CN111947511A - Projectile speed control method and device of track type electromagnetic launcher and electronic equipment - Google Patents
Projectile speed control method and device of track type electromagnetic launcher and electronic equipment Download PDFInfo
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Abstract
The application discloses a bullet speed control method of a track type electromagnetic launcher, wherein a power supply comprises a plurality of pulse power supply modules, the plurality of pulse power supply modules comprise a first type pulse power supply module which is initially started and a second type pulse power supply module which is controlled to be started, and the method can comprise the following steps: after the first type pulse power supply module of the power supply is started to trigger the shot to start and launch, acquiring the detection speed of the shot passing through a preset detection position of a track of the track type electromagnetic transmitter; calculating the actual starting time of the second-class pulse power supply module based on the detection speed according to a pre-established relational expression between the speed of the projectile passing through a preset detection position and the starting time of the second-class pulse power supply module; and when the actual starting moment is reached, starting a second-class pulse power supply module of the power supply. This scheme of adoption, the actual exit velocity that can control the shot reaches the shot exit velocity of expectation, reduces the deviation, realizes the accurate control to shot exit velocity promptly.
Description
Technical Field
The present disclosure relates to the field of electromagnetic emission technologies, and in particular, to a method and an apparatus for controlling projectile velocity of a track-type electromagnetic emitter, and an electronic device.
Background
The electromagnetic emission technology is a new concept kinetic energy emission technology which appears after chemical energy emission, utilizes Lorentz force to propel a bullet, and is a very potential advanced emission technology. The method overcomes the defects that the thrust of the traditional launching technology is not large enough and the duration is short, and can propel the projectile to the first cosmic speed, which is incomparable to the traditional artillery.
In the electromagnetic launching technology, the projectile can be greatly damaged only by kinetic energy, so that explosive does not need to be filled, and the safety of a launching platform is greatly improved. In addition, compared with the traditional artillery technology, the energy cost required by the electromagnetic artillery adopting the electromagnetic emission technology is lower than one tenth of that of the traditional artillery, the noise generated by the electromagnetic artillery in the emission process is very small, the conditions of high-temperature flame and a large amount of smoke generated when the traditional artillery is ignited cannot exist, and the concealment is good.
According to different structures and working principles, electromagnetic transmitting devices can be divided into an electromagnetic rail type, an electromagnetic coil type and an electromagnetic reconnection type. The electromagnetic track type is based on Faraday's law of electromagnetism as theory, the track is composed of two parallel long straight guide rails, the projectile is placed between the guide rails, when the guide rails are powered on, the magnetic field generated by the current in the guide rails acts on the current flowing through the armature, so that Lorentz force is generated, and the projectile is pushed out of the bore along the track.
In order to improve the remote striking precision of the electromagnetic gun, the control of the projectile outlet speed is of great importance to the hitting accuracy of the electromagnetic gun. The current large number of control methods are limited to pursuing as high an exit velocity of the projectile as possible, but neglect that in practice not only a higher exit velocity should be pursued, but also a precise control of the projectile exit velocity should be achieved for the target of the strike to achieve the best striking result. However, in practice, the projectile exit velocity deviates from the intended exit velocity due to the fact that the projectile may be subjected to various external disturbances during launch.
Disclosure of Invention
The embodiment of the application provides a method and a device for controlling the projectile velocity of a track type electromagnetic launcher and electronic equipment, which are used for solving the problem of how to control the projectile outlet velocity of the track type electromagnetic launcher in the prior art.
The embodiment of the application provides a method for controlling the projectile speed of a track type electromagnetic launcher, wherein a power supply of the track type electromagnetic launcher comprises a plurality of pulse power supply modules, the plurality of pulse power supply modules comprise a first type pulse power supply module which is initially started and a second type pulse power supply module which is controlled to be started, and the method comprises the following steps:
after a first type pulse power supply module of the power supply is started to trigger a projectile to start launching, acquiring the speed of the projectile passing through a preset detection position of a track of the track type electromagnetic launcher to serve as a detection speed;
calculating the actual starting time of the second type pulse power supply module based on the detection speed according to a pre-established relational expression between the speed of the projectile passing through the preset detection position and the starting time of the second type pulse power supply module, wherein the relational expression is established based on the expected projectile outlet speed;
and when the actual starting moment is reached, starting the second-class pulse power supply module of the power supply.
Further, before the calculating the actual starting time of the second type pulse power supply module based on the detection speed, the method further includes:
calculating a speed difference value between the detection speed and a preset speed, wherein the preset speed is the expected speed of the projectile reaching the preset detection position;
and when the speed difference value is larger than a preset speed difference value threshold value, executing the step of calculating the actual starting moment of the second-class pulse power supply module based on the detection speed.
Further, when the speed difference value is not greater than the preset speed difference value threshold value and a preset starting moment is reached, the second-class pulse power supply module of the power supply is started.
Further, calculating the actual starting time of the second-class pulse power supply module based on the detection speed according to a pre-established relational expression between the speed of the projectile passing through the preset detection position and the starting time of the second-class pulse power supply module, including:
based on the detection speed, calculating the actual starting time of the second type pulse power supply module by adopting the following formula:
wherein, TtrigRepresenting the actual starting time, which is the time length from the starting time of the projectile to pass, t is the time length from the starting time of the projectile to the preset detection position, and S0Is the position of a preset trigger point corresponding to the preset starting time for starting the second-class pulse power supply module, x is the distance from the starting position of the projectile to the preset detection position, delta V is the speed difference between the detection speed and the preset speed, VmeaAnd H is a speed correction factor and is a derivative value of the projectile outlet speed relative to an additional compensation section, wherein the additional compensation section is the distance from the position of the projectile to the outlet position of the track at the actual starting moment.
Further, acquiring a speed of the projectile passing through a preset detection position of the track-type electromagnetic launcher as a detection speed includes:
acquiring the moment when the projectile passes through a first preset detection position of the track type electromagnetic transmitter as a first detection moment, and acquiring the moment when the projectile passes through a second preset detection position as a second detection moment;
the above-mentioned
The concrete formula is as follows:
wherein, t1The first detection time is represented as the time length t of the projectile reaching the first preset detection position after the projectile is started2The second detection time is represented as the time length x of the projectile reaching the second preset detection position after starting1For the distance, x, from the start position of the projectile to said first predetermined detection position2Is the distance from the start position of the projectile to the second preset detection position.
Further, the pulse power supply module included in the power supply is a pulse shaping unit PFU.
The embodiment of the present application further provides a projectile speed control device of track type electromagnetic launcher, power supply of track type electromagnetic launcher includes a plurality of pulse power supply modules, include the first type pulse power supply module that initially opens and the second type pulse power supply module that is controlled to open in a plurality of pulse power supply modules, the device includes:
the speed acquisition module is used for acquiring the speed of the projectile passing through a preset detection position of the track type electromagnetic transmitter as a detection speed after the projectile is triggered to start and launch by starting the first type pulse power supply module of the power supply;
the time calculation module is used for calculating the actual starting time of the second type pulse power supply module based on the detection speed according to a pre-established relational expression between the speed of the projectile passing through the preset detection position and the starting time of the second type pulse power supply module, wherein the relational expression is established based on the expected projectile outlet speed;
and the starting module is used for starting the second-class pulse power supply module of the power supply when the actual starting moment is reached.
Further, the method also comprises the following steps:
a speed difference value calculating module, configured to calculate a speed difference value between the detection speed and a preset speed, where the preset speed is a speed at which the expected projectile reaches the preset detection position;
the time calculation module is specifically configured to calculate an actual starting time of the second-class pulse power supply module based on the detection speed when the speed difference is greater than a preset speed difference threshold.
Further, the starting module is further configured to start the second-class pulse power supply module of the power supply when the speed difference is not greater than the preset speed difference threshold and a preset starting time is reached.
Further, the time calculation module is specifically configured to calculate, based on the detection speed, an actual start time of the second-class pulse power supply module by using the following formula:
wherein, TtrigRepresenting the actual starting time, which is the time length from the starting time of the projectile to pass, t is the time length from the starting time of the projectile to the preset detection position, and S0Is the position of a preset trigger point corresponding to the preset starting time for starting the second-class pulse power supply module, x is the distance from the starting position of the projectile to the preset detection position, delta V is the speed difference between the detection speed and the preset speed, VmeaFor said detected velocity, H is a velocity correction factor, a derivative value of the projectile exit velocity with respect to an additional compensation phase for said actual start-upThe distance from the location where the projectile is located to the exit location of the track.
Further, the speed obtaining module is specifically configured to obtain a time when the projectile passes through a first preset detection position of the track-type electromagnetic transmitter as a first detection time, and a time when the projectile passes through a second preset detection position as a second detection time;
the above-mentioned
The concrete formula is as follows:
wherein, t1The first detection time is represented as the time length t of the projectile reaching the first preset detection position after the projectile is started2The second detection time is represented as the time length x of the projectile reaching the second preset detection position after starting1For the distance, x, from the start position of the projectile to said first predetermined detection position2Is the distance from the start position of the projectile to the second preset detection position.
Further, the pulse power supply module included in the power supply is a pulse shaping unit PFU.
The embodiment of the application also provides electronic equipment which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
and a processor for implementing any one of the above-described methods for controlling the projectile velocity of the rail-type electromagnetic launcher when executing a program stored in the memory.
Embodiments of the present application also provide a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements any one of the above-mentioned method for controlling projectile velocity of a track-type electromagnetic launcher.
Embodiments of the present application also provide a computer program product containing instructions which, when run on a computer, cause the computer to perform the method as described in any one of the above methods of projectile velocity control of a track-type electromagnetic launcher.
The beneficial effects of the embodiment of the application include:
in the method provided by the embodiment of the application, a power supply of the track type electromagnetic transmitter comprises a plurality of pulse power supply modules, the plurality of pulse power supply modules comprise a first type pulse power supply module which is initially started and a second type pulse power supply module which is controlled to be started, when the shot is transmitted, the first type pulse power supply module is started firstly, the speed of the shot passing through a preset detection position of the track is obtained in the process of transmitting the shot along the track and serves as the detection speed, the actual starting time of the second type pulse power supply module is calculated based on the obtained detection speed according to a relation between the speed of the shot passing through the preset detection position and the starting time of the second type pulse power supply module, and the second type pulse power supply module is started when the actual starting time is reached. Because the relation is established based on the expected outlet speed of the projectile, the second type pulse power supply module is started when the actual starting moment is reached, the electromagnetic force can be adjusted by changing the total discharge current, and then the compensation of the speed lost by the external interference of the projectile is realized, so that the actual outlet speed of the projectile can be controlled to reach the expected outlet speed of the projectile, the deviation is reduced, and the accurate control of the outlet speed of the projectile is realized.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not to limit the application. In the drawings:
fig. 1 is a flowchart of a projectile velocity control method of an orbital electromagnetic launcher according to an embodiment of the present application;
FIG. 2 is a flow chart of another method for controlling projectile velocity in an orbital electromagnetic launcher according to an embodiment of the present application;
FIG. 3-1 is an equivalent circuit diagram of the PFU in the embodiment of the present application;
3-2 is an equivalent circuit diagram of an electromagnetic emission system in an embodiment of the present application;
3-3 are simplified equivalent circuit models of electromagnetic emission systems in embodiments of the present application;
FIG. 4-1 is a diagram of current waveforms at different discharge timings in the embodiment of the present application;
4-2 are schematic diagrams of projectile discharge times at different starting times in the embodiments of the present application;
4-3 are schematic diagrams of projectile exit velocities in embodiments of the present application;
4-4 are diagrams of the starting time of the second type of PFU and the additional compensation section in the embodiment of the present application;
FIG. 5-1 is a diagram of a mathematical model between the starting time of a second type of pulse power module and the projectile exit velocity according to an embodiment of the present application;
FIG. 5-2 is a second diagram of a mathematical model between the starting time of the second type of pulse power module and the projectile exit velocity in the embodiment of the present application;
FIG. 6-1 is a graph showing the outlet velocity deviation analysis obtained in the experiments shown in tables 3 and 4 in the examples of the present application;
FIG. 6-2 is a graph showing the outlet velocity deviation analysis obtained in the experiments shown in tables 6 and 7 in the example of the present application;
fig. 7-1 is a schematic structural diagram of a projectile velocity control device of a track-type electromagnetic launcher according to an embodiment of the present application;
fig. 7-2 is a schematic structural diagram of a projectile velocity control device of another track type electromagnetic launcher according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to provide an implementation scheme for accurately controlling the projectile outlet speed of the track type electromagnetic launcher, the embodiment of the present application provides a projectile speed control method, a device and an electronic device for the track type electromagnetic launcher. And the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The embodiment of the application provides a method for controlling the projectile speed of a track-type electromagnetic launcher, wherein a power supply of the track-type electromagnetic launcher comprises a plurality of pulse power modules, the plurality of pulse power modules comprise a first type pulse power module which is initially turned on and a second type pulse power module which is controlled to be turned on, and as shown in fig. 1, the method for controlling the projectile speed can comprise the following steps:
and step 11, after the first-class pulse power supply module of the power supply is started to trigger the shot to start to be shot, acquiring the speed of the shot passing through a preset detection position of the track type electromagnetic transmitter as the detection speed.
And step 12, calculating the actual starting time of the second-class pulse power supply module based on the obtained detection speed according to a pre-established relational expression between the speed of the projectile passing through the preset detection position and the starting time of the second-class pulse power supply module, wherein the relational expression is established based on the expected projectile outlet speed.
And step 13, starting the second-class pulse power supply module of the power supply when the actual starting moment is reached.
In the method shown in fig. 1, a power supply of the track-type electromagnetic transmitter includes a plurality of pulse power modules, and the plurality of pulse power modules includes a first pulse power module that is initially turned on and a second pulse power module that is controlled to be turned on, when a projectile is transmitted, the first pulse power module is first turned on, and in a process of transmitting the projectile along the track, a speed of the projectile passing through a preset detection position of the track is obtained as a detection speed, an actual start time of the second pulse power module is calculated based on the obtained detection speed according to a relational expression between the speed of the projectile passing through the preset detection position and the start time of the second pulse power module, and when the actual start time arrives, the second pulse power module is started. Because the relation is established based on the expected outlet speed of the projectile, the second type pulse power supply module is started when the actual starting moment is reached, the electromagnetic force can be adjusted by changing the total discharge current, and then the compensation of the speed lost by the external interference of the projectile is realized, so that the actual outlet speed of the projectile can be controlled to reach the expected outlet speed of the projectile, the deviation is reduced, and the accurate control of the outlet speed of the projectile is realized.
The method provided by the present application is described in detail below with specific embodiments in conjunction with the accompanying drawings.
The embodiment of the present application further provides a method for controlling a projectile velocity of an orbital electromagnetic launcher, as shown in fig. 2, which may include the following steps:
and step 21, starting a first type pulse power supply module of a power supply of the track type electromagnetic transmitter.
In the embodiment of the application, a plurality of pulse power supply modules of a power supply are divided into a first type pulse power supply module which is started initially and a second type pulse power supply module which is started in a controlled manner, when a shot is launched, the first type pulse power supply module is started first, and after the first type pulse power supply module is started, the initial electromagnetic force generated by the first type pulse power supply module can overcome the maximum static friction force borne by the shot, so that the shot can be triggered to be launched and start to move along a track.
In the embodiment of the present application, the Pulse power supply module of the power supply may be various known Pulse power supply modules, for example, a PFU (Pulse Forming Unit).
The number of the pulse power supply modules, the number of the first type of pulse power supply modules and the number of the second type of pulse power supply modules can be flexibly set according to the type and power supply energy of the pulse power supply modules, the propelling force to the projectile and other factors required in practical application. For example, 10 pulse power supply modules are included, wherein 7 pulse power supply modules are of a first type and 3 pulse power supply modules are of a second type, and the first type is started initially and the second type is started in a controlled mode.
And step 22, acquiring the speed of the projectile passing through the preset detection position of the track type electromagnetic emitter as the detection speed.
In the embodiment of the application, in the process that the projectile moves along the track, the speed of the projectile passing through the preset detection position of the track can be detected as the detection speed. In particular, a tachometer sensor may be used to detect the speed of the projectile at a predetermined detection location, for example, using a tachometer probe.
The preset detection position of the track in the embodiment of the application can be flexibly set based on factors such as the length of the track, the speed of the projectile and the like in practical application, and for example, the preset detection position can be 40% -50% of the length from the initial position of the projectile to the outlet position of the projectile.
And 23, calculating a speed difference value between the acquired detection speed and a preset speed.
The preset speed is the speed of the expected projectile reaching the preset detection position, and the speed difference between the detection common language and the preset speed reflects the condition of external interference in the unit movement process.
And step 24, determining whether the speed difference value is greater than a preset speed difference value threshold value, if so, executing step 25, and if not, executing step 27.
In this embodiment of the application, the preset speed difference threshold may be flexibly set based on the requirement of the outlet speed control precision in practical application, for example, in order to achieve higher control precision, the preset speed difference threshold may be set to 0.
And 25, calculating the actual starting time of the second-class pulse power supply module based on the obtained detection speed according to a pre-established relational expression between the speed of the projectile passing through the preset detection position and the starting time of the second-class pulse power supply module.
In the embodiment of the application, the relation is established based on the desired projectile exit velocity.
And step 26, when the actual starting time is reached, starting a second-class pulse power supply module of the power supply.
And 27, when the speed difference value is not greater than the preset speed difference value threshold value, starting the second type pulse power supply module when the preset starting time is reached.
The preset starting time can be preset based on a scene in practical application, and when the speed difference value is not greater than the preset speed difference value threshold value, the second-class pulse power supply module is started at the preset starting time, so that the outlet speed of the projectile can be ensured, and the expected projectile outlet speed can be accurately reached.
In other embodiments of the present application, the present step may also be performed as follows:
based on the scene in practical application, if the speed difference value is not greater than the preset speed difference value threshold value, the outlet speed of the projectile can be ensured, and the expected projectile outlet speed is accurately reached, then the second type of pulse power supply module can be cancelled.
In the method shown in fig. 2, an expected speed at which the projectile arrives at the preset detection position is preset as a preset speed, and after the detection speed is obtained, a speed difference between the detection speed and the preset speed is calculated, and further, whether the actual starting time of the second-type pulse power supply module needs to be calculated is determined based on a result of whether the speed difference is greater than a preset speed difference threshold value, so that the control on the projectile outlet speed is more accurate and more efficient.
In the research on the method for controlling the projectile velocity of the track type electromagnetic launcher provided in the embodiment of the present application, in order to illustrate the effectiveness of the method, the inventors conducted experimental studies, and the following detailed description is given below:
since there is a mature research theory for the capacitive energy storage type pulse power supply, in the experimental research, a PFU is used as a pulse power supply module, and a PFU of an equivalent circuit diagram as shown in fig. 3-1 is adopted, and the PFU mainly comprises an energy storage capacitor C, a main switch K, a wave regulating inductor L, a freewheeling diode D and a freewheeling resistor Rd.
Wherein, each device mainly functions as follows:
the energy storage capacitor C is used as an energy storage element to provide energy for the system; the main switch K is used for controlling the on and off of a system discharge loop, and generally adopts a high-power switching device, such as an SCR (Silicon Controlled Rectifier), a TVS (triggered vacuum switch), and the like; the wave modulation inductor L is used for modulating the pulse current waveform; the freewheeling diode D provides a loop for releasing the residual energy in the wave-regulating inductor L and simultaneously prevents the energy-storage capacitor C from being reversely charged; the freewheeling resistor Rd adjusts the falling speed of the load current in the freewheeling stage of the wave-regulating inductor L.
In order to obtain a higher Pulse current amplitude value of the system, the power supply part can adopt a Pulse Forming Network (PFN) formed by connecting a plurality of PFUs in parallel, an electromagnetic emitter is connected in for supplying power to a load of the electromagnetic emitter, the electromagnetic emitter and the Pulse forming network form an electromagnetic emission system, and then an equivalent circuit diagram of the electromagnetic emission system shown in fig. 3-2 and a simplified equivalent circuit model of the electromagnetic emission system shown in fig. 3-3 can be obtained, so that the total current output by the Pulse forming network not only has a higher Pulse current amplitude value, but also can achieve the purpose of flexibly adjusting the Pulse current by changing a discharge time sequence.
In the above-mentioned FIGS. 3-2 and 3-3, E (t), R (t) and L (t) constitute a load.
Further, in order to study the characteristics of the current waveforms of the PFUs at different starting times, experimental studies were performed according to the experimental parameters shown in table 1 below and the starting times of the 10 PFUs provided in table 2, and the current waveforms obtained at different discharge timings are shown in fig. 4-1, and the shot discharging times and the shot outlet speeds at different starting times are shown in fig. 4-2 and 4-3, respectively. Therefore, the discharge current waveform can be flexibly adjusted by adjusting the starting time of the PFU.
Table 1: experimental parameters
Table 2: PFU starting time
As can be seen from the current waveform shown in fig. 4-1, the current value increases after the PFU is started, and the total current value increases as the start timing of the PFU is earlier.
From the moment of projectile discharge shown in fig. 4-2 and the projectile exit velocity shown in fig. 4-3, the earlier the PFU is started, the earlier the projectile discharge moment is, the greater the projectile exit velocity is.
The distance from the location of the projectile at the start-up time of the PFU to the exit location of the track achieves additional compensation of the projectile velocity by starting the PFU of the second type, so this distance can be defined as an additional compensation segment, and fig. 4-4 are graphs of the start-up time of the PFU of the second type in relation to the additional compensation segment, from which it can be seen that the start-up time is inversely related to the additional compensation segment, i.e. the earlier the start-up time, the larger the additional compensation segment.
From the experimental study, it can be known that after the projectile starts to be launched, the second-class pulse power supply module is started at a proper moment, so that the compensation of speed loss caused by external interference on the projectile can be realized, the effective control on the projectile outlet speed is realized, and the deviation from the expected projectile outlet speed is reduced.
Further, in the embodiment of the present application, a relationship between the speed of the projectile passing through the preset detection position and the start time of the second type pulse power supply module, which is pre-established in the method, is refined, and the detailed description is as follows:
first, in the embodiment of the present application, a mathematical model between the starting time of the second type pulse power supply module and the projectile outlet speed is established, as shown in fig. 5-1, where x0Is the starting position of the projectile, t0The starting time of the projectile, namely the zero time;
x is a preset detection position, a speed measuring probe can be arranged at the preset detection position, namely, the speed measuring probe is far away from the initial position x of the projectile0T is the moment when the projectile passes x, VmeaThe detection speed of the projectile at a preset detection position x;
T0a preset starting moment for the second type pulse power supply module, the preset starting moment being predetermined before the power supply discharges S0Is a preset starting time T for starting the second type pulse power supply module0Corresponding position of the predetermined trigger point, V0To be at a preset starting moment T0The speed of the projectile;
Ttrigis the actual starting time, S, of the second type pulse power supply moduletrigFor the projectile and the starting position x of the projectile at the actual starting moment0Distance of (V)trigThe speed of the projectile at the actual starting moment;
Tendthe moment when the projectile reaches the exit of the track, SendDistance of the track outlet from the starting position of the projectile, VendIs the final exit velocity of the projectile.
Wherein S istrigTo SendS distance ofaAre additional compensation segments. In the actual emission test, TtrigIs in a range within which T istrigThe value of (2) can be flexibly adjusted.
At TtrigAfter the moment, because the change range of the track current is small, the movement of the projectile is approximately uniform acceleration movement, and the T-axis velocity of the projectile can be deducedtrigThe velocity during the time period from time to time out of the bore is as follows:
V(t)＝Vtrig+a(t-Ttrig)；
the final derivation is simplified to obtain:
defining the projectile exit velocity VendWith respect to SaThe first derivative value of (a) is the velocity correction factor H, which describes the effect of the change in the additional compensation phase on the exit velocity, i.e.:
in the examples of the present application, the projectile goes from x to StrigThe time of the projectile is very short, and the projectile motion is similar to the velocity VmeaThe uniform motion of the roller. According to the definition of the speed correction factor H, S0And StrigThe distance between them is:
wherein Δ V is VmeaAnd a preset speed, the preset speed being the speed at which the desired projectile reaches the preset detection position;
so that the projectile goes from x to StrigThe required time is as follows:
and finally obtaining the actual starting time of the second type of pulse power supply module as follows:
in the above formula, only t and VmeaThe value of (a) is detected during the movement of the projectile, and other parameters can be obtained in advance.
Further, in the embodiment of the present application, as shown in fig. 5-2, there may be a first preset detection position x specifically1And a second preset detection position x2，t1The time length t of the projectile reaching the first preset detection position after starting2The duration of the projectile reaching the second preset detection position from the start is described.
To the detection of the speed that the shot reachd and predetermine the detection position, can adopt B probe sensor, predetermine the detection position at first and second and predetermine the detection position and set up corresponding B probe sensor respectively, it is corresponding, produce induced voltage when the shot passes through B probe sensor, under the known condition of distance (as little as possible) between two adjacent B probe sensors, through measuring the time difference between the induced voltage, can measure the average speed that the shot passes through the distance between two B probe sensors, the average speed that the shot passes through first predetermined detection position to the second predetermined detection position promptly, as the detection speed that the shot passes through predetermined detection position (being equivalent to the second predetermined detection position):
accordingly, the method can be used for solving the problems that,
in the above relation, the velocity correction factor H and the preset trigger point position S0Can be obtained in advance through experiments, and is described in detail as follows:
first, in order to facilitate comparison with the projectile velocity control method provided in the embodiment of the present application, an open-loop control experiment of the projectile exit velocity is performed to obtain open-loop control experiment data. The experimental parameters are shown in table 3 below:
| experimental parameters | Numerical value |
| Number of PFUs (platform) | 10 |
| Number of PFUs of the first type started at |
7 |
| Number of PFUs of the |
3 |
| Preset starting time T of second-class PFU0(us) | 2050 |
| Charging voltage U (V) | 2000 |
| Quality of pill (g) | 8.2 |
| Track length (m) | 1.8 |
| Distance x between |
0.595 |
| Distance x between |
0.6 |
| Desired projectile exit velocity Vset(m/s) | 900 |
| The projectile passing through a predetermined detection positionDesired average velocity Ve(m/s) | 685.2 |
Table 3: experimental parameters
The experiment parameters shown in the above table 3 were used to perform 10 experiments according to the preset starting time T of the second type PFU0Experimental data were obtained as in table 4 below:
| number of experiments | Δt(us) | Vmea(m/s) | Vmuzzle(m/s) |
| |
77.9 | 724.6 | 940.3 |
| |
78.8 | 716.6 | 935.5 |
| |
77.9 | 724.6 | 943.4 |
| |
79.9 | 706.6 | 928.6 |
| Experiment 5 | 80.5 | 700.6 | 909.2 |
| |
80.8 | 698.0 | 905.3 |
| |
79.8 | 706.9 | 920.4 |
| |
78.2 | 721.8 | 937.4 |
| Experiment 9 | 78.8 | 716.1 | 932.6 |
| |
80.3 | 702.4 | 898.8 |
Table 4: experimental data
In Table 4,. DELTA.t is t2-t1Value of (A), VmuzzleIs the actual projectile exit velocity.
Average of 10 experimental projectile exit velocities based on the experimental data in Table 4
Comprises the following steps:
further, the average deviation rate of the projectile exit velocity is obtained:
wherein ADmuzzleIs the mean deviation of velocity, is the projectile exit velocity VmuzzleThe average difference of (d) is calculated using the following formula:
based on the experimental data in the above table 4, the outlet velocity deviation analysis chart shown in fig. 6-1 can be obtained, from which it can be seen that the outlet velocity has a large fluctuation under the external disturbance.
In the experiments shown in tables 3 and 4 above, the preset starting time T of the second type PFU0Is fixed, in the embodiment of the present application, in order to calculate the velocity correction factor H and the preset trigger point position S0The preset starting time T of a plurality of different PFUs of the second type can be set0The other parameters were the same as those in table 3, and the experimental data obtained were as shown in table 5 below:
| number of experiments | T0(us) | Sa(m/s) | Vend(m/s) |
| |
1570 | 1.005 | 974.81 |
| |
1690 | 0.99 | 975.18 |
| |
1767 | 0.935 | 962.04 |
| |
1840 | 0.88 | 945.66 |
| Experiment 5 | 1907 | 0.825 | 941.98 |
| |
1980 | 0.77 | 935.65 |
| |
2046 | 0.715 | 921.91 |
| |
2110 | 0.66 | 909.09 |
| Experiment 9 | 2185 | 0.605 | 901.85 |
| |
2260 | 0.55 | 895.77 |
| |
2325 | 0.495 | 881.78 |
| |
2400 | 0.44 | 870.00 |
Table 5: experimental parameters and data
In the embodiment of the present application, the preset trigger point position S is defined0It may be a value actually detected in an experiment, for example, probe sensors may be provided in advance at a plurality of positions on the track, and the timing at which the shot passes each probe sensor may be detected,therefore, a relation curve of the position and the time of the projectile is fitted, further, the position corresponding to the projectile at a certain moment can be calculated based on the fitted relation curve of the position and the time, and correspondingly, the preset starting moment T is calculated based on the requirement0Corresponding preset trigger point position S0And further calculates SendSubtract S0The difference of (a) is Sa。
In the embodiment of the present application, various methods that are feasible for using the probe sensor to perform detection and how to fit the position-versus-time curve of the projectile may be used, and will not be described in detail herein by way of example.
In obtaining the experimental data S in the above Table 5aThen, H can be calculated according to the following formula:
based on the experimental data in table 5 above, the following relationships can be obtained according to the above equations:
Vend＝182.4×Sa+791.5；
from this, H is 182.4.
After the velocity correction factor H is obtained through experimental calculation, it can be used to control the outlet velocity of the projectile during the actual launch of the projectile, which is performed experimentally in the embodiment of the present application and described in detail as follows:
the experimental parameters are shown in table 6 below:
| experimental parameters | Numerical value |
| Number of PFUs (platform) | 10 |
| Number of PFUs of the first type started at |
7 |
| Number of PFUs of the |
3 |
| Preset starting time T of second-class PFU0(us) | 2050 |
| Charging voltage U (V) | 2000 |
| Quality of pill (g) | 8.2 |
| Track length (m) | 1.8 |
| Distance x between |
0.595 |
| Distance x between |
0.6 |
| Desired projectile exit velocity Vset(m/s) | 925.7 |
| Expected average velocity V of projectile passing through preset detection positione(m/s) | 685.2 |
| Velocity correction factor H | 182.4 |
| Presetting trigger point position S0(m) | 1.02 |
Table 6: experimental parameters
Substituting the parameters into the formula for calculating the actual starting time can obtain the following control expression:
Tdelay＝-65×(t2-t1)+5482＝-65×Δt+5482；
using the experimental parameters shown in table 5, 10 experiments were performed by using the projectile velocity control method provided in the embodiment of the present application, and the following experimental data were obtained in table 7:
table 7: the experimental data are based on the experimental data in Table 7, the average of the projectile exit velocities of 10 experiments
Comprises the following steps:
further, the average deviation rate of the projectile exit velocity is obtained:
based on the experimental data in the above table 7, the exit velocity deviation analysis chart shown in fig. 6-2 can be obtained, from which it can be seen that the fluctuation of the exit velocity in the presence of the external disturbance is reduced, that is, the accuracy of controlling the exit velocity of the shot is improved, as compared with fig. 6-1.
Based on the same inventive concept, according to the method for controlling projectile velocity of a track-type electromagnetic launcher provided in the above embodiment of the present application, correspondingly, another embodiment of the present application further provides a device for controlling projectile velocity of a track-type electromagnetic launcher, a power supply of the track-type electromagnetic launcher includes a plurality of pulse power modules, the plurality of pulse power modules includes a first type pulse power module which is initially turned on and a second type pulse power module which is turned on in a controlled manner, and a schematic structural diagram of the device is shown in fig. 7-1, and specifically includes:
the speed acquisition module 71 is configured to acquire, as a detection speed, a speed at which a projectile passes through a preset detection position of a track of the track-type electromagnetic transmitter after the projectile is triggered to start to be launched by starting the first-type pulse power supply module of the power supply;
the time calculation module 72 is configured to calculate an actual starting time of the second-type pulse power supply module based on the detection speed according to a pre-established relational expression between a speed of the projectile passing through the preset detection position and a starting time of the second-type pulse power supply module, where the relational expression is established based on an expected projectile outlet speed;
and the starting module 73 is configured to start the second-class pulse power supply module of the power supply when the actual starting time is reached.
Further, as shown in fig. 7-2, the method further includes:
a speed difference calculation module 74, configured to calculate a speed difference between the detection speed and a preset speed, where the preset speed is a speed at which the expected projectile reaches the preset detection position;
the time calculation module 72 is specifically configured to calculate an actual starting time of the second-class pulse power supply module based on the detection speed when the speed difference is greater than a preset speed difference threshold.
Further, the starting module 73 is further configured to start the second-class pulse power supply module of the power supply when the speed difference is not greater than the preset speed difference threshold and a preset starting time is reached.
Further, the time calculating module 72 is specifically configured to calculate, based on the detection speed, an actual starting time of the second-class pulse power supply module by using the following formula:
wherein, TtrigRepresenting the actual starting time, which is the time length from the starting time of the projectile to pass, t is the time length from the starting time of the projectile to the preset detection position, and S0Is the position of a preset trigger point corresponding to the preset starting time for starting the second-class pulse power supply module, x is the distance from the starting position of the projectile to the preset detection position, delta V is the speed difference between the detection speed and the preset speed, VmeaAnd H is a speed correction factor and is a derivative value of the projectile outlet speed relative to an additional compensation section, wherein the additional compensation section is the distance from the position of the projectile to the outlet position of the track at the actual starting moment.
Further, the speed obtaining module 71 is specifically configured to obtain a time when the projectile passes through a first preset detection position of the track-type electromagnetic launcher as a first detection time, and a time when the projectile passes through a second preset detection position as a second detection time;
the above-mentioned
The concrete formula is as follows:
wherein, t1The first detection time is represented as the time length t of the projectile reaching the first preset detection position after the projectile is started2The second detection time is represented as the time length x of the projectile reaching the second preset detection position after starting1For the distance, x, from the start position of the projectile to said first predetermined detection position2Is the distance from the start position of the projectile to the second preset detection position.
Further, the pulse power supply module included in the power supply is a pulse shaping unit PFU.
The functions of the above modules may correspond to the corresponding processing steps in the flows shown in fig. 1 or fig. 2, and are not described herein again.
The embodiment of the present application further provides an electronic device, as shown in fig. 8, including a processor 81, a communication interface 82, a memory 83 and a communication bus 84, where the processor 81, the communication interface 82 and the memory 83 complete mutual communication through the communication bus 84;
a memory 83 for storing a computer program;
the processor 81 is configured to implement any one of the above-described methods for controlling the projectile velocity of the track-type electromagnetic launcher when executing the program stored in the memory 83.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
Embodiments of the present application also provide a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements any one of the above-mentioned method for controlling projectile velocity of a track-type electromagnetic launcher.
In yet another embodiment provided herein, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the method of any one of the above-described method of projectile velocity control of a track-type electromagnetic launcher.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for embodiments such as apparatuses, electronic devices, and storage media, since they are substantially similar to the method embodiments, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiments.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A method for controlling the projectile velocity of a track type electromagnetic launcher is characterized in that a power supply of the track type electromagnetic launcher comprises a plurality of pulse power supply modules, wherein the plurality of pulse power supply modules comprise a first type pulse power supply module which is started initially and a second type pulse power supply module which is started in a controlled mode, and the method comprises the following steps:
after a first type pulse power supply module of the power supply is started to trigger a projectile to start launching, acquiring the speed of the projectile passing through a preset detection position of a track of the track type electromagnetic launcher to serve as a detection speed;
calculating the actual starting time of the second type pulse power supply module based on the detection speed according to a pre-established relational expression between the speed of the projectile passing through the preset detection position and the starting time of the second type pulse power supply module, wherein the relational expression is established based on the expected projectile outlet speed;
and when the actual starting moment is reached, starting the second-class pulse power supply module of the power supply.
2. The method of claim 1, wherein prior to said calculating an actual start-up time of said second type of pulsed power supply module based on said detected speed, further comprising:
calculating a speed difference value between the detection speed and a preset speed, wherein the preset speed is the expected speed of the projectile reaching the preset detection position;
and when the speed difference value is larger than a preset speed difference value threshold value, executing the step of calculating the actual starting moment of the second-class pulse power supply module based on the detection speed.
3. The method of claim 2, wherein the second type of pulsed power supply module of the power supply is started when a preset start time is reached when the speed difference is not greater than the preset speed difference threshold.
4. A method according to any one of claims 1 to 3, wherein calculating the actual activation time of the pulse power supply module of the second type based on the detected velocity according to a pre-established relationship between the velocity of the projectile passing the preset detection position and the activation time of the pulse power supply module of the second type comprises:
based on the detection speed, calculating the actual starting time of the second type pulse power supply module by adopting the following formula:
wherein, TtrigRepresenting the actual starting time, which is the time length from the starting time of the projectile to pass, t is the time length from the starting time of the projectile to the preset detection position, and S0Is the position of a preset trigger point corresponding to the preset starting time for starting the second-class pulse power supply module, x is the distance from the starting position of the projectile to the preset detection position, delta V is the speed difference between the detection speed and the preset speed, VmeaAnd H is a speed correction factor and is a derivative value of the projectile outlet speed relative to an additional compensation section, wherein the additional compensation section is the distance from the position of the projectile to the outlet position of the track at the actual starting moment.
5. The method of claim 4, wherein acquiring the velocity of the projectile passing through the preset detection position of the trajectory-type electromagnetic launcher as the detection velocity comprises:
acquiring the moment when the projectile passes through a first preset detection position of the track type electromagnetic transmitter as a first detection moment, and acquiring the moment when the projectile passes through a second preset detection position as a second detection moment;
the above-mentioned
The concrete formula is as follows:
wherein, t1The first detection time is represented as the time length t of the projectile reaching the first preset detection position after the projectile is started2The second detection time is represented as the time length x of the projectile reaching the second preset detection position after starting1For the distance, x, from the start position of the projectile to said first predetermined detection position2Is the distance from the start position of the projectile to the second preset detection position.
6. The method of claim 1, wherein the power supply comprises a pulse power module that is a pulse shaping unit (PFU).
7. A projectile velocity control device for a track type electromagnetic launcher, wherein a power supply of the track type electromagnetic launcher comprises a plurality of pulse power modules, the plurality of pulse power modules comprises a first type pulse power module which is initially turned on and a second type pulse power module which is controlled to be turned on, the device comprises:
the speed acquisition module is used for acquiring the speed of the projectile passing through a preset detection position of the track type electromagnetic transmitter as a detection speed after the projectile is triggered to start and launch by starting the first type pulse power supply module of the power supply;
the time calculation module is used for calculating the actual starting time of the second type pulse power supply module based on the detection speed according to a pre-established relational expression between the speed of the projectile passing through the preset detection position and the starting time of the second type pulse power supply module, wherein the relational expression is established based on the expected projectile outlet speed;
and the starting module is used for starting the second-class pulse power supply module of the power supply when the actual starting moment is reached.
8. The apparatus of claim 7, further comprising:
a speed difference value calculating module, configured to calculate a speed difference value between the detection speed and a preset speed, where the preset speed is a speed at which the expected projectile reaches the preset detection position;
and the judging module is used for triggering the time calculating module to execute the step of calculating the actual starting time of the second-class pulse power supply module based on the detection speed when the speed difference value is greater than a preset speed difference value threshold value.
9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method of any one of claims 1 to 6 when executing a program stored in a memory.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 1 to 6.
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Application publication date: 20201117 |