and guarantee of precision strike task.However, rotating missile is unique
Dynamics equally make its control method that there is certain particularity, directly can not have using non-rotating tactical missile
Achievement in research, some new problems are proposed in Science and Technology aspect.The main table of unique distinction of rotating missile dynamics
The now close coupling between pitching and jaw channel.The reason for causing these close couplings mainly includes the gas of Magnus effect induction
The control crosslinking of dynamic crosslinking, the inertia crosslinking of gyroscopic effect induction and dynamics delay induction.In order to obtain preferably control effect
Fruit, the eternal theme of rotating missile Control System Design has been decoupled into it.Around the decoupling control method of rotating missile, domestic and international expert learns
Person has been achieved for the achievement in research compared with horn of plenty.
Traditional general use ratio steering wheel of rotating missile binary channels solution idol control method is as servo control mechanism, using " cross
Shape " duck rudder is laid out, and the elevating movement and yawing rotation of body, rotation convenient to carry out are independently controlled using pitching rudder and driftage rudder
The two-dimentional projectile correction of rotating missile is led in the transformation of ownership, and its pitching or jaw channel control system block diagram are as shown in Figure 1.First, GPS is obtained
Signal and resolving draw steering instruction, recycling geomagnetic sensor measurement body roll angle；When rudder face with body rolling to starting to control
During position, the rudder control that pitch channel or jaw channel are sent by missile-borne computer instructs δcAnd it is inclined to input steering gear system driving rudder face
Turn, so as to produce corresponding power and torque；These power and torque and external disturbance will all cause the attitudes vibration of body, pass through
Body attitude signal is fed back using angular rate gyroscope, and utilizes corrective network amendment rudder control instruction δc, can be with immediate stability body
Posture.Certainly, if the Dynamic Damp Characteristics of body are preferable, itself can promptly stablize body attitude, then arrisdefect can be gone fast
Rate gyro.
Typically all can not be consistent in view of gps signal frequency and bullet rotation frequency, if rotation Guidance and control bullet is using shown in Fig. 2
Flow be controlled, then control system must be disorderly.For example, when pilot signal frequency (i.e. GPS frequency) is 10Hz, bullet rotation is frequently
When rate is 6Hz (i.e. 6r/s), rudder control square-wave signal can not act on a complete cycle.Over time, control system
Must be disorderly.Even if determine to start to control a little according to rudder face position, because rudder can not realize that the control of complete cycle will also make control partially
System is difficult in engineering.
The content of the invention
The purpose of the present invention, aiming at the deficiency present in prior art, and provide a kind of with the rotating missile bullet rotation cycle
As the Novel rotary bullet control method of control benchmark, the program is used as control benchmark using the rolling angle position signal of body,
And Decoupling design is carried out to control system using gyro preset angle, can solve the problem that gps signal frequency and bullet rotation frequency are inconsistent
Caused control disorder problem.
This programme is achieved by the following technical measures：
It is a kind of that the cycle is revolved as the Novel rotary bullet control method of control benchmark using rotating missile bullet, it is characterized in that：Include
Following steps：
A, using the rolling angle position signal γ of rolling angle measurement device to test body, in this, as formation control signal
Benchmark, and using this signal as control reference signal；
The steering instruction for resolving to obtain by gps signal is the equivalent angle of rudder reflection δ of pitching under quasi- missile coordinate systemeqzAnd driftage
Equivalent angle of rudder reflection δeqy, it is necessary to the actual angle of rudder reflection δ under missile coordinate system is converted to respectivelymzAnd δ (t)my(t)；It is assumed that body
Angular velocity in roll ωxChange is little, can be approximately constant, within a certain bullet rotation cycle, angle of rudder reflection δmzAnd δ (t)my(t) caused by
Rudder face steering force is
F′δFor steering force, δ caused by unit angle of rudder reflectionmz(t)=± δmz, δmy(t)=± δmy；
B, assume pitching rudder and driftage rudder in the equal positive deflection of first half cycle, later half periodic reverse, then go off course rudder and pitching
Cycle caused by rudder, average steering force was
In formula, negative sign represents the in opposite direction of the direction axle corresponding to quasi- missile coordinate system of driftage cycle average steering force；
The equivalent angle of rudder reflection δ of pitching/driftage in steering instruction is can be derived that by formula (3)eqz、δeqyWith actual angle of rudder reflection δmz、δmyBetween
Relation be
Obtained from formula (4) pitching rudder and go off course rudder actual angle of rudder reflection be respective key instruction in equivalent angle of rudder reflection π/
2 times, and carry out when multiaspect deflects into reference position rudder kick to；Wherein, when rudder kick of going off course is to horizontal level, it is reached
Reference position, while pitching rudder kick reaches its reference position to plumb position；Each rudder face is loaded after one week with missile rotation
The steering instruction at nearest moment；Steering instruction is just inputted into corresponding steering wheel when rudder face rotates to its reference position, it is caused
Cycle equivalent steering force must be on yaw direction, and the size of power is consistent with the requirement of steering instruction；
C, the flight control of rotating missile is realized by the period average of rudder face steering force, and the cycle of rudder face steering force puts down
Average is to rely on the control signal u that control system is formedδ, and control signal uδPeriod average depend on control signal again
The commutation number in one week and the body roll angle γ to commutate corresponding to the moment are revolved in bulleti(i=1,2 ..., n), control signal uδ
For
In formula (5), control signal uδSubscript Y and Z denotation coordination direction of principal axis, wherein the selection rule of ± symbol is：Work as uδ
When the γ of first zero crossing is located at rising edge midpoint in institute's period of supervision, formula takes negative sign；If conversely, in trailing edge
During point, formula takes positive sign.
As the preferred of this programme：In order to being compensated after executing agency with other commissure factors, will reflect
Body roll angle γ is 2n π, pi/2+2n π, π+2n π, the 3 pi/2+2n π advanced λ angles of signal, and the size at this λ angle is depending on required
The size of compensation rate；λ is gyro preset angle, is met
λ=λR-λa-λc
In formula, λcFor system command commissure angle, λRPostpone commissure angle, λ for steering wheelaFor pneumatic commissure angle.
The beneficial effect of this programme can be learnt according to the narration to such scheme, due to being made in this scenario with the bullet rotation cycle
For " control benchmark ", can solve the problems, such as gps signal and the inconsistent caused control disorder of bullet rotation frequency；Use and revolved with bullet
Cycle is the control system of " benchmark ", when needing to control the deviation on some direction of body, when rudder face reaches the position every time
Steering instruction is just inputted into corresponding steering wheel, caused cycle equivalent steering force FavMust be this side up, size and steering instruction
Requirement it is consistent；When using using rotation guidance rotating missile control system of the bullet rotation cycle for " benchmark ", pitching and jaw channel
Actual angle of rudder reflection is the pi/2 times of equivalent angle of rudder reflection in respective steering instruction, and control surface deflection is inclined to rudder is carried out during reference position
Commutation.
As can be seen here, the present invention compared with prior art, has substantive distinguishing features and progress, its beneficial effect implemented
It is obvious.
Brief description of the drawings
Fig. 1 is body control flow chart of the prior art.
Fig. 2 is the direction schematic diagram of driftage cycle average steering force in the prior art.
Fig. 3 is the direction schematic diagram using the driftage cycle average steering force of the inventive method.
Fig. 4 is the control signal direction schematic diagram added in the present invention after gyro preset angle λ.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically chatting
State, can alternative features equivalent by other or with similar purpose replaced.I.e., unless specifically stated otherwise, each feature
It is an example in a series of equivalent or similar characteristics.
The present invention includes following steps：
A, using the rolling angle position signal γ of rolling angle measurement device to test body, in this, as formation control signal
Benchmark, and using this signal as control reference signal；
The steering instruction for resolving to obtain by gps signal is the equivalent angle of rudder reflection δ of pitching under quasi- missile coordinate systemeqzAnd driftage
Equivalent angle of rudder reflection δeqy, it is necessary to the actual angle of rudder reflection δ under missile coordinate system is converted to respectivelymzAnd δ (t)my(t)；It is assumed that body
Angular velocity in roll ωxChange is little, can be approximately constant, within a certain bullet rotation cycle, angle of rudder reflection δmzAnd δ (t)my(t) caused by
Rudder face steering force is
F′δFor steering force, δ caused by unit angle of rudder reflectionmz(t)=± δmz, δmy(t)=± δmy；
B, assume pitching rudder and driftage rudder in the equal positive deflection of first half cycle, later half periodic reverse, then go off course rudder and pitching
Cycle caused by rudder, average steering force was
In formula, negative sign represents the in opposite direction of the direction axle corresponding to quasi- missile coordinate system of driftage cycle average steering force；
The equivalent angle of rudder reflection δ of pitching/driftage in steering instruction is can be derived that by formula (3)eqz、δeqyWith actual angle of rudder reflection δmz、δmyBetween
Relation be
Obtained from formula (4) pitching rudder and go off course rudder actual angle of rudder reflection be respective key instruction in equivalent angle of rudder reflection π/
2 times, and carry out when multiaspect deflects into reference position rudder kick to；Wherein, when rudder kick of going off course is to horizontal level, it is reached
Reference position, while pitching rudder kick reaches its reference position to plumb position；Each rudder face is loaded after one week with missile rotation
The steering instruction at nearest moment；Steering instruction is just inputted into corresponding steering wheel when rudder face rotates to its reference position, it is caused
Cycle equivalent steering force must be on yaw direction, and the size of power is consistent with the requirement of steering instruction；
C, the flight control of rotating missile is realized by the period average of rudder face steering force, and the cycle of rudder face steering force puts down
Average is to rely on the control signal u that control system is formedδ, and control signal uδPeriod average depend on control signal again
The commutation number in one week and the body roll angle γ to commutate corresponding to the moment are revolved in bulleti(i=1,2 ..., n), control signal uδ
For
In formula (5), control signal uδSubscript Y and Z denotation coordination direction of principal axis, wherein the selection rule of ± symbol is：Work as uδ
When the γ of first zero crossing is located at rising edge midpoint in institute's period of supervision, formula takes negative sign；If conversely, in trailing edge
During point, formula takes positive sign.
In order to being compensated after executing agency with other commissure factors, can will reflection body roll angle γ be 2n π,
Pi/2+2n π, π+2n π, the 3 pi/2+2n π advanced λ angles of signal, the size at this λ angle depend on the size of required compensation rate；λ is top
Spiral shell preset angle, meet
λ=λR-λa-λc
In formula, λcFor system command commissure angle, λRPostpone commissure angle, λ for steering wheelaFor pneumatic commissure angle.
In this programme, using the rolling angle position signal of body as measurement standard, and gyro preset angle λ is added,
To being compensated after executing agency with other commissure factors, make control signal accurate, it is actually inclined to avoid the occurrence of body
Turn direction and judge that yawing moment is inconsistent with system, cause the direction of driftage cycle average steering force deviation occur, influence whole
The stability of body.
The invention is not limited in foregoing embodiment.The present invention, which expands to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (2)
1. a kind of revolve the cycle as the Novel rotary bullet control method of control benchmark using rotating missile bullet, it is characterized in that：Include with
Lower step：
A, using the rolling angle position signal γ of rolling angle measurement device to test body, in this, as the base for forming control signal
Standard, and using this signal as control reference signal；
The steering instruction for resolving to obtain by gps signal is the equivalent angle of rudder reflection δ of pitching under quasi- missile coordinate systemeqzIt is equivalent with going off course
Angle of rudder reflection δeqy, it is necessary to the actual angle of rudder reflection δ under missile coordinate system is converted to respectivelymzAnd δ (t)my(t)；It is assumed that the rolling of body
Angular velocity omegaxChange is little, can be approximately constant, within a certain bullet rotation cycle, angle of rudder reflection δmzAnd δ (t)my(t) rudder face caused by
Steering force is
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B, the average steering force of cycle caused by driftage rudder and pitching rudder is determined；
It is assumed that pitching rudder and driftage rudder are in the equal positive deflection of first half cycle, later half periodic reverse, then go off course rudder and the generation of pitching rudder
Cycle average steering force be
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In formula, negative sign represents the in opposite direction of the direction axle corresponding to quasi- missile coordinate system of driftage cycle average steering force；By public affairs
Formula (3) can be derived that the equivalent angle of rudder reflection δ of pitching/driftage in steering instructioneqz、δeqyWith actual angle of rudder reflection δmz、δmyBetween pass
It is to be
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And carried out when multiaspect deflects into reference position rudder kick to；Wherein, when rudder kick of going off course is to horizontal level, its benchmark is reached
Position, while pitching rudder kick reaches its reference position to plumb position；Each rudder face loads after one week nearest with missile rotation
The steering instruction at moment；Steering instruction is just inputted into corresponding steering wheel, caused cycle when rudder face rotates to its reference position
Equivalent steering force must be on yaw direction, and the size of power is consistent with the requirement of steering instruction；
C, the flight control of rotating missile is realized by the period average of rudder face steering force, the period average of rudder face steering force
It is to rely on the control signal u that control system is formedδ, and control signal uδPeriod average again depend on control signal in bullet
Revolve the commutation number in one week and the body roll angle γ to commutate corresponding to the momenti(i=1,2 ..., n), control signal uδFor
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</mrow>
In formula (5), control signal uδSubscript Y and Z denotation coordination direction of principal axis, wherein the selection rule of ± symbol is：Work as uδInstitute
When the γ of first zero crossing is located at rising edge midpoint in period of supervision, formula takes negative sign；If conversely, it is located at trailing edge midpoint
When, formula takes positive sign.
A kind of 2. Novel rotary bullet controlling party using the rotating missile bullet rotation cycle as control benchmark according to claim 1
Method, it is characterized in that：In order to being compensated after executing agency with other commissure factors, be by reflection body roll angle γ
2n π, pi/2+2n π, π+2n π, the 3 pi/2+2n π advanced λ angles of signal, the size at this λ angle depend on the size of required compensation rate；λ
For gyro preset angle, meet
λ=λR-λa-λc
In formula, λcFor system command commissure angle, λRPostpone commissure angle, λ for steering wheelaFor pneumatic commissure angle.
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| CN110109473A (en) * | 2019-04-29 | 2019-08-09 | 北京理工大学 | It can be applied to the non-linear roll stabilization control system and method for Rotary aircraft |
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