CN110108162A - A kind of drop point that motion platform long distance is thrown automatically amendment Guidance and control method - Google Patents
A kind of drop point that motion platform long distance is thrown automatically amendment Guidance and control method Download PDFInfo
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- CN110108162A CN110108162A CN201910524976.1A CN201910524976A CN110108162A CN 110108162 A CN110108162 A CN 110108162A CN 201910524976 A CN201910524976 A CN 201910524976A CN 110108162 A CN110108162 A CN 110108162A
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- drop point
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/22—Aiming or laying means for vehicle-borne armament, e.g. on aircraft
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Abstract
The invention discloses a kind of drop points that motion platform long distance is thrown automatically to correct Guidance and control method, which comprises S1, obtains relative position of the aircraft with respect to desired drop point and relative velocity respectively；S2, the evaluation function of the relative position and relative velocity building description impact accuracy is utilized；S3, it is restrained based on evaluation function design Guidance and control, is decayed the evaluation function to realize and be modified to the drop point of throwing using Guidance and control rule.Guidance and control method is corrected using drop point disclosed by the invention, may be implemented only to need to carry out before throwing to calculate the judgement that can be completed to drop point in a small amount, while can be improved the impact accuracy that motion platform long distance is thrown automatically.
Description
Technical field
The present invention relates to drop points to correct Guidance and control, repairs more particularly to a kind of drop point that motion platform long distance is thrown automatically
Positive Guidance and control method.
Background technique
The accurate placement control of motion platform long distance throwing has important meaning for fixed point strike, fixed point support etc..It should
The difficult point of problem is four aspects.First is that motion platform, especially faster motion platform, when long distance is thrown, drop point
It is difficult to control accurately, reason is the close coupling of drop point Yu position of aircraft speed, while the influence of gravity is so that this is coupled
It is more complicated.Second is that whole controllable different from conventional drop point process, long distance is thrown complete within the finally period of hit drop point
Free flight entirely, in the presence of no control force and control moment, the precision of free movement just depend only on just position,
The control precision of initial velocity.Third is that under any state of flight, especially when encounter conditions are bad, overload capacity limits, drop point
Modified Guidance and control difficulty increases, and is difficult to correct drop point under some scenes.Fourth is that controlled amounts be 4 dimension variables, i.e., the time,
Acceleration x, acceleration y, acceleration z, four variables of control appropriate realize that preferable drop point result needs to further investigate.
It is perturbation guidance and explicit guidance respectively at present about there are mainly two types of the control methods of impact accuracy.Perturbation system
Guiding method is also known as the linearization technique under the conditions of little deviation.Perturbation guidance has certain limitation: firstly, actually powered off in order to make
Deviation very little between point parameter and standard parameter, it is ensured that the deviation of (especially powered phase) between actual trajectory and normal trajectory
Very little；Secondly, it requires largely to be calculated before transmission, also, each time launch mission require to carry out it is independent very
A large amount of operation；Moreover, perturbation guidance is inherently suitable for little deviation situation, influence of the big disturbance to its guidance precision is not
It is negligible, it can largely reduce its guidance precision.It is shorter for launch preparation time, in the case of launch point position is indefinite
Under, do not use perturbation guidance.Explicit Guidance is one kind for being calculated in real time according to guided missile actual motion parameter and target component
Method of guidance.Different from perturbation guidance, explicit guidance does not need to carry out normal trajectory calculating before transmission, thus can shorten hair
The time is penetrated, this is conducive to change target of attack in time or realizes Mobile launch, largely increases the flexibility of attack.But
It is carried out all in flight course using the calculating process of the guided missile of explicit Guidance, and calculation amount is larger, this on bullet just to calculating
Machine proposes higher requirement, to cause the complexity of airborne equipment to a certain extent.Accordingly, it is desirable to provide one kind passes through reality
When simply calculate realize impact accuracy promotion drop point correct Guidance and control method.
Summary of the invention
The purpose of the present invention is to provide a kind of drop points that motion platform long distance is thrown automatically to correct Guidance and control method, with
It solves the above problems.
In order to achieve the above objectives, the present invention adopts the following technical solutions:
The invention discloses a kind of drop points that motion platform long distance is thrown automatically to correct Guidance and control method, the method packet
It includes:
S1, relative position of the aircraft with respect to desired drop point and relative velocity are obtained respectively；
S2, the evaluation function of the relative position and relative velocity building description impact accuracy is utilized；
S3, based on the evaluation function design Guidance and control rule, using the Guidance and control rule to the evaluation function into
Row decaying is to realize that the drop point to throwing is modified.
Preferably, step S1 further comprises:
Acquire the location information of aircraft and the velocity information of aircraft；
The location information of acquisition expectation drop point and the velocity information of desired drop point；
Relative position of the aircraft with respect to desired drop point and relative velocity are calculated separately,
Wherein, Δ r is relative position of the aircraft with respect to desired drop point, and Δ v is that aircraft is opposite with respect to desired drop point
Speed, raIndicate the position of aircraft, rtIndicate the position of expectation drop point, vaIndicate the speed of aircraft, vtIndicate expectation drop point
Speed.
Preferably, the evaluation function:
Wherein, Ω is the evaluation function for describing impact accuracy, Δ rxFor x-axis coordinate component in the coordinate system of Δ r, Δ ryFor
Y-axis coordinate component in the coordinate system of Δ r, Δ rzFor z-axis coordinate components in the coordinate system of Δ r, Δ vxFor x-axis in the coordinate system of Δ v
Coordinate components, Δ vyFor y-axis coordinate component in the coordinate system of Δ v, Δ vzFor z-axis coordinate components in the coordinate system of Δ v, g is gravity
Acceleration.
Preferably, described to include: based on evaluation function design Guidance and control rule
The differential equation is obtained after differentiating to the evaluation letters；
Guidance and control rule is designed according to the differential equation.
Preferably, the differential equation:
D Ω=udt+vd △ vx+wd△vy+xd△vz。
Preferably, the Guidance and control rule:
Wherein, nx、ny、nzIt is the overload vector that Guidance and control rule generates, η is control coefrficient.
Beneficial effects of the present invention are as follows:
Calculation process is described in detail in technical solution of the present invention, is designed Guidance and control rule, to steady
Qualitative, convergence has carried out theoretical proof, solves the impact accuracy control problem that motion platform long distance is thrown automatically.Using this
Inventing the technical solution only needs calculate in a small amount to obtain control law, real to be modified to launch angle and emission rate
Guidance and control now is carried out to the drop point of throwing.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing.
Fig. 1 shows a kind of drop point that motion platform long distance is thrown automatically amendment Guidance and control method flow in the present embodiment
Figure.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further below with reference to preferred embodiments and drawings
It is bright.Similar component is indicated in attached drawing with identical appended drawing reference.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
As shown in Figure 1, disclosing a kind of drop point that motion platform long distance is thrown automatically in one embodiment of the invention
Guidance and control method is corrected, is able to solve the impact accuracy control problem that motion platform long distance is thrown automatically, and only need to carry out
It is a small amount of to calculate.The described method includes: firstly, obtaining aircraft respectively with respect to the relative position of desired drop point and aircraft with respect to the phase
Hope the relative velocity of drop point；Then, the evaluation letter based on the relative position and relative velocity building description impact accuracy
Number；Finally, being carried out using the Guidance and control rule of design to the evaluation function based on evaluation function design Guidance and control rule
Decaying is to realize that the drop point to throwing is modified.It wherein, include the phase by the parameter of the method acquisition in this present embodiment
Position, the dynamic (direction of motion, speed) for it is expected drop point and the flight parameter (speed, position) of aircraft etc. for hoping drop point, because
This is realizing to include: falling after judging to throw along prediction locus based on the Guidance and control rule when being modified to the drop point of throwing
Whether point deviation is 0, when judge offset landings for 0 can accurate expectancy of hitting drop point understand basis if offset landings are not 0
Guidance and control rule adjustment aircraft throw initial state (first position and initial velocity etc.), to the prediction locus obtained by above-mentioned parameter into
Row amendment, to reduce drop point range to deviation for 0.The initial state that the ammunition that aircraft is thrown is thrown according to aircraft adjusted
After outgoing, practical flight path can fly along prediction locus, realize that high-precision is thrown.
In an alternative embodiment, the drop point amendment Guidance and control method acquisition that motion platform long distance is thrown automatically flies
When the position and dynamic of the flight parameter of row device and desired drop point, specific steps include: the location information and speed for acquiring aircraft
Spend information；The location information and velocity information of acquisition expectation drop point (since expectation drop point is static or movement, also need to introduce
Its velocity information), relative position of the aircraft with respect to desired drop point and relative velocity are calculated separately according to the information of above-mentioned acquisition,
In formula (1), Δ r is relative position of the aircraft with respect to desired drop point, and Δ v is phase of the aircraft with respect to desired drop point
To speed, raIndicate the position of aircraft, rtIndicate the position of expectation drop point, vaIndicate the speed of aircraft, vtIndicate that expectation is fallen
The speed of point.Wherein, the position and speed for obtaining the aircraft is surveyed using self poisoning system and velocity sensor
Amount；When obtaining the position and speed of expectation drop point, the conventional means such as positioning-speed-measuring can also be used and realize measurement and obtain.
In an alternative embodiment, it is retouched first according to the relative position of acquisition and the relative velocity, building
State the evaluation function of impact accuracy:
In formula (2), Ω is the evaluation function for describing impact accuracy, Δ rxFor x-axis coordinate component in the coordinate system of Δ r, Δ ry
For y-axis coordinate component in the coordinate system of Δ r, Δ rzFor z-axis coordinate components in the coordinate system of Δ r, Δ vxFor x in the coordinate system of Δ v
Axial coordinate component, Δ vyFor y-axis coordinate component in the coordinate system of Δ v, Δ vzFor z-axis coordinate components in the coordinate system of Δ v, g attaches most importance to
Power acceleration.
Then, based on evaluation function design Guidance and control rule.Evaluation function Ω is realized by design Guidance and control rule
Decaying reduce ammunition drop point and fall range, fly Guidance and control to be modified to the prediction locus that aircraft is thrown
The impact accuracy that row device is thrown is more accurate.
Specifically, in the present embodiment, first carrying out differential process to the evaluation function Ω of above-mentioned foundation, obtaining about described
The differential equation of evaluation function:
D Ω=udt+vd △ vx+wd△vy+xd△vz (4)
Then, it is designed based on the above-mentioned differential equation and is restrained about the Guidance and control of evaluation function:
N in formula (5)x、ny、nzIt is the overload vector that Guidance and control rule generates, η is control coefrficient.We assume that according to formula
(5) control law calculated then can be obtained when condition v=w=x=0 is invalid to draw a conclusion:
When condition v=w=x=0 is set up, it is meant that can accurately hit desired drop point.So designed based on the present invention
Guidance and control rule, when offset landings are not 0 (v=w=x=0 is invalid), offset landings can decay convergence, with realization to throwing
The drop point for throwing track and throwing is modified.It is restrained, can be adjusted in advance using the Guidance and control that design introduces in technical solution of the present invention
Whole throwing shooting angle and exit velocities realize the accurate hit to desired drop point to meet corresponding requirements.
A kind of drop point that motion platform long distance is thrown automatically disclosed in the above embodiment of the present invention corrects Guidance and control
Method is obviously reduced compared to existing calculation process operand；And Guidance and control rule is designed, to stability, receive
Holding back property has carried out theoretical proof, so that throwing drop point meets required precision, solves the drop point that motion platform long distance is thrown automatically
Precision controlling problem.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention may be used also on the basis of the above description for those of ordinary skill in the art
To make other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to this hair
The obvious changes or variations that bright technical solution is extended out are still in the scope of protection of the present invention.
Claims (6)
1. a kind of drop point that motion platform long distance is thrown automatically corrects Guidance and control method, which is characterized in that the described method includes:
S1, relative position of the aircraft with respect to desired drop point and relative velocity are obtained respectively；
S2, the evaluation function of the relative position and relative velocity building description impact accuracy is utilized；
S3, it is restrained based on evaluation function design Guidance and control, is declined using Guidance and control rule to the evaluation function
Subtract to realize and be modified to the drop point of throwing.
2. the drop point that motion platform long distance according to claim 1 is thrown automatically corrects Guidance and control method, feature exists
In step S1 further comprises:
Acquire the location information of aircraft and the velocity information of aircraft；
The location information of acquisition expectation drop point and the velocity information of desired drop point；
Relative position of the aircraft with respect to desired drop point and relative velocity are calculated separately,
Wherein, Δ r is relative position of the aircraft with respect to desired drop point, and Δ v is relative velocity of the aircraft with respect to desired drop point,
raIndicate the position of aircraft, rtIndicate the position of expectation drop point, vaIndicate the speed of aircraft, vtIndicate the speed of expectation drop point
Degree.
3. the drop point that motion platform long distance according to claim 1 is thrown automatically corrects Guidance and control method, feature exists
In the evaluation function:
Ω=(△ rx+△vxtc)2+(△ry+△vytc)2,
Wherein, Ω is the evaluation function for describing impact accuracy, Δ rxFor x-axis coordinate component in the coordinate system of Δ r, Δ ryFor Δ r's
Y-axis coordinate component in coordinate system, Δ rzFor z-axis coordinate components in the coordinate system of Δ r, Δ vxFor x-axis coordinate in the coordinate system of Δ v
Component, Δ vyFor y-axis coordinate component in the coordinate system of Δ v, Δ vzFor z-axis coordinate components in the coordinate system of Δ v, g is gravity acceleration
Degree.
4. the drop point that motion platform long distance according to claim 1 is thrown automatically corrects Guidance and control method, feature exists
In described to further comprise based on evaluation function design Guidance and control rule:
The differential equation is obtained after differentiating to the evaluation letters；
Guidance and control rule is designed according to the differential equation.
5. the drop point that motion platform long distance according to claim 4 is thrown automatically corrects Guidance and control method, feature exists
In the differential equation:
D Ω=udt+vd △ vx+wd△vy+xd△vz。
6. the drop point that motion platform long distance according to claim 4 or 5 is thrown automatically corrects Guidance and control method, feature
It is, the Guidance and control rule:
Wherein, nx、ny、nzIt is the overload vector that Guidance and control rule generates, η is control coefrficient.
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