CN109141802A - Analogy method for the store Combinations control law in captive trajectory testing - Google Patents
Analogy method for the store Combinations control law in captive trajectory testing Download PDFInfo
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Abstract
The present invention discloses a kind of analogy method for the store Combinations control law in captive trajectory testing.Realize that airborne stores have control trace simulation under the conditions of Asia is across supersonic flows.By to the true aerodynamic effects of the more preferable simulation of the inclined calculating of Three Degree Of Freedom rudder, achieve the purpose that improve track acquisition accuracy with this.Method uses virtual rudder folk prescription formula, and according to the steerage that the store Combinations rudder of prediction is obtained with test partially, the raw influence amount of rudder oblique presentation is added in trajectory predictions.Influence of this method analog store Combinations control law to store Combinations track, acts on track captive test, the track of Real Time Effect aerodynamic consequence and generation.It is calculated and is analyzed with test steerage partially by virtual rudder, the influence of generation is added in trajectory predictions, to improve the precision of trajectory predictions.
Description
Technical field
The present invention relates to wind-tunnel technique fields, and in particular to a kind of store Combinations control in captive trajectory testing
The analogy method of rule.
Background technique
Wind-tunnel store Combinations captive trajectory testing is a kind of experimental technique for obtaining store Combinations motion profile, is mounted on mostly freely
Store Combinations in pilot system are spent, the information such as the pose track of store Combinations, wind are obtained by movement, measurement under Flow Field in Wind Tunnel environment
Hole store Combinations captive trajectory testing can simulate store Combinations and the flight path after separation is launched or emitted from carrier.Due to wind-tunnel ruler
Very little limitation, store Combinations moulded dimension is smaller, rudder face can not actual deflection variation, have difference with store Combinations material object state of flight
Not, and the variation of its control surface deflection has interaction with surrounding space flow field and changes in aerodynamic forces during Multi-bodies Separation, from
And the accuracy for emitting store Combinations or launching orientation has a significant impact.
Summary of the invention
In order to study influence of the store Combinations control flaps partially to real-time flight track in wind-tunnel store Combinations captive trajectory testing,
The present invention provides a kind of analogy method for the store Combinations control law in captive trajectory testing, simulates store Combinations rudder partially to real-time
Track influences, and improves track captive test precision.
The technology used in the present invention is as follows: a kind of simulation side for the store Combinations control law in captive trajectory testing
Method, method includes the following steps:
Step 1, store Combinations tracing point estimate position resolving, and tracing point instantaneous acceleration, angular speed, angle, which resolve, to be obtained,
Store Combinations are estimated track and are positioned in real time；
Step 2, wind-tunnel survey in specified flow field store Combinations hexa-atomic balance stress in real time, are pneumatically resolved；
Step 3, using virtual rudder folk prescription formula, store Combinations rudder resolves partially；
Step 4, rudder carry out store Combinations steerage real-time resolving partially in conjunction with aerodynamic force；
The iterative tracing point amendment of step 5, variable step store Combinations steerage.
The present invention also has following technical characteristic:
1, step 1 as above is specific as follows:
F is tracing point instantaneous acceleration: F=coe × qs × refS
In formula, coe is aerodynamic coefficient, and qs is ram compression in specified altitude assignment, and refS is area of reference；
Alpha_e is the store Combinations angle of attack, and calculation formula is as follows:
In formula, φw、θw、ψwThree angular displacements for store Combinations with respect to carrier aircraft wind axes；
Kkthita_e is store Combinations pitch angle, the i.e. angle of store Combinations X-axis and horizontal plane:
Kkthita_e=θw
Psi_e is store Combinations course angle, i.e., the projection of store Combinations X-axis in the horizontal plane and aircraft X-axis be in the horizontal plane
The angle of projection:
Psi_e=ψw+β
In formula, β is yaw angle；
Gama_e is the folder between store Combinations roll angle, the i.e. longitudinally asymmetric face of store Combinations and the vertical guide for crossing store Combinations X-axis
Angle:
Gama_e=φw
dkkthita_e、dpsi_e、dgama_eStore Combinations Elevation angle changing rate, course angular rate of change, roll angular rate of change:
dkkthita_e=qEcosφw-rEsinφw
dpsi_e=(qEsinφw+rEcosφφw)/cosθw
dgama_e=pE+dpsi_e·sinθw
In formula, pE、qE、rEFor store Combinations angular speed its three axis of body axis projection.
2, step 2 as above is pneumatically resolved, specific as follows:
cyNormal force coefficient:
czCornering ratio:
CmzPitching moment coefficient:
CmyYawing moment coefficient:
CmxRolling moment coefficient:
In formula, Y is lift, and Z is cross force, and Mz is pitching moment, and My is yawing, and Mx is rolling moment, and b is average
Pneumatic chord length, l are wingspan length.
3, the inclined calculation method of store Combinations rudder in step 3 as above, specific as follows:
Delta1 angle of rudder reflection 1:
Delta1=b1 × D1 [1] [1]+b2 × D1 [1] [0]+b3 × D1 [0] [2]+b4 × D1 [0] [1]；
Delta2 angle of rudder reflection 2:
Delta2=b1 × D2 [1] [1]+b2 × D2 [1] [0]+b3 × D2 [0] [2]+b4 × D2 [0] [1]；
Delta3 angle of rudder reflection 3:
Delta3=b1 × D3 [1] [1]+b2 × D3 [1] [0]+b3 × D3 [0] [2]+b4 × D3 [0] [1]；
In formula, gain parameter b1, b2, b3, b4, is controlled for instruction, D1, D2, D3 are that pneumatic angle of rudder reflection and the air-flow angle of attack are inserted
It is worth array, number represents array dimension in the bracket in formula.
4, step 4 as above centered rudder carries out store Combinations steerage real-time resolving method partially in conjunction with aerodynamic force, specific as follows:
Δ cy:Y is to steering force coefficient steerage increment: Δ cy=(c1-c2) × Kcy；
Δ cz:Z is to steering force coefficient steerage increment: Δ cz=(c1+c2) × Kcz；
Δ cmx: rolling moment coefficient steerage increment: Δ cmx=Kcmx × c3；
Δ cmy: yawing moment coefficient steerage increment: Δ cmy=dcy × (tm-bp)；
Δ cmz: pitching moment coefficient steerage increment: Δ cmz=dcz × (tm-bp)；
In formula, tm be mass center relative position, bp be rudderpost relative position, Kcy, Kcz, Kcmx be steerage coefficient, c1, c2,
C3 is interpolation angle of rudder reflection.
5, the iterative tracing point modification method of variable step store Combinations steerage in step 5, specific as follows:
Cy:Y is to steering force coefficient correction value: Cy=Cy+ Δ cy
Cz:Z is to steering force coefficient correction value: Cz=Cz+ Δ cz
Cmz: pitching moment coefficient correction value: Cmz=Cmz+Δcmz
Cmx: rolling moment coefficient correction value: Cmx=Cmx+Δcmx
Cmy: rolling moment coefficient correction value: Cmy=Cmy+Δcmy。
The course of work and principle of the invention: according to primary condition calculate store Combinations simulation pose, instantaneous acceleration and
Angle, store Combinations are accurately positioned, and measure store Combinations stress condition through balance, are carried out store Combinations rudder according to experiment condition and are resolved partially,
Comprehensive analysis resolves the above data in the same time, obtains store Combinations steerage, corrects through track pose, and repeats above procedure, simulation
For store Combinations to the Real Time Effect of track, obtaining store Combinations has control track out.
The invention has the advantages and beneficial effects that: influence of this method analog store Combinations control law to store Combinations track,
Act on track captive test, the track of Real Time Effect aerodynamic consequence and generation.It is calculated and is divided with test steerage partially by virtual rudder
Analysis, the influence of generation is added in trajectory predictions, to improve the precision of trajectory predictions.Pass through simulation contrast verification and example
Verifying is calculated, method solves the problems, such as influence of the simulation control surface deflection to store Combinations separated track in CTS test.This method
It can stablize, high reliablity, measuring accuracy meets engine request, and in the plug-in design of Aeronautics and Astronautics, weaponry research has wide above
Wealthy application prospect.
Detailed description of the invention
Fig. 1 is the structural principle frame of the store Combinations control law analogy method provided by the invention in captive trajectory testing
Figure；
Fig. 2 is provided by the present invention for the process control in the store Combinations control law analogy method in captive trajectory testing
Flow chart；
Fig. 3 is to imitate provided by the present invention for the rudder griping in the store Combinations control law analogy method in captive trajectory testing
Simulation resolves flow chart.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail:
Embodiment 1
A kind of analogy method for the store Combinations control law in captive trajectory testing, comprising the following steps:
Step 1, store Combinations tracing point estimate position resolving, and tracing point instantaneous acceleration, angular speed, angle, which resolve, to be obtained,
Store Combinations are estimated track and positioned in real time, specific as follows: F is tracing point instantaneous acceleration: F=coe × qs × refS
In formula, coe is aerodynamic coefficient, and qs is ram compression in specified altitude assignment, and refS is area of reference；
Alpha_e is the store Combinations angle of attack, and calculation formula is as follows:
In formula, φw、θw、ψwThree angular displacements for store Combinations with respect to carrier aircraft wind axes；
Kkthita_e is store Combinations pitch angle, the i.e. angle of store Combinations X-axis and horizontal plane:
Kkthita_e=θw
Psi_e is store Combinations course angle, i.e., the projection of store Combinations X-axis in the horizontal plane and aircraft X-axis be in the horizontal plane
The angle of projection:
Psi_e=ψw+β
In formula, β is yaw angle；
Gama_e is the folder between store Combinations roll angle, the i.e. longitudinally asymmetric face of store Combinations and the vertical guide for crossing store Combinations X-axis
Angle:
Gama_e=φw
dkkthita_e、dpsi_e、dgama_eStore Combinations Elevation angle changing rate, course angular rate of change, roll angular rate of change:
dkkthita_e=qEcosφw-rEsinφw
dpsi_e=(qEsinφw+rEcosφφw)/cosθw
dgama_e=pE+dpsi_e·sinθw
In formula, pE、qE、rEFor store Combinations angular speed its three axis of body axis projection.
Step 2, wind-tunnel survey in specified flow field store Combinations hexa-atomic balance stress in real time, are pneumatically resolved；It is specific as follows:
cyNormal force coefficient:
czCornering ratio:
CmzPitching moment coefficient:
CmyYawing moment coefficient:
CmxRolling moment coefficient:
In formula, Y is lift, and Z is cross force, and Mz is pitching moment, and My is yawing, and Mx is rolling moment, and b is average
Pneumatic chord length, l are wingspan length.
Step 3, using virtual rudder folk prescription formula, store Combinations rudder resolves partially；It is specific as follows:
Delta1 angle of rudder reflection 1:
Delta1=b1 × D1 [1] [1]+b2 × D1 [1] [0]+b3 × D1 [0] [2]+b4 × D1 [0] [1]；
Delta2 angle of rudder reflection 2:
Delta2=b1 × D2 [1] [1]+b2 × D2 [1] [0]+b3 × D2 [0] [2]+b4 × D2 [0] [1]；
Delta3 angle of rudder reflection 3:
Delta3=b1 × D3 [1] [1]+b2 × D3 [1] [0]+b3 × D3 [0] [2]+b4 × D3 [0] [1]；
In formula, gain parameter b1, b2, b3, b4, is controlled for instruction, D1, D2, D3 are that pneumatic angle of rudder reflection and the air-flow angle of attack are inserted
It is worth array, number represents array dimension in the bracket in formula；
Step 4, rudder carry out store Combinations steerage real-time resolving partially in conjunction with aerodynamic force, specific as follows:
Δ cy:Y is to steering force coefficient steerage increment: Δ cy=(c1-c2) × Kcy；
Δ cz:Z is to steering force coefficient steerage increment: Δ cz=(c1+c2) × Kcz；
Δ cmx: rolling moment coefficient steerage increment: Δ cmx=Kcmx × c3；
Δ cmy: yawing moment coefficient steerage increment: Δ cmy=dcy × (tm-bp)；
Δ cmz: pitching moment coefficient steerage increment: Δ cmz=dcz × (tm-bp)；
In formula, tm be mass center relative position, bp be rudderpost relative position, Kcy, Kcz, Kcmx be steerage coefficient, c1, c2,
C3 is interpolation angle of rudder reflection；
The iterative tracing point amendment of step 5, variable step store Combinations steerage, specific as follows:
Cy:Y is to steering force coefficient correction value: Cy=Cy+ Δ cy；
Cz:Z is to steering force coefficient correction value: Cz=Cz+ Δ cz；
Cmz: pitching moment coefficient correction value: Cmz=Cmz+Δcmz；
Cmx: rolling moment coefficient correction value: Cmx=Cmx+Δcmx；
Cmy: rolling moment coefficient correction value: Cmy=Cmy+Δcmy。
Embodiment 2
As shown in Figure 1 and Figure 2, load judgement first is carried out to control law experimental condition, multiple-degree-of-freedom mechanism band is made to carry store Combinations
It is accurately positioned by preset condition, is communicated with wind-tunnel, there is wind-tunnel control to reach experimental flow field condition, acquired and solved by real-time aerodynamic force
Calculation and store Combinations acceleration and attitude prediction, fusion store Combinations rudder is resolved partially, is corrected point by point to real-time track, final to obtain
Store Combinations have control track pose, and rudder griping effect in real time during test.
Track resolves tracing point position simultaneously, resolves and obtains all directions acceleration and angular speed
Qe, Re, converted acquisition
Store Combinations roll angle Gama=- π/4+ φ；
Store Combinations pitch acceleration
Store Combinations yaw acceleration
Pitching and jaw channel angular speed
Pitching and jaw channel angular speed
Roll angular velocity omega x=Pe；
As shown in figure 3, instantaneous pneumatic amount will resolve, be bowed through stability contorting above to make store Combinations stability contorting
Face upward, yaw and roll each channel angle of rudder reflection output.The aerodynamic force acted on current store Combinations has external store balance to measure strain value, and
Each aerodynamic force is obtained through seven iteration, the combined current each aerodynamic force of store Combinations of angle of rudder reflection resolves all directions angle of rudder reflection pneumatic
On influence.Because plug-in article coordinate and prediction coordinate system there are the deflections of certain angle rotating direction, therefore to correlative into
Row coordinate deflection conversion, by taking 45 ° of deflection as an example.
Deflect Y-direction steering force coefficient increment
Deflect Z-direction steering force coefficient increment
Deflect rolling moment coefficient increment dmx '=dmx；
Deflect pitching moment coefficient increment
Deflect yawing moment coefficient increment
In formula, dcy is Y-direction steering force coefficient increment, and dcz is Z-direction steering force coefficient increment, and dmx is rolling moment coefficient
Increment, dmz are pitching moment coefficient increment, and dmy is yawing moment coefficient increment；
Each tracing point rudder influences to carry out variable step iterated revision for changing with test period partially.Until completion is all to be had
Empty tracing point.
Claims (6)
1. a kind of analogy method for the store Combinations control law in captive trajectory testing, which is characterized in that this method include with
Lower step:
Step 1, store Combinations tracing point estimate position resolving, and tracing point instantaneous acceleration, angular speed, angle, which resolve, to be obtained, plug-in
Object is estimated track and is positioned in real time；
Step 2, wind-tunnel survey in specified flow field store Combinations hexa-atomic balance stress in real time, are pneumatically resolved；
Step 3, using virtual rudder folk prescription formula, store Combinations rudder resolves partially；
Step 4, rudder carry out store Combinations steerage real-time resolving partially in conjunction with aerodynamic force；
The iterative tracing point amendment of step 5, variable step store Combinations steerage.
2. a kind of analogy method for the store Combinations control law in captive trajectory testing according to claim 1, special
Sign is that step 1 is specific as follows:
F is tracing point instantaneous acceleration: F=coe × qs × refS
In formula, coe is aerodynamic coefficient, and qs is ram compression in specified altitude assignment, and refS is area of reference；Alpha_e attacks for store Combinations
Angle, calculation formula are as follows:
In formula, φw、θw、ψwThree angular displacements for store Combinations with respect to carrier aircraft wind axes；
Kkthita_e is store Combinations pitch angle, the i.e. angle of store Combinations X-axis and horizontal plane:
Kkthita_e=θw
Psi_e is store Combinations course angle, the i.e. projection of store Combinations X-axis in the horizontal plane and the projection of aircraft X-axis in the horizontal plane
Angle:
Psi_e=ψw+β
In formula, β is yaw angle；
Gama_e is the angle between store Combinations roll angle, the i.e. longitudinally asymmetric face of store Combinations and the vertical guide for crossing store Combinations X-axis:
Gama_e=φw
dkkthita_e、dpsi_e、dgama_eStore Combinations Elevation angle changing rate, course angular rate of change, roll angular rate of change:
dkkthita_e=qEcosφw-rEsinφw
dpsi_e=(qEsinφw+rEcosφφw)/cosθw
dgama_e=pE+dpsi_e·sinθw
In formula, pE、qE、rEFor store Combinations angular speed its three axis of body axis projection.
3. a kind of analogy method for the store Combinations control law in captive trajectory testing according to claim 1, special
Sign is that it is specific as follows that step 2 carries out pneumatic calculation method:
cyNormal force coefficient:
czCornering ratio:
CmzPitching moment coefficient:
CmyYawing moment coefficient:
CmxRolling moment coefficient:
In formula, Y is lift, and Z is cross force, and Mz is pitching moment, and My is yawing, and Mx is rolling moment, and b is Average aerodynamic
Chord length, l are wingspan length.
4. a kind of analogy method for the store Combinations control law in captive trajectory testing according to claim 1, special
Sign is that the inclined calculation method of store Combinations rudder is specific as follows in step 3:
Delta1 angle of rudder reflection 1:
Delta1=b1 × D1 [1] [1]+b2 × D1 [1] [0]+b3 × D1 [0] [2]+b4 × D1 [0] [1]；
Delta2 angle of rudder reflection 2:
Delta2=b1 × D2 [1] [1]+b2 × D2 [1] [0]+b3 × D2 [0] [2]+b4 × D2 [0] [1]；
Delta3 angle of rudder reflection 3:
Delta3=b1 × D3 [1] [1]+b2 × D3 [1] [0]+b3 × D3 [0] [2]+b4 × D3 [0] [1]；
In formula, gain parameter b1, b2, b3, b4, is controlled for instruction, D1, D2, D3 are pneumatic angle of rudder reflection and air-flow angle of attack interpolation number
Group, number represents array dimension in the bracket in formula.
5. a kind of analogy method for the store Combinations control law in captive trajectory testing according to claim 1, special
Sign is that it is specific as follows to carry out store Combinations steerage real-time resolving method partially in conjunction with aerodynamic force for step 4 centered rudder:
Δ cy:Y is to steering force coefficient steerage increment: Δ cy=(c1-c2) × Kcy；
Δ cz:Z is to steering force coefficient steerage increment: Δ cz=(c1+c2) × Kcz；
Δ cmx: rolling moment coefficient steerage increment: Δ cmx=Kcmx × c3；
Δ cmy: yawing moment coefficient steerage increment: Δ cmy=dcy × (tm-bp)；
Δ cmz: pitching moment coefficient steerage increment: Δ cmz=dcz × (tm-bp)；
In formula, tm is mass center relative position, and bp is rudderpost relative position, and Kcy, Kcz, Kcmx are steerage coefficient, and c1, c2, c3 are
Interpolation angle of rudder reflection.
6. a kind of analogy method for the store Combinations control law in captive trajectory testing according to claim 1, special
Sign is that the iterative tracing point modification method of variable step store Combinations steerage is specific as follows in step 5:
Cy:Y is to steering force coefficient correction value: Cy=Cy+ Δ cy；
Cz:Z is to steering force coefficient correction value: Cz=Cz+ Δ cz；
Cmz: pitching moment coefficient correction value: Cmz=Cmz+Δcmz；
Cmx: rolling moment coefficient correction value: Cmx=Cmx+Δcmx；
Cmy: rolling moment coefficient correction value: Cmy=Cmy+Δcmy。
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| CN110069842A (en) * | 2019-04-12 | 2019-07-30 | 北京空天技术研究所 | Steerage Method of fast estimating |
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| CN111693246A (en) * | 2020-06-23 | 2020-09-22 | 中国空气动力研究与发展中心超高速空气动力研究所 | Method for distributing motion of main body and separating body track capture experiment of continuous on-orbit motion |
| CN111707441A (en) * | 2020-06-23 | 2020-09-25 | 重庆大学 | Motion distribution method for main body and separation body decoupling mechanism in linkage track capture experiment |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110069842A (en) * | 2019-04-12 | 2019-07-30 | 北京空天技术研究所 | Steerage Method of fast estimating |
| CN110069842B (en) * | 2019-04-12 | 2023-08-18 | 北京空天技术研究所 | Quick estimation method for rudder efficiency |
| CN110470449A (en) * | 2019-08-23 | 2019-11-19 | 中国航空工业集团公司沈阳空气动力研究所 | A kind of the captive trajectory testing method and test measuring and controlling equipment of continuous control mode |
| CN111693246A (en) * | 2020-06-23 | 2020-09-22 | 中国空气动力研究与发展中心超高速空气动力研究所 | Method for distributing motion of main body and separating body track capture experiment of continuous on-orbit motion |
| CN111707441A (en) * | 2020-06-23 | 2020-09-25 | 重庆大学 | Motion distribution method for main body and separation body decoupling mechanism in linkage track capture experiment |
| CN111707441B (en) * | 2020-06-23 | 2021-04-16 | 重庆大学 | Motion distribution method for main body and separation body decoupling mechanism in linkage track capture experiment |
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