CN112340020B - Method and system for adjusting air-drop gravity center of ammunition box - Google Patents
Method and system for adjusting air-drop gravity center of ammunition box Download PDFInfo
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- CN112340020B CN112340020B CN202011286131.2A CN202011286131A CN112340020B CN 112340020 B CN112340020 B CN 112340020B CN 202011286131 A CN202011286131 A CN 202011286131A CN 112340020 B CN112340020 B CN 112340020B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/10—Stowage arrangements for the devices in aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
Abstract
The invention discloses a method and a system for adjusting the air-drop gravity center of an ammunition box. The method comprises the following steps: initializing an ammunition box arrangement mode; the initial arrangement mode of ammunition boxes is as follows: all the solid boxes are arranged below, the empty box is arranged above, and all the upper solid boxes are arranged near one end in the tail direction; at most, only one layer of existing solid boxes and empty boxes is provided; calculating the integral gravity center of all the ammunition boxes in an ideal state by using a moment balance formula to obtain the ideal cargo gravity center; searching the real box and the empty box according to a preset searching mode and exchanging positions; calculating the integral gravity center of all the ammunition boxes after each exchange position; determining the optimal arrangement mode as the arrangement mode when the error between the overall gravity centers of all the ammunition boxes and the ideal cargo gravity center is the minimum after the exchange position; and stacking the ammunition boxes according to the optimal arrangement mode. The invention solves the time consuming link in the process of reloading and airdrop by using the computer, avoids repeated binding and hoisting measurement adjustment, saves a large amount of time for actual operation and improves the airdrop guarantee efficiency.
Description
Technical Field
The invention relates to the field of reloading and air dropping, in particular to a method and a system for adjusting the air dropping gravity center of an ammunition box.
Background
In the process of airdrop of heavy equipment materials (called as reloading airdrop for short) on an airplane, in order to keep the equipment materials in the optimal off-plane posture when the equipment materials are off-plane, thereby ensuring the safety of the airplane, the airdrop materials and personnel, the turning angle of the equipment materials along with the whole cargo bed is generally required to be between-55 degrees and-105 degrees, the optimal gravity center position of the materials and the whole cargo bed is required to be between 55 percent and 59 percent of the total length of the cargo bed, and therefore before the airdrop is implemented, the gravity center of the cargo bed bearing the equipment materials is required to be adjusted, namely, the distance from the gravity center point of the whole cargo bed and the weapon equipment on the cargo bed to the front edge (the direction of a traction lock) of the cargo bed is adjusted.
The method for adjusting the center of gravity of a large ammunition box commonly used in the industry at present is that aiming at a certain specific ammunition box and a certain specific weight, the ammunition box is roughly stacked on a cargo bed, then the cargo bed is lifted by a crane, the cargo bed is adjusted horizontally by adjusting the length of a hanging rope, then the position of the center of gravity is measured by a plumb line, and if the requirement that the length accounts for 55 to 59 percent of the total length of the cargo bed is met, the stacking mode of the ammunition box of the successful case is recorded; if not, commanding the crane to put down the cargo bed, readjusting the stacking mode of the ammunition boxes, then hoisting again for measurement, and repeating the process until the position of the center of gravity meets the requirement. The gravity center adjusting operation can be used for taking the placing mode of the past successful case as reference if the same conditions are met. This practice is effective in performing repeated operations that are sometimes repeated, and can be difficult to perform once new ammunition cases, new cargo beds, and different airdrop weight requirements are met. In addition, in the aspect of center of gravity fine adjustment, an empirical algorithm is generally adopted, wherein the center line of the front part and the rear part of the cargo bed is halved, if the front weight and the rear weight are different by 100kg, the center of gravity deviates 10mm, and empty boxes or weights are moved or the weights are increased or decreased according to the principle. This experience-based fine tuning algorithm is only for a particular aerial delivery platform, is substantially effective when the boxes are near the front and rear edges of the pallet, and has a certain error, but is substantially ineffective for aerial delivery platforms of different models and sizes, and when the boxes are transported to a position near the centerline of the pallet. Therefore, when new situations never occurred in the past are encountered, the traditional experience-based method can only return to the cycle of lifting the cargo bed for a plurality of times and adjusting the measurement, and is time-consuming and labor-consuming.
Disclosure of Invention
The invention aims to provide a method and a system for adjusting the air-drop gravity center of an ammunition box, which are used for quickly adjusting the air-drop gravity center of the ammunition box and are time-saving and labor-saving.
In order to achieve the purpose, the invention provides the following scheme:
a method for adjusting the air-drop center of gravity of a cartridge case comprises the following steps:
initializing an ammunition box arrangement mode; the initial arrangement mode of ammunition boxes is as follows: all the solid boxes are arranged below, the empty box is arranged above, and all the upper solid boxes are arranged near one end in the tail direction; at most, only one layer of existing solid boxes and empty boxes is provided;
calculating the integral gravity center of all the ammunition boxes in an ideal state by using a moment balance formula to obtain the ideal cargo gravity center;
searching the real box and the empty box according to a preset searching mode and exchanging positions;
calculating the integral gravity center of all the ammunition boxes after each exchange position;
determining the optimal arrangement mode as the arrangement mode when the error between the overall gravity centers of all the ammunition boxes and the ideal cargo gravity center is the minimum after the exchange position;
and stacking the ammunition boxes according to the optimal arrangement mode.
Optionally, the method further comprises: and performing displacement compensation on all the whole ammunition boxes in the optimal arrangement mode.
Optionally, the initializing cartridge box arrangement specifically includes:
initializing the number of rows and columns of the placed ammunition boxes, and calculating the total weight of all the ammunition boxes;
calculating the value range of the stacking layer number of the ammunition box;
calculating the number of empty boxes and the number of real boxes according to the number of rows, the number of columns and the total weight;
and initializing the arrangement mode of the ammunition boxes according to the value range of the stacking layer number of the ammunition boxes, the line number, the column number, the empty box number and the real box number.
Optionally, the arrangement of the ammunition boxes has a limitation condition, and the limitation condition comprises: the bearing bottom of the ammunition box can not exceed the edge of the cargo bed, the bottom edge of the ammunition box can not press a tying point, the stacking height of the ammunition box needs to exceed the hanging rack of the cargo bed, and the total height of the delivery parachute, the ammunition box and the cargo bed can not exceed the height limit of the airplane.
Optionally, the calculation formula of the ideal cargo center of gravity is as follows:
Ez×(M0+M31+M1+M41)＝E1×M41+E0×(M0+M31+M1)
wherein E is1Is the center of gravity of the ideal cargo, EzIs an ideal overall center of gravity, M0For the weight of the cargo bed, M31For pulling the lock, M1Heavy metal workpiece, M41For the calculated true weight of all said cartridges, E0Is the actual cargo bed center of gravity.
An ammunition box air-drop center of gravity adjustment system comprising:
the initialization module is used for initializing the arrangement mode of the ammunition boxes; the initial arrangement mode of ammunition boxes is as follows: all the solid boxes are arranged below, the empty box is arranged above, and all the upper solid boxes are arranged near one end in the tail direction; at most, only one layer of existing solid boxes and empty boxes is provided;
the ideal cargo center of gravity calculation module is used for calculating the integral center of gravity of all the ammunition boxes in an ideal state by utilizing a moment balance formula, and the integral center of gravity is the ideal cargo center of gravity;
the exchange module is used for searching the real box and the empty box according to a preset searching mode and exchanging positions;
the gravity center calculating module is used for calculating the overall gravity center of all the ammunition boxes after each exchange position;
the optimal arrangement mode determining module is used for determining that the arrangement mode when the error between the overall gravity centers of all the ammunition boxes after the position exchange and the ideal cargo gravity center is minimum is the optimal arrangement mode;
and the result display module is used for displaying the optimal arrangement mode.
Optionally, the method further comprises:
and the displacement compensation module is used for carrying out displacement compensation on all the whole ammunition boxes in the optimal arrangement mode.
Optionally, the initialization module specifically includes:
the first initialization unit is used for initializing the number of rows and the number of columns of the placed ammunition boxes and calculating the total weight of all the ammunition boxes;
the value range calculation unit is used for calculating the value range of the stacking layer number of the ammunition boxes;
the box number calculating unit is used for calculating the number of empty boxes and the number of real boxes according to the number of rows, the number of columns and the total weight;
and the second initialization unit is used for initializing the arrangement mode of the ammunition boxes according to the value range of the stacking layer number of the ammunition boxes, the line number, the column number, the empty box number and the real box number.
Optionally, the arrangement of the ammunition boxes has a limitation condition, and the limitation condition comprises: the bearing bottom of the ammunition box can not exceed the edge of the cargo bed, the bottom edge of the ammunition box can not press a tying point, the stacking height of the ammunition box needs to exceed the hanging rack of the cargo bed, and the total height of the delivery parachute, the ammunition box and the cargo bed can not exceed the height limit of the airplane.
Optionally, the calculation formula of the ideal cargo center of gravity is as follows:
Ez×(M0+M31+M1+M41)＝E1×M41+E0×(M0+M31+M1)
wherein E is1Is the center of gravity of the ideal cargo, EzIs an ideal overall center of gravity, M0For the weight of the cargo bed, M31For pulling the lock, M1Heavy metal workpiece, M41For the calculated true weight of all said cartridges, E0Is the actual cargo bed center of gravity.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
1. the computer is used for solving the time consuming link in the process of reloading and air-drop, so that repeated binding and hoisting measurement adjustment are avoided, a large amount of time is saved for actual operation, and the air-drop guarantee efficiency is improved.
2. The method fully considers the cautions such as airplane height limit, cargo platform hanging rack height, mooring point reserved space and the like in the actual air-drop process, and can be directly applied and used for guiding actual operation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of a method for adjusting the drop center of gravity of a cartridge case according to an embodiment of the present invention;
FIG. 2 is an initial stacking pattern for a cartridge;
FIG. 3 illustrates a live ammunition chest search mode;
FIG. 4 illustrates a method for empty magazine searching;
FIG. 5 is a schematic illustration of an exchange cartridge position;
fig. 6 is a block diagram showing the structure of a system for adjusting the center of gravity of an empty cartridge container according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method and a system for adjusting the air-drop gravity center of an ammunition box, which are used for quickly adjusting the air-drop gravity center of the ammunition box and are time-saving and labor-saving.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, a method for adjusting the center of gravity of an airdrop of a cartridge includes:
step 101: as shown in fig. 2, the cartridge arrangement is initialized; the initial arrangement mode of ammunition boxes is as follows: all the solid boxes are arranged below, the empty box is arranged above, and all the upper solid boxes are arranged near one end in the tail direction; at most, there is only one layer with both solid and empty boxes. The method specifically comprises the following steps:
step 1011: initializing the number of rows and columns of the put ammunition boxes and calculating the total weight of all the ammunition boxes.
Step 1012: and calculating the value range of the stacking layer number of the ammunition box.
Step 1013: and calculating the number of empty boxes and the number of real boxes according to the number of rows, the number of columns and the total weight.
Step 1014: and initializing the arrangement mode of the ammunition boxes according to the value range of the stacking layer number of the ammunition boxes, the line number, the column number, the empty box number and the real box number.
The stacking initial stacking mode needs to meet three limiting conditions in the binding and mooring process, namely: firstly, the bottom of the load bearing of the goods can not exceed the edge of the goods platform, so that the goods are prevented from being separated from the goods platform in the air drop process; secondly, the bottom edge of the goods can not press the tying point, and the stacking height of the goods exceeds the goods platform hanging frame, so that the goods can be tied and bound conveniently; thirdly, the total height of the object-throwing umbrella, the goods and the goods platform cannot exceed the height limit of the airplane, otherwise, the installation cannot be carried out.
Step 102: and calculating the integral gravity center of all the ammunition boxes in an ideal state by utilizing a moment balance formula to obtain the ideal cargo gravity center. The calculation formula of the ideal cargo center of gravity is as follows:
Ez×(M0+M31+M1+M41)＝E1×M41+E0×(M0+M31+M1)
wherein E is1Is the center of gravity of the ideal cargo, EzIs an ideal overall center of gravity, M0For the weight of the cargo bed, M31For pulling the lock, M1Heavy metal workpiece, M41For the calculated true weight of all said cartridges, E0Is the actual cargo bed center of gravity.
Step 103: and searching the real box and the empty box according to a preset searching mode and exchanging positions. From top to bottom, the real box is searched from the front (the direction of the towing lock) to the back, and as shown in fig. 3, the searched real box position is recorded. And searching the empty boxes from the back to the front from top to bottom, recording the positions of the searched empty boxes to form empty-real box pairs as shown in figure 4, and exchanging the positions of the empty boxes and the real boxes when a pair of empty-real box pairs is searched.
Step 104: the overall center of gravity of all the cartridges after each exchange position is calculated.
The gravity center position of the whole stack and the goods platform is calculated by using a moment balance formula during each exchange
Step 105: and determining the optimal arrangement mode as the arrangement mode when the error between the overall gravity centers of all the ammunition boxes and the ideal cargo gravity center is the minimum after the exchange position.
Step 106: and stacking the ammunition boxes according to the optimal arrangement mode.
The method further comprises the following steps: step 107: and performing displacement compensation on all the whole ammunition boxes in the optimal arrangement mode. The position of the whole stack on the cargo bed is finely adjusted, and due to the discontinuity of the carrying boxes, the weight of a single box can generate a small amount of deviation to the gravity center of the whole stack, so that the position of the whole gravity center of the stack is recalculated in the step, and then the whole stack is subjected to displacement compensation, so that the position of the whole gravity center of the cargo bed and the whole stack accurately falls on the gravity center of an ideal cargo.
And finishing the calculation, and displaying the arrangement mode of each layer of the output ammunition boxes and the distance between the ammunition box stack and the front edge and the left edge of the goods platform.
For really realizing program design, the specific algorithm design idea is as follows:
first, input variables are determined.
Assuming that the total weight of the crane is M, the weight of the cargo bed is M0Cargo bed length htc, cargo bed width htk, cargo bed thickness hth, actual cargo bed center of gravity E0Hanging rack dgj, airplane height limit xg, and metal workpiece weight M1Umbrella weight M2Traction lock weight M31Disengaging the lock weight M32Ideal overall (cargo loading platform) center of gravity EzThe distance between the left edge and the right edge of the stack and the left edge and the right edge of the goods table is not less than (a)1,a2) The distance between the front edge and the rear edge of the stack and the front edge and the rear edge of the goods table is not less than (b)1,b2) Is provided withA selective input variable flag0(0,1) for marking the ammunition box transversely or longitudinally, if flag0The cartridge case is horizontally arranged 0, if flag0The cartridge case is placed longitudinally as 1.
(II) defining several initialization equations or pseudo-code programming modules
The method comprises the following steps: initializing the number of rows and columns of the first layer of ammunition boxes, and calculating the weight of the cargos:
1. if (flag ═ 0) { execute s1＝dyxk；s2Dyxc; horizontal placement of the/ammunition cartridge
2. If (flag ≠ 0) { execute s1＝dyxc；s2Dyxk; longitudinal arrangement of ammunition boxes
3.hs＝floor((htk-a1-a2)/s1) (ii) a // calculating number of rows of boxes, floor () being a rounding down function
4.ls＝floor((htc-b1-b2)/s2) (ii) a // calculate number of ammunition case rows
5.M4＝M-M0-M1-M2-M31-M32(ii) a V/calculating the total weight of the stack
A module II: calculating the value range of the stacking layer number of the boxes:
1.H11＝ceil(M4and/assuming all the pendulum real boxes, calculating how many layers are needed to be put at least.
ceil is an rounding-up function;
2.H12the requirements of ceil (dgj/dyxg)// stacking layer number meet the condition of being higher than the height of the hanging rack;
3.H2floor ((xg-hth)/dyxg)// number of stacking layers is required to meet the condition of being lower than the height limit of the airplane;
4.H1＝max(H11,H12) // stacking layer number H11And H12Maximum value of (d);
module III: and solving the number of empty boxes and the number of real boxes. Let the number of real boxes be x, the number of empty boxes be y:
1. solving a linear equation of two
V/obtaining the number x of real boxes and the number y of empty boxes
X ═ floor (x); y ═ hs ═ ls ═ h-x; where the number of solved bins is an integer, since it may be the case that the number of solved bins is a decimal number
3.M41Calculating the true weight of the stack once again
A module IV: calculating the position E of the center of gravity of the goods relative to the goods platform in the abscissa direction under the ideal state by using a moment balance formula1：
Ez×(M0+M31+M1+M41)＝E1×M41+E0×(M0+M31+M1) Can find E1
A module fifth step: initializing a box arrangement mode:
in order to make the integral gravity center of the ammunition box-cargo bed deviate from the cargo bed departure direction and make the algorithm smoothly proceed, the initial arrangement mode of the ammunition box is as follows: all the solid boxes are arranged below, the empty box is arranged above, and all the upper solid boxes are arranged near one end in the tail direction; at most, there is only one layer with both solid and empty boxes.
1. Firstly, an integer three-dimensional matrix flag with elements of 0 and 1 [ ] [ ] is defined to represent the arrangement mode of empty boxes and solid boxes, and three dimensions respectively represent the rows, columns and layers of stacking and stacking of ammunition boxes
flag ═ ones [ hs ] [ ls ] [ h ]; v/initialize the three-dimensional matrix, with all internal element assignments of 1, ones being the assignment function assigning matrix elements to 1
2. Setting an intermediate variable h1＝h；
3. Entering into circulation (when t is equal to 0, when t is equal to y-1, each circulation t is added with 1)
(iii) several functions to be called
The function is: abscissa of the circleDirectional total moment function: x _ zlj (flag, dyxz, kdyxz, s)2,htc,hs,ls,h,b1,b2) Assuming that the distance from the front edge of the pallet to the center of gravity of the stack is E2Total weight of the stack M41The function return value is the moment value E of the ammunition box stacking to the front edge of the cargo bed2×M41：
A function of two: ordinate direction total moment function: y _ zlj (flag, dyxz, kdyxz, s)1,htk,hs,ls,a1,a2) Assuming that the left edge of the pallet is at a distance F from the center of gravity of the stack2Total weight of the stack M41The function return value being the moment value F of the stacking of the ammunition box to the front edge of the cargo bed2×M41：
Function (c): moment function of the ammunition box stack relative to the front edge of the cargo bed after the empty box and the solid box exchange positions:
jhhlj(i,j,k,i1,j1,k1,ys,s2,htc,ls,b1,b2) Wherein the input parameters i, j and k represent the positions of the live ammunition boxes at present, and the input parameter i1、j1、k1Representing the current position of the empty ammunition box, ys is the total moment of the stack before the exchange positions of the two boxes, and the function return value is the moment E of the stack of the ammunition box relative to the front edge of the cargo bed after the exchange positions of the empty box and the real boxnew×M41：
Enew×M41＝ys-((j+1)×s2-s2/2+(htc-ls×s2-b1-b2)/2+b1)×dyxz-((j1+1)×s2-s2/2+(htc-ls×s2-b1-b2)/2+b1)×kdyxz+((j+1)×s2-s2/2+(htc-ls×s2-b1-b2)/2+b1)×kdyxz+((j1+1)×s2-s2/2+(htc-ls×s2-b1-b2)/2+b1)×dyxz
Function (iv): function to determine if there are boxes that can be swapped: sfkh (y, flag, ys, M)41,E1,s2,htc,ls,b1,b2) And exchanging the boxes when the function encounters the exchangeable condition in the running process, and calculating the moment of the stack after one exchange. The method comprises the following specific steps:
1. defining a double-precision intermediate variable Et;
2. defining a shaping intermediate variable h2＝h-floor(y/(hs*ls))；
3. Calculating the position of the center of gravity E before the function is runt＝ys/M41；
4. Entering the first layer of circulation (when t < ═ hs ls h, each circulation t is added with 1 by itself)
(IV) calculation flow of main function
All the input variables mentioned in the first part of the algorithm are main function input variables, and the main function calculation flow is as follows:
1. the module is operated for one time; // obtaining s1,s2,hs,ls,M4
2. The module runs once; // obtaining H1And H2
3. Entering into circulation (the circulation accumulation H is H)1When h is present<＝H2In time, each circulation h is added with 1)
As shown in fig. 6, the present invention also provides a system for adjusting the center of gravity of an airdrop cartridge, comprising:
the initialization module 601 is used for initializing the arrangement mode of the ammunition boxes; the initial arrangement mode of ammunition boxes is as follows: all the solid boxes are arranged below, the empty box is arranged above, and all the upper solid boxes are arranged near one end in the tail direction; at most, there is only one layer with both solid and empty boxes. The ammunition box arrangement mode has limiting conditions, and the limiting conditions comprise: the bearing bottom of the ammunition box can not exceed the edge of the cargo bed, the bottom edge of the ammunition box can not press a tying point, the stacking height of the ammunition box needs to exceed the hanging rack of the cargo bed, and the total height of the delivery parachute, the ammunition box and the cargo bed can not exceed the height limit of the airplane.
The initialization module specifically comprises:
the first initialization unit is used for initializing the number of rows and the number of columns of the placed ammunition boxes and calculating the total weight of all the ammunition boxes;
the value range calculation unit is used for calculating the value range of the stacking layer number of the ammunition boxes;
the box number calculating unit is used for calculating the number of empty boxes and the number of real boxes according to the number of rows, the number of columns and the total weight;
and the second initialization unit is used for initializing the arrangement mode of the ammunition boxes according to the value range of the stacking layer number of the ammunition boxes, the line number, the column number, the empty box number and the real box number.
And an ideal cargo center of gravity calculation module 602, configured to calculate an overall center of gravity of all the ammunition boxes in an ideal state by using a moment balance formula, which is an ideal cargo center of gravity. The calculation formula of the ideal cargo center of gravity is as follows:
Ez×(M0+M31+M1+M41)＝E1×M41+E0×(M0+M31+M1)
wherein E is1Is the center of gravity of the ideal cargo, EzIs an ideal overall center of gravity, M0For the weight of the cargo bed, M31For pulling the lock, M1Heavy metal workpiece, M41For the calculated true weight of all said cartridges, E0Is the actual cargo bed center of gravity.
The exchanging module 603 is configured to search the real box and the empty box according to a preset search manner and exchange positions.
And a center of gravity calculation module 604 for calculating the overall center of gravity of all the cartridges after each exchange position.
And an optimal arrangement mode determining module 605, configured to determine that the arrangement mode when the error between the overall gravity centers of all the ammunition boxes after the position exchange and the gravity center of the ideal cargo is the minimum is the optimal arrangement mode.
A result display module 606 for displaying the optimal arrangement
Further comprising:
and the displacement compensation module is used for carrying out displacement compensation on all the whole ammunition boxes in the optimal arrangement mode.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A method for adjusting the air-drop center of gravity of an ammunition box is characterized by comprising the following steps:
initializing an ammunition box arrangement mode; the initial arrangement mode of ammunition boxes is as follows: all the solid boxes are arranged below, the empty box is arranged above, and all the upper solid boxes are arranged near one end in the tail direction; at most, only one layer of existing solid boxes and empty boxes is provided;
calculating the integral gravity center of all the ammunition boxes in an ideal state by using a moment balance formula to obtain the ideal cargo gravity center;
searching the real box and the empty box according to a preset searching mode and exchanging positions;
calculating the integral gravity center of all the ammunition boxes after each exchange position;
determining the optimal arrangement mode as the arrangement mode when the error between the overall gravity centers of all the ammunition boxes and the ideal cargo gravity center is the minimum after the exchange position;
stacking the ammunition boxes according to the optimal arrangement mode;
wherein, the initialization ammunition box arrangement mode specifically includes:
initializing the number of rows and columns of the placed ammunition boxes, and calculating the total weight of all the ammunition boxes;
calculating the value range of the stacking layer number of the ammunition box;
calculating the number of empty boxes and the number of real boxes according to the number of rows, the number of columns and the total weight;
and initializing the arrangement mode of the ammunition boxes according to the value range of the stacking layer number of the ammunition boxes, the line number, the column number, the empty box number and the real box number.
2. The method of adjusting the drop center of gravity of a cartridge case according to claim 1, further comprising: and performing displacement compensation on all the whole ammunition boxes in the optimal arrangement mode.
3. A method of adjusting the center of gravity for drop-out of a cartridge case according to claim 1, wherein the cartridge case is arranged in a limited manner, and the limited manner includes: the bearing bottom of the ammunition box can not exceed the edge of the cargo bed, the bottom edge of the ammunition box can not press a tying point, the stacking height of the ammunition box needs to exceed the hanging rack of the cargo bed, and the total height of the delivery parachute, the ammunition box and the cargo bed can not exceed the height limit of the airplane.
4. The method for adjusting the center of gravity for an airdrop of a cartridge case according to claim 1, wherein the ideal cargo center of gravity is calculated as follows:
Ez×(M0+M31+M1+M41)＝E1×M41+E0×(M0+M31+M1)
wherein E is1Is the center of gravity of the ideal cargo, EzIs an ideal overall center of gravity, M0For the weight of the cargo bed, M31For pulling the lock, M1Heavy metal workpiece, M41For the calculated true weight of all said cartridges, E0Is the actual cargo bed center of gravity.
5. An ammunition box air-drop center of gravity adjustment system, comprising:
the initialization module is used for initializing the arrangement mode of the ammunition boxes; the initial arrangement mode of ammunition boxes is as follows: all the solid boxes are arranged below, the empty box is arranged above, and all the upper solid boxes are arranged near one end in the tail direction; at most, only one layer of existing solid boxes and empty boxes is provided;
the ideal cargo center of gravity calculation module is used for calculating the integral center of gravity of all the ammunition boxes in an ideal state by utilizing a moment balance formula, and the integral center of gravity is the ideal cargo center of gravity;
the exchange module is used for searching the real box and the empty box according to a preset searching mode and exchanging positions;
the gravity center calculating module is used for calculating the overall gravity center of all the ammunition boxes after each exchange position;
the optimal arrangement mode determining module is used for determining that the arrangement mode when the error between the overall gravity centers of all the ammunition boxes after the position exchange and the ideal cargo gravity center is minimum is the optimal arrangement mode;
the result display module is used for displaying the optimal arrangement mode;
the initialization module specifically comprises:
the first initialization unit is used for initializing the number of rows and the number of columns of the placed ammunition boxes and calculating the total weight of all the ammunition boxes;
the value range calculation unit is used for calculating the value range of the stacking layer number of the ammunition boxes;
the box number calculating unit is used for calculating the number of empty boxes and the number of real boxes according to the number of rows, the number of columns and the total weight;
and the second initialization unit is used for initializing the arrangement mode of the ammunition boxes according to the value range of the stacking layer number of the ammunition boxes, the line number, the column number, the empty box number and the real box number.
6. The system for adjusting the drop center of gravity of a cartridge case according to claim 5, further comprising:
and the displacement compensation module is used for carrying out displacement compensation on all the whole ammunition boxes in the optimal arrangement mode.
7. A cartridge drop centre of gravity adjustment system as claimed in claim 5, wherein the cartridge is arranged with constraints comprising: the bearing bottom of the ammunition box can not exceed the edge of the cargo bed, the bottom edge of the ammunition box can not press a tying point, the stacking height of the ammunition box needs to exceed the hanging rack of the cargo bed, and the total height of the delivery parachute, the ammunition box and the cargo bed can not exceed the height limit of the airplane.
8. The system for adjusting the drop center of gravity of a cartridge case according to claim 5, wherein the ideal cargo center of gravity is calculated as follows:
Ez×(M0+M31+M1+M41)＝E1×M41+E0×(M0+M31+M1)
wherein E is1Is ideal goodsCenter of gravity of object, EzIs an ideal overall center of gravity, M0For the weight of the cargo bed, M31For pulling the lock, M1Heavy metal workpiece, M41For the calculated true weight of all said cartridges, E0Is the actual cargo bed center of gravity.
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