CN107860273B - It is a kind of that the period 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 period is revolved as the Novel rotary bullet control method of control benchmark using rotating missile bullet Download PDFInfo
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- CN107860273B CN107860273B CN201711055695.3A CN201711055695A CN107860273B CN 107860273 B CN107860273 B CN 107860273B CN 201711055695 A CN201711055695 A CN 201711055695A CN 107860273 B CN107860273 B CN 107860273B
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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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- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Combustion & Propulsion (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The period is revolved as the Novel rotary bullet control method of control benchmark using rotating missile bullet the present invention provides a kind of, the equivalent angle of rudder reflection of pitching subject to the steering instruction that the program is resolved by GPS signal under missile coordinate system and equivalent angle of rudder reflection is yawed, needs to be converted to the practical pitching under missile coordinate system and yaw angle of rudder reflection respectively；When control surface deflection is to base position, then practical angle of rudder reflection is the pi/2 times of equivalent angle of rudder reflection in respective steering instruction, and rudder is carried out when control surface deflection is to base position to commutate partially, compensated decoupling is then realized to rotation guided missile two-channel control system using setting gyro preset angle.
Description
Technical field
It is especially a kind of that the period is revolved as the Novel rotary bullet of control benchmark using rotating missile bullet the present invention relates to one kind
Control method.
Background technique
Rotating missile, which refers in flight course, plays flight device around a kind of of the continuous rolling of longitudinal axis, has simplified control system
System structure and composition improves penetration ability, relaxes processing and manufacturing error margin, a series of advantages such as avoid asymmetric ablation, extensively
General shell, rocket projectile, tactical missile, the strategic missile of seeing reenters bullet etc., represents one during Weapon Development
Important directions, such as a variety of guided cartridges of XM982, the Russian whirlwind rocket projectile in the U.S..The state-of-the art RAM air defense in the U.S. is led
The bullet etc. that reenters of bullet and -3 guided missile of patriot of attack section, people's militia's-III strategic missile is all made of rotating missile system.With war
The transformation of mode is striven, precision strike capability has become modern war for the core requirement of weaponry, thus caused 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 hot spot.
High performance control technology is that rotating missile carries out the precondition and guarantee of precision strike task.However, rotating missile is unique
Kinetic characteristics equally make its control method that there is certain particularity, not can be used directly the existing of non-rotating tactical missile
Research achievement proposes some new problems in Science and Technology level.The main table of the unique distinction of rotating missile kinetic characteristics
The now close coupling between pitching and jaw channel.The reason of 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.Preferable control effect in order to obtain
Fruit has been decoupled into the eternal theme of rotating missile Control System Design.Around the decoupling control method of rotating missile, domestic and international expert is learned
Person has been achieved for research achievement more abundant.
Traditional general use ratio steering engine of rotating missile binary channels solution idol control method is as servo mechanism, using " cross
Shape " duck rudder layout independently controls the pitching movement and yawing rotation of body, rotation convenient to carry out using pitching rudder and yaw rudder
The two-dimentional projectile correction of rotating missile is led in the transformation of ownership, and pitching or jaw channel control system block diagram are as shown in Figure 1.Firstly, obtaining GPS
Signal and resolving obtain steering instruction, and recycling geomagnetic sensor measures body roll angle；When rudder face with body rolling to starting to control
When position, δ is instructed by the rudder control that missile-borne computer issues pitch channel or jaw channelcAnd it is inclined to input steering gear system driving rudder face
Turn, to generate 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 instructs δ using corrective network amendment rudder controlc, can be with immediate stability body
Posture.Certainly, if the Dynamic Damp Characteristics of body are preferable, itself can promptly stable body attitude, then arrisdefect can be gone fast
Rate gyro.
In view of GPS signal frequency and bullet rotation frequency generally all cannot be consistent, if rotation Guidance and control bullet is using shown in Fig. 2
Process controlled, then control system must disorder.For example, when pilot signal frequency (i.e. GPS frequency) is 10Hz, bullet rotation frequency
When rate is 6Hz (i.e. 6r/s), rudder control square-wave signal cannot act on a complete cycle.Over time, control system
It must disorder.Even if being started to control a little according to the determination of rudder face position, since the control that rudder can not achieve complete cycle partially will also make to control
System is difficult to realize in engineering.
Summary of the invention
The purpose of the present invention aiming at deficiency of the prior art, and provides a kind of with the rotating missile bullet rotation period
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, GPS signal frequency is able to solve and bullet rotation frequency is inconsistent
Brought control disorder problem.
This programme is achieved by the following technical measures:
It is a kind of that the period is revolved as the Novel rotary bullet control method of control benchmark, it is characterized in that: including using rotating missile bullet
Following steps:
A, using the rolling angle position signal γ of rolling angle measurement device to test body, signal is controlled in this, as being formed
Benchmark, and using this signal as control reference signal；
By the equivalent angle of rudder reflection δ of pitching that the steering instruction that GPS signal resolves is under quasi- missile coordinate systemeqzAnd yaw
Equivalent angle of rudder reflection δeqy, need to be converted to the practical angle of rudder reflection δ under missile coordinate system respectivelymz(t) and δmy(t)；It is assumed that body
Angular velocity in roll ωxVariation can be approximately constant less, within a certain bullet rotation period, angle of rudder reflection δmz(t) and δmy(t) it generates
Rudder face steering force is
F′δFor steering force caused by unit angle of rudder reflection, δmz(t)=± δmz, δmy(t)=± δmy；
B, pitching rudder and yaw rudder are assumed in the equal positive deflection of first half cycle, and later half periodic reverse then yaws rudder and pitching
The period steering force that is averaged that rudder generates is
In formula, negative sign indicate yaw the period be averaged steering force direction axis corresponding to quasi- missile coordinate system it is contrary；
The equivalent angle of rudder reflection δ of pitching/yaw in steering instruction can be derived that by formula (3)eqz、δeqyWith practical angle of rudder reflection δmz、δmyBetween
Relationship be
From obtained in formula (4) pitching rudder and yaw rudder practical angle of rudder reflection be respective key instruction in equivalent angle of rudder reflection π/
2 times, and when multi-panel deflects into base position carry out rudder kick to；Wherein, when yawing rudder kick to horizontal position, it is reached
Base position, while pitching rudder kick reaches its base position to plumb position；Each rudder face loads after a week with missile rotation
The steering instruction at nearest moment；Steering instruction is just inputted into corresponding steering engine when rudder face rotates to its base position, generation
Period equivalent steering force must be on yaw direction, and the size of power and the requirement of steering instruction are consistent；
C, the flight control of rotating missile is realized by the period average of rudder face steering force, and the period of rudder face steering force is flat
Mean value is to rely on control system to be formed by control signal uδ, and control signal uδPeriod average depend on again control signal
Body roll angle γ corresponding to commutation number and commutation moment in one week is revolved in bulleti(i=1,2 ..., n) controls signal uδ
For
In formula (5), signal u is controlledδSubscript Y and Z indicates coordinate axis direction, wherein the selection rule of ± symbol are as follows: 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；Conversely, if being located in failing edge
When point, formula takes positive sign.
As the preferred of this programme: in order to be compensated to after executing agency with other commissure factors, can will reflect
Body roll angle γ is the angle a signal advanced λ of 2n π, pi/2+2n π, π+2n π, 3 pi/2+2n π, and the size at this angle λ depends 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 engineaFor pneumatic commissure angle.
The beneficial effect of this programme can according to the description of the above program, due to being made in this scenario with the bullet rotation period
For " control benchmark ", can solve GPS signal and bullet rotation frequency it is inconsistent brought by control disorder the problem of；It uses and is revolved with bullet
Period 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 engine, the period of generation equivalent steering force FavMust be this side up, size and steering instruction
Requirement it is consistent；It uses when guiding rotating missile control system with the rotation that the bullet rotation period is " benchmark ", pitching and jaw channel
Practical angle of rudder reflection is the pi/2 times of equivalent angle of rudder reflection in respective steering instruction, and progress rudder is inclined when control surface deflection arrives base position
Commutation.
It can be seen that compared with prior art, the present invention having substantive features and progress, the beneficial effect implemented
It is obvious.
Detailed description of the invention
Fig. 1 is body control flow chart in the prior art.
Fig. 2 be in the prior art the yaw period be averaged the direction schematic diagram of steering force.
Fig. 3 is the direction schematic diagram of steering force of being averaged using the yaw period of the method for the present invention.
Fig. 4 is that the control sense schematic diagram after gyro preset angle λ is added in the present invention.
Specific embodiment
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
Any feature disclosed in this specification (including any accessory claim, abstract and attached drawing), except non-specifically chatting
It states, can be replaced by other alternative features that are equivalent or have similar purpose.That is, unless specifically stated, each feature is only
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, signal is controlled in this, as being formed
Benchmark, and using this signal as control reference signal；
By the equivalent angle of rudder reflection δ of pitching that the steering instruction that GPS signal resolves is under quasi- missile coordinate systemeqzAnd yaw
Equivalent angle of rudder reflection δeqy, need to be converted to the practical angle of rudder reflection δ under missile coordinate system respectivelymz(t) and δmy(t)；It is assumed that body
Angular velocity in roll ωxVariation can be approximately constant less, within a certain bullet rotation period, angle of rudder reflection δmz(t) and δmy(t) it generates
Rudder face steering force is
F′δFor steering force caused by unit angle of rudder reflection, δmz(t)=± δmz, δmy(t)=± δmy；
B, pitching rudder and yaw rudder are assumed in the equal positive deflection of first half cycle, and later half periodic reverse then yaws rudder and pitching
The period steering force that is averaged that rudder generates is
In formula, negative sign indicate yaw the period be averaged steering force direction axis corresponding to quasi- missile coordinate system it is contrary；
The equivalent angle of rudder reflection δ of pitching/yaw in steering instruction can be derived that by formula (3)eqz、δeqyWith practical angle of rudder reflection δmz、δmyBetween
Relationship be
From obtained in formula (4) pitching rudder and yaw rudder practical angle of rudder reflection be respective key instruction in equivalent angle of rudder reflection π/
2 times, and when multi-panel deflects into base position carry out rudder kick to；Wherein, when yawing rudder kick to horizontal position, it is reached
Base position, while pitching rudder kick reaches its base position to plumb position；Each rudder face loads after a week with missile rotation
The steering instruction at nearest moment；Steering instruction is just inputted into corresponding steering engine when rudder face rotates to its base position, generation
Period equivalent steering force must be on yaw direction, and the size of power and the requirement of steering instruction are consistent；
C, the flight control of rotating missile is realized by the period average of rudder face steering force, and the period of rudder face steering force is flat
Mean value is to rely on control system to be formed by control signal uδ, and control signal uδPeriod average depend on again control signal
Body roll angle γ corresponding to commutation number and commutation moment in one week is revolved in bulleti(i=1,2 ..., n) controls signal uδ
For
In formula (5), signal u is controlledδSubscript Y and Z indicates coordinate axis direction, wherein the selection rule of ± symbol are as follows: 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；Conversely, if being located in failing edge
When point, formula takes positive sign.
In order to be compensated to after executing agency with other commissure factors, can be 2n π by reflection body roll angle γ,
The angle a signal advanced λ of pi/2+2n π, π+2n π, 3 pi/2+2n π, the size at this angle λ depend on the size of required compensation rate；λ is top
Spiral shell preset angle meets
λ=λR-λa-λc
In formula, λcFor system command commissure angle, λRPostpone commissure angle, λ for steering engineaFor pneumatic commissure angle.
In the present solution, using the rolling angle position signal of body as measurement standard, and gyro preset angle λ is added,
It is compensated to after executing agency with other commissure factors, keeps control signal accurate, it is actually inclined to avoid the occurrence of body
Turn direction and system and determine that deflection direction is inconsistent, leads to yaw the be averaged direction of steering force of period and deviation occur, influence entirely
The stability of body.
The invention is not limited to specific embodiments above-mentioned.The present invention, which expands to, any in the present specification 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. it is a kind of using rotating missile bullet rotation the period as control benchmark Novel rotary bullet control method, 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；
By the equivalent angle of rudder reflection δ of pitching that the steering instruction that GPS signal resolves is under quasi- missile coordinate systemeqzIt is equivalent with yawing
Angle of rudder reflection δeqy, need to be converted to the practical angle of rudder reflection δ under missile coordinate system respectivelymz(t) and δmy(t)；It is assumed that the rolling of body
Angular velocity omegaxVariation can be approximately constant less, within a certain bullet rotation period, angle of rudder reflection δmz(t) and δmy(t) rudder face generated
Steering force is
F′δFor steering force caused by unit angle of rudder reflection, δmz(t)=± δmz, δmy(t)=± δmy；
B, the period for determining that yaw rudder and pitching rudder generate is averaged steering force；
It is assumed that pitching rudder and yaw rudder are in the equal positive deflection of first half cycle, later half periodic reverse, then yaw rudder and pitching rudder generates
The period steering force that is averaged be
In formula, negative sign indicate yaw the period be averaged steering force direction axis corresponding to quasi- missile coordinate system it is contrary；By public affairs
Formula (2) can be derived that the equivalent angle of rudder reflection δ of pitching/yaw in steering instructioneqz、δeqyWith practical angle of rudder reflection δmz、δmyBetween pass
System is
It is the pi/2 times of equivalent angle of rudder reflection in respective key instruction from the practical angle of rudder reflection for obtaining pitching rudder and yaw rudder in formula (3),
And carried out when multi-panel deflects into base position rudder kick to；Wherein, when yawing rudder kick to horizontal position, its benchmark is reached
Position, while pitching rudder kick reaches its base position to plumb position；Each rudder face loads recently after a week with missile rotation
The steering instruction at moment；Steering instruction is just inputted into corresponding steering engine, the period of generation when rudder face rotates to its base position
Equivalent steering force must be on yaw direction, and the size of power and the requirement of steering instruction are consistent；
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 control system to be formed by control signal uδ, and control signal uδPeriod average depend on again control signal in bullet
Revolve body rolling angle position signal γ corresponding to commutation number and the commutation moment in one weeki(i=1,2 ..., n), control letter
Number uδFor
In formula (4), signal u is controlledδSubscript Y and Z indicates coordinate axis direction, wherein the selection rule of ± symbol are as follows: work as uδInstitute
When the body rolling angle position signal γ of first zero crossing is located at rising edge midpoint in period of supervision, formula takes negative sign；Conversely,
If be located at failing edge midpoint, formula takes positive sign.
2. a kind of Novel rotary bullet controlling party using the rotating missile bullet rotation period as control benchmark according to claim 1
Method, it is characterized in that: can will reflect body rolling Angle Position to compensate to after executing agency with other commissure factors
It is respectively the angle a signal advanced λ of 2n π, pi/2+2n π, π+2n π, 3 pi/2+2n π in signal γ, the size at this angle λ depends 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 engineaFor pneumatic commissure angle.
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109579617B (en) * | 2018-12-21 | 2020-10-16 | 上海机电工程研究所 | Rolling control method, system and medium for canard type pneumatic layout missile |
| 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 |
| RU2723772C1 (en) * | 2019-07-25 | 2020-06-17 | Акционерное общество "Машиностроительное конструкторское бюро "Факел" имени Академика П.Д. Грушина" | Missile control system |
| CN111256545B (en) * | 2019-12-10 | 2022-07-01 | 中国船舶重工集团有限公司第七一0研究所 | Real-time correction method for high-speed strike of mine |
| CN110895418B (en) * | 2019-12-30 | 2020-12-01 | 北京理工大学 | Low-speed rotating aircraft control method and system for compensating dynamic lag of steering engine |
| CN111581795B (en) * | 2020-04-26 | 2022-10-21 | 北京理工大学 | Angular motion complex analysis method of rotary aircraft controlled by a pair of duck rudders |
| CN113110539B (en) * | 2021-04-13 | 2023-09-15 | 西安航天动力技术研究所 | Control method and control device for bullet/arrow three channels based on duck rudder |
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