CN113342049A - Multi-light source laser aircraft trajectory design method and system - Google Patents

Multi-light source laser aircraft trajectory design method and system Download PDF

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CN113342049A
CN113342049A CN202110709788.3A CN202110709788A CN113342049A CN 113342049 A CN113342049 A CN 113342049A CN 202110709788 A CN202110709788 A CN 202110709788A CN 113342049 A CN113342049 A CN 113342049A
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laser aircraft
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CN113342049B (en
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翁惠焱
李志�
王鹏程
徐维乐
陈蓉
朱浩
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Beihang University
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Abstract

本发明提供了一种多光源激光飞行器弹道设计方法和系统，应用于目标激光飞行器，目标激光飞行器为至少两个光源提供激光束的激光飞行器，目标激光飞行器的型号为Myrabo光船构型；方法包括：确定目标激光飞行器的结构模型参数；确定为目标激光飞行器提供激光束的光源的位置信息，和确定目标激光飞行器的初始俯仰角；基于结构模型参数，计算目标激光飞行器在加速过程的动力模型参数，和计算目标激光飞行器在吸气模式下的气动参数；基于光源的位置信息、动力模型参数、气动参数和初始俯仰角，对目标激光飞行器进行弹道计算。本发明缓解了现有技术中存在的传统化学动力运载火箭的弹道设计方法不适用于多光源激光飞行器弹道设计的技术问题。

Figure 202110709788

The invention provides a ballistic design method and system for a multi-light source laser aircraft, which is applied to a target laser aircraft. The target laser aircraft is a laser aircraft that provides at least two light sources with laser beams, and the model of the target laser aircraft is a Myrabo light boat configuration; the method; Including: determining the structural model parameters of the target laser aircraft; determining the position information of the light source that provides the laser beam for the target laser aircraft, and determining the initial pitch angle of the target laser aircraft; based on the structural model parameters, calculating the dynamic model of the target laser aircraft during the acceleration process parameters, and calculate the aerodynamic parameters of the target laser aircraft in the air-breathing mode; based on the position information of the light source, dynamic model parameters, aerodynamic parameters and initial pitch angle, the ballistic calculation of the target laser aircraft is performed. The present invention alleviates the technical problem in the prior art that the ballistic design method of the traditional chemical powered launch vehicle is not suitable for the ballistic design of the multi-light source laser aircraft.

Figure 202110709788

Description

Multi-light source laser aircraft trajectory design method and system
Technical Field
The invention relates to the technical field of laser aircrafts, in particular to a method and a system for designing a trajectory of a multi-light-source laser aircraft.
Background
Laser propulsion is a novel aircraft propulsion technology, and can utilize laser beams emitted by a ground laser base station as a power source, so that the laser aircraft generates thrust to complete a satellite in-orbit emission task.
The laser aircraft launching scheme relates to the multidisciplinary design of structure, power, pneumatics, trajectory and the like. The related ballistic design method of the domestic laser aircraft is less, and is mostly a single-foundation laser station design, and the existing design method is mostly to design and integrate each subject separately, and the coupling variable that exists between the subjects needs to iterate many times, and the time cost is great, and is inconvenient to carry out overall design optimization.
Because the mode of generating thrust by laser propulsion is different from that of traditional chemical propulsion (a laser source provides a laser beam to act on a working medium to generate thrust), and the special requirement that the laser incidence angle (the included angle between the laser beam and the axis of the laser aircraft) is zero makes the traditional chemical carrier rocket ballistic design method not suitable for target laser aircraft ballistic design.
Disclosure of Invention
In view of the above, the present invention provides a method and a system for designing a trajectory of a multiple-light-source laser vehicle, so as to alleviate the technical problem that the conventional method for designing a trajectory of a chemical-power launch vehicle in the prior art is not suitable for designing a trajectory of a multiple-light-source laser vehicle.
In a first aspect, an embodiment of the present invention provides a method for designing a trajectory of a multi-light-source laser aircraft, which is applied to a target laser aircraft, where the target laser aircraft is a laser aircraft that provides laser beams from at least two light sources, and the model of the target laser aircraft is a Myrabo light boat configuration; the method comprises the following steps: determining structural model parameters of the target laser aircraft; determining position information of a light source providing a laser beam for the target laser vehicle, and determining an initial pitch angle of the target laser vehicle; calculating dynamic model parameters of the target laser aircraft in an acceleration process and calculating pneumatic parameters of the target laser aircraft in an air suction mode based on the structural model parameters; and calculating the trajectory of the target laser aircraft based on the position information of the light source, the dynamic model parameter, the pneumatic parameter and the initial pitch angle.
Further, a light source for providing a laser beam to the target laser vehicle includes: a first light source and a second light source; the first light source is a foundation laser station, and the second light source is a relay satellite; determining positional information for a light source providing a laser beam for the target laser aerial vehicle, comprising: determining position information of the second light source based on: d α (t) ═ α0+ωαdt；
Figure BDA0003133085540000021
Figure BDA0003133085540000022
Figure BDA0003133085540000023
Wherein x is*、y*、z*For the position information of the relay satellite, x* max、y* max、z* maxA maximum coordinate value, alpha, projected on the geocentric equatorial coordinate system for the orbit of the relay satellitex、αy、αzRespectively the angle, alpha, traversed by the relay satellite when the maximum coordinate value is taken by projection0Angles, omega, between the line connecting the earth center and the line connecting the target laser vehicle and the earth center when the relay satellite starts to provide the laser beam for the target laser vehicleαIs the operating angular velocity, R, of the relay satelliteeThe radius of the earth, H is the height of the relay satellite from the ground, G is a universal gravitation constant, and M is the mass of the earth; d (t) is the connecting line between the relay satellite and the geocenter and the included angle of the connecting line between the laser aircraft and the geocenter, which changes along with the time, when the relay satellite starts to provide the laser beam for the laser aircraft.
Further, the dynamic model parameters include impulse and thrust; based on the structural modelAnd calculating power model parameters of the target laser aircraft in an acceleration process, wherein the parameters comprise: calculating the impulse to which the target laser aircraft is subjected in the air suction mode by the following formula: i ═
Figure BDA0003133085540000031
Figure BDA0003133085540000032
Calculating the thrust force to which the target laser aircraft is subjected in the air suction mode by the following formula: f ═ c (I)pp+Ism) PRF · cos δ; calculating the thrust force of the target laser aircraft in the rocket mode by the following formula: f ═ Isqmg; wherein, IppAnd IsmThe impulse components, t, of the laser pulse detonation and attenuation stages, respectively2DIs the time of propagation of the detonation wave to the momentum plate, RLSDIs the radius of the detonation wave, pLSDIs the pressure at the impulse plate, w is the average perimeter of the bare boat skirt, w ═ pi (r)ciol+rceol)，rciolAnd rceolThe body radius of the skirt plate at the gas flow inlet and the body radius of the skirt plate at the gas flow outlet, tfIs the time of decay of the shock wave to ambient pressure, PaIs the ambient pressure; PRF is the maximum value of laser pulse frequency, delta is the inclination angle of the annular cover, and c is the laser frequency coefficient; q. q.smMass flow in rocket mode.
Further, the pneumatic parameters comprise air inlet channel ram resistance; calculating the aerodynamic parameters of the target laser aircraft in an air suction mode, wherein the calculation comprises the following steps: calculating the air inlet channel stamping resistance of the target laser aircraft in the air suction mode according to the following formula:
Figure BDA0003133085540000033
Figure BDA0003133085540000034
wherein D isRAMIn order to provide the air inlet channel with ram resistance,
Figure BDA0003133085540000035
ρin、uin、Ainrespectively the mass flow rate of the throat, the density of the throat, the flow velocity of the throat and the area of the throat, deltacone2Half cone angle of second-stage cone, rciolAnd rceolThe body radius of the apron at the gas flow inlet and the body radius of the apron at the gas flow outlet, respectively.
Further, performing ballistic computation on the target laser vehicle based on the position information of the light source, the dynamic model parameters, the pneumatic parameters, and the initial pitch angle, including: calculating a kinematic equation and a kinetic equation of the target laser aircraft in the launching process based on the dynamic model parameters, the pneumatic parameters and the initial pitch angle; and integrating the kinematic equation and the kinetic equation by adopting a fourth-order Runge Kutta method to obtain the speed information and the position coordinate of the target laser aircraft in the launching process.
Further, the acceleration process of the target laser vehicle includes: a first acceleration section providing an acceleration section of the laser beam for the first light source and a second acceleration section providing an acceleration section of the laser beam for the second light source; the method further comprises the following steps: determining the pitch angle change of the target laser aircraft in the transmitting process based on the position coordinates and the position information of the light source; wherein the change in pitch angle of the target laser vehicle in the first acceleration segment is determined by:
Figure BDA0003133085540000041
determining a change in pitch angle of the target laser vehicle over the second acceleration segment by:
Figure BDA0003133085540000042
Figure BDA0003133085540000043
and x, y and z are the position coordinates of the target laser aircraft.
In a second aspect, an embodiment of the present invention further provides a trajectory design system of a multi-light-source laser aircraft, which is applied to a target laser aircraft, where the target laser aircraft is a laser aircraft that provides laser beams from at least two light sources, and the model of the target laser aircraft is a mylabo light boat configuration; the method comprises the following steps: the device comprises a first determining module, a second determining module, a first calculating module and a second calculating module; the first determination module is used for determining the structural model parameters of the target laser aircraft; the second determination module is used for determining the position information of a light source providing a laser beam for the target laser aircraft and determining the initial pitch angle of the target laser aircraft; the first calculation module is used for calculating power model parameters of the target laser aircraft in an acceleration process and calculating pneumatic parameters of the target laser aircraft in an air suction mode based on the structural model parameters; the second calculation module is used for calculating the trajectory of the target laser aircraft based on the position information of the light source, the power model parameter, the pneumatic parameter and the initial pitch angle.
Further, the second calculation module is further configured to: calculating a kinematic equation and a kinetic equation of the target laser aircraft in the launching process based on the dynamic model parameters, the pneumatic parameters and the initial pitch angle; and integrating the kinematic equation and the kinetic equation by adopting a fourth-order Runge Kutta method to obtain the speed information and the position coordinate of the target laser aircraft in the launching process.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method according to the first aspect when executing the computer program.
In a fourth aspect, the present invention further provides a computer-readable medium having non-volatile program code executable by a processor, where the program code causes the processor to execute the method according to the first aspect.
The invention provides a method and a system for designing a trajectory of a multi-light-source laser aircraft, which are used for integrally designing subjects such as structure, power, pneumatics and trajectories in the trajectory calculation of the launching process of the multi-light-source laser aircraft, so that the design iteration time is reduced, and the technical problem that the traditional chemical power carrier rocket trajectory design method in the prior art is not suitable for designing the trajectory of the multi-light-source laser aircraft is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a method for designing a trajectory of a multi-light-source laser aircraft according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a Myrabo lightboat configuration provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a laser aircraft launching process provided by an embodiment of the invention;
fig. 4 is a schematic diagram of a relay satellite position according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a multiple light source laser aircraft trajectory design system according to an embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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 first embodiment is as follows:
fig. 1 is a flowchart of a method for designing a trajectory of a multi-light-source laser aircraft, which is applied to a target laser aircraft, where the target laser aircraft is a laser aircraft that provides laser beams from at least two light sources, and the target laser aircraft is a mylabo light ship configuration. As shown in fig. 1, the method specifically includes the following steps:
and step S102, determining structural model parameters of the target laser aircraft.
Specifically, fig. 2 is a schematic diagram of a configuration of a Myrabo photoboat according to an embodiment of the present invention. As shown in fig. 2, the external structure includes: the thrust direction generated by the fairing 201, the annular sheath 202, the annular nozzle 203 and the parabolic reflector 204 is along the axis direction of the light boat. The internal structure includes: a payload (microsatellite) 205, a storage tank 206 filled with rocket mode working medium, a gas cylinder 207 filled with pressurized helium gas, and an electronic device, an attitude control device and other components 208.
The structural discipline mainly influences the mass characteristics and aerodynamic performance of the laser aircraft in ballistic design, and the initial total mass of the laser aircraft comprises m0Containing the mass m of the payloadplMass m of propellantpStructural mass msAnd cowl mass mr. By the mass m of the payloadplAnd final on-track height requirement to determine propellant mass mpStructural mass msAnd cowl mass mr. Wherein m is0＝mpl+mp+ms+mr。
And step S104, determining the position information of a light source for providing the laser beam for the target laser aircraft, and determining the initial pitch angle of the target laser aircraft. In the embodiment of the invention, a double light source is taken as an example, and two light sources including a ground-based laser station and a relay satellite are used for providing laser beams for the laser aircraft.
And S106, calculating dynamic model parameters of the target laser aircraft in the acceleration process and calculating pneumatic parameters of the target laser aircraft in an air suction mode based on the structural model parameters.
And S108, calculating the trajectory of the target laser aircraft based on the position information of the light source, the dynamic model parameters, the pneumatic parameters and the initial pitch angle.
The invention provides a multi-light-source laser aircraft trajectory design method, which is used for integrally designing subjects such as structure, power, pneumatics and trajectories in the trajectory calculation of the launching process of a multi-light-source laser aircraft, so that the design iteration time is reduced, and the technical problem that the traditional chemical power carrier rocket trajectory design method in the prior art is not suitable for multi-light-source laser aircraft trajectory design is solved.
In the embodiment of the invention, the power system of the target laser aircraft adopts a pulse laser propulsion system, and the working modes are divided into an air suction mode and a rocket mode. And in the air suction mode, the detonation wave generated by the laser breakdown gas is utilized to generate thrust. Specifically, the dynamic model parameters include impulse and thrust. The impulse of the target laser aircraft in the air suction mode is calculated by the following formula:
Figure BDA0003133085540000071
and calculating the thrust force of the target laser aircraft in the air suction mode by the following formula:
F＝c(Ipp+Ism)PRF·cosδ
the rocket mode is to generate thrust by using propellant working medium carried by a laser ablation laser aircraft. The thrust of the target laser aircraft in the rocket mode is calculated by the following formula:
F＝Is qm g
wherein, IppAnd IsmThe impulse components, t, of the laser pulse detonation and attenuation stages, respectively2DIs the time of propagation of the detonation wave to the momentum plate, RLSDIs the radius of the detonation wave, pLSDIs the pressure at the impulse plate, w is the average perimeter of the bare boat skirt, w ═ pi (r)ciol+rceol)，rciolAnd rceolRespectively, the body radius of the skirt plate at the gas flow inlet and the gas flowBody radius of skirt at outlet, tfIs the time of decay of the shock wave to ambient pressure, PaIs the ambient pressure; PRF is the maximum value of laser pulse frequency, delta is the inclination angle of the annular cover, and c is the laser frequency coefficient; q. q.smMass flow in rocket mode.
Optionally, the aerodynamic parameter comprises air intake ram drag. In the embodiment of the invention, when the target laser aircraft works in the air suction mode, the resistance is mainly the air inlet channel stamping resistance. Specifically, the method provided by the embodiment of the invention calculates the air inlet channel ram resistance suffered by the target laser aircraft in the air suction mode through the following formula:
Figure BDA0003133085540000081
Figure BDA0003133085540000082
wherein D isRAMIn order to provide the punching resistance of the air inlet channel,
Figure BDA0003133085540000083
ρin、uin、Ainrespectively the mass flow rate of the throat, the density of the throat, the flow velocity of the throat and the area of the throat, deltacone2Half cone angle of second-stage cone, rciolAnd rceolThe body radius of the apron at the gas flow inlet and the body radius of the apron at the gas flow outlet, respectively.
Optionally, the light source for providing the laser beam to the target laser vehicle comprises: a first light source and a second light source; the first light source is a ground-based laser station and the second light source is a relay satellite.
In an embodiment of the invention, the ballistic calculation of the target laser vehicle includes a control calculation and a ballistic calculation of the launch process. The launching process of the target laser aircraft comprises four stages, specifically: an air-breathing mode accelerating section, a rocket mode accelerating section, a thrust-free gliding section and a horizontal accelerating section. Fig. 3 is a schematic diagram of a laser aircraft launching process provided by an embodiment of the invention. As shown in fig. 3, the transmission process includes: ground-based laser station 301, relay satellite 302, laser vehicle 303, laser beam 304, laser vehicle flight trajectory 305.
Optionally, the position of the second light source may also need to be calculated before ballistic calculations can be performed on the target laser vehicle. Specifically, step S104 includes:
determining position information of the second light source based on the following equation:
dα(t)＝α0+ωα dt
Figure BDA0003133085540000084
Figure BDA0003133085540000091
Figure BDA0003133085540000092
Figure BDA0003133085540000093
wherein x is*、y*、z*For relaying position information of satellites, x* max、y* max、z* maxMaximum coordinate value, alpha, projected on the geocentric equatorial coordinate system for the orbit of the relay satellitex、αy、αzRespectively the angle, alpha, traversed by the relay satellite when the projection takes the maximum coordinate value0The angle, omega, between the line connecting the earth center and the line connecting the target laser vehicle and the earth center when the relay satellite starts to provide the laser beam for the target laser vehicleaFor relaying the angular velocity of operation of the satellite, ReThe radius of the earth, H is the height of a relay satellite from the ground, G is a universal gravitation constant, and M is the mass of the earth; alpha (t) is the relay satellite and the geocentricThe connecting line and the relay satellite provide the laser aircraft with the laser beam at the moment, and the laser aircraft and the geocentric connecting line form an included angle which changes along with time. Fig. 4 is a schematic diagram of a relay satellite position provided according to an embodiment of the present invention. As shown in fig. 4, 401 is a relay satellite, and 402 is a target laser vehicle.
And then calculating the trajectory of the target laser aircraft. Specifically, step S108 further includes the following steps:
and step S1081, calculating a kinematic equation and a dynamic equation of the target laser aircraft in the launching process based on the dynamic model parameters, the pneumatic parameters and the initial pitch angle.
And step S1082, integrating the kinematic equation and the kinetic equation by adopting a fourth-order Runge Kutta method to obtain the speed information and the position coordinate of the target laser aircraft in the launching process.
Specifically, the kinematic equation for the center of mass of the target laser vehicle can be determined by the following two equations, where xt、yt、ztIs the component, x, of the centroid position in the emission coordinate system0＝0、y0＝3.65、z 00 is the initial position of the emission point, vx、vy、vzAs a component of velocity in the transmit coordinate system, ax、ay、azV is a component of the acceleration in the emission coordinate system and can be solved by a kinetic equationx0＝0、vy0＝0、vz0-0 is the initial speed.
Figure BDA0003133085540000101
Figure BDA0003133085540000102
Specifically, the centroid kinetic equation of the multi-light-source aircraft is shown as follows, wherein m is the total mass of the laser aircraft in the flight process, the mass is obtained from a flow-time curve, and the initial value is the takeoff mass m0(ii) a Left side of equationax、ay、azThe acceleration component of the laser aircraft in the inertial coordinate system of the launching point is shown; px、Py、PzThe thrust under the inertial coordinate system of the launching point can be converted by coordinate transformation and the thrust under the elastic coordinate system without considering the eccentric deviation of the thrust. N is a radical ofx、Ny、NzThe laser aircraft is aerodynamic under an inertial coordinate system of a launching point, the aerodynamic force borne by the laser aircraft is mainly air resistance, is opposite to the flying speed direction in a speed coordinate system, and can be obtained through coordinate system transformation. gx、gy、gzThe component of the acceleration of the earth gravity in an inertial coordinate system of the launching point is shown; a isex、aey、aezProjecting the acceleration caused by the inertia force in an inertial coordinate system of a launching point, and calculating the acceleration according to the rotation angular velocity of the earth; in the formula acx、acy、aczThe acceleration caused by the Coriolis inertial force is projected in an inertial coordinate system of the launching point.
Figure BDA0003133085540000103
In an embodiment of the invention, the acceleration process of the target laser vehicle comprises: a first acceleration section providing an acceleration section of the laser beam for the first light source and a second acceleration section providing an acceleration section of the laser beam for the second light source; wherein the first acceleration section includes: an air-breathing mode acceleration section and a rocket mode acceleration section; the second acceleration section is a horizontal acceleration section. The pitch angle control equation of the target laser aircraft at each stage is as follows:
an air suction mode acceleration section: height H of emission point0Initial pitch angle at launch
Figure BDA0003133085540000111
The laser frequency coefficient c is determined by the optimization result, and the working mode of the laser aircraft at the stage is an air suction mode, and the real-time thrust F is calculated according to the flying height and the Mach number1. The laser beam is directly supplied from a ground laser station, and the pitch angle is
Figure BDA0003133085540000112
Gradually reducing to ensure that the laser incidence angle is zero until the flying height reaches the height H of the working mode switching point1This stage is over; wherein the pitch angle is determined by the expression:
Figure BDA0003133085540000113
rocket mode acceleration section: to a height H1Then, the working mode of the aircraft is switched to a rocket mode to continue acceleration, and the thrust is F2And the fairing is thrown off at the appropriate height. The laser beam is directly provided by a foundation laser station, the pitch angle
Figure BDA0003133085540000114
The control is the same as the previous stage until the time T is set2Exhausted, and the phase ends.
A thrust-free gliding section: rate of change of pitch angle
Figure BDA0003133085540000115
And remain unchanged until the lower stage pitch angle condition is reduced. The laser station of the foundation no longer provides laser beams, the laser aircraft slides without thrust until the time TG of sliding without thrust is exhausted, and the stage is finished; the pitch angle change rate expression of the target laser aircraft at the stage is as follows:
Figure BDA0003133085540000116
a horizontal acceleration section: the ground-based laser station emits laser beams to the relay satellite, and the laser beams are shaped and repositioned by the relay lens system and then emitted to the laser aircraft to provide power for the laser aircraft to form a second light source with the thrust of F3And the change of the pitch angle ensures that the laser incidence angle is always zero, and the horizontal speed is increased until the laser enters the track. Specifically, the pitch angle change of the target laser aircraft in the horizontal acceleration section is determined by the following formula:
Figure BDA0003133085540000117
Figure BDA0003133085540000118
and x, y and z are position coordinates of the target laser aircraft.
Therefore, the integrated design of the target laser aircraft trajectory can be completed, and the design variables mainly comprise the initial pitch angle
Figure BDA0003133085540000121
Laser frequency coefficient c and three-stage thrust F1、F2、F3No thrust sliding time TGHeight H of switching operation mode1And payload mass mp1。
In the above description, the relay satellite is used as the second light source, and the method provided by the embodiment of the present invention is described to realize the trajectory design of the multi-light-source laser aircraft, and for other multi-light-source schemes, for example, when the second light source is suspended on an airship at a certain height, and the second light source is on the ground at a certain distance from the first light source, etc., only the position coordinate (x) of the second light source needs to be changed*，y*，z*) According to the design method provided by the embodiment of the invention, the ballistic characteristics of the multi-light source laser aircraft can be obtained through integrated design. In the integrated design method provided by the embodiment of the invention, the laser aircraft, the first light source (foundation laser station) and the second light source (relay satellite) all have relative motion, and the method realizes real-time calculation of the positions of the laser aircraft, the first light source (foundation laser station) and the second light source (relay satellite).
The method for designing the trajectory of the multi-light-source laser aircraft provided by the embodiment of the invention has the following technical effects:
(1) the disciplines such as structure, power, pneumatics and trajectory are integrally designed, so that the design iteration time is reduced;
(2) aiming at the special characteristics of laser propulsion and multi-light source laser aircraft trajectory design, the pitch angle is controlled at each stage of the launching scheme, so that the laser incidence angle is always zero, the two structures of the laser aircraft are simplified, and the energy utilization rate is improved;
(3) the calculation of the position of the second light source (the relay satellite in the embodiment of the invention) ensures that the light source provides laser beams for the laser aircraft in real time;
(4) real-time calculation of the relative positions of the laser aircraft, the first light source (ground-based laser station) and the second light source (relay satellite in the embodiment of the invention) is realized.
(5) The method is suitable for the multi-light-source laser aircraft trajectory design which cannot be realized by the traditional chemical carrier rocket, and has strong applicability to the trajectory design of other multi-light-source laser aircraft except for the relay satellite serving as a second light source.
Example two:
fig. 5 is a schematic diagram of a trajectory design system of a multi-light-source laser aircraft, which is applied to a target laser aircraft, the target laser aircraft providing laser beams for at least two light sources, and the target laser aircraft is in a mylabo light ship configuration. As shown in fig. 5, the system includes: a first determination module 10, a second determination module 20, a first calculation module 30 and a second calculation module 40.
Specifically, the first determination module 10 is configured to determine structural model parameters of the target laser aircraft.
And a second determination module 20 for determining position information of a light source providing a laser beam for the target laser flyer, and determining an initial pitch angle of the target laser flyer.
And the first calculation module 30 is used for calculating dynamic model parameters of the target laser aircraft in an acceleration process and calculating pneumatic parameters of the target laser aircraft in an air suction mode based on the structural model parameters.
And the second calculation module 40 is used for performing ballistic calculation on the target laser aircraft based on the position information of the light source, the power model parameters, the pneumatic parameters and the initial pitch angle.
The invention provides a multi-light-source laser aircraft trajectory design system, which is used for integrally designing subjects such as structure, power, pneumatics and trajectories in the trajectory calculation of the launching process of a multi-light-source laser aircraft, so that the design iteration time is reduced, and the technical problem that the traditional chemical power carrier rocket trajectory design method in the prior art is not suitable for multi-light-source laser aircraft trajectory design is solved.
Optionally, the first calculating module 30 is further configured to: calculating the impulse of the target laser aircraft in the air suction mode according to the following formula:
Figure BDA0003133085540000131
and calculating the thrust force of the target laser aircraft in the air suction mode by the following formula:
F＝c(Ipp+Ism)PRF·cosδ
the rocket mode is to generate thrust by using propellant working medium carried by a laser ablation laser aircraft. The thrust of the target laser aircraft in the rocket mode is calculated by the following formula:
F＝Is qm g
wherein, IppAnd IsmThe impulse components, t, of the laser pulse detonation and attenuation stages, respectively2DIs the time of propagation of the detonation wave to the momentum plate, RLSDIs the radius of the detonation wave, pLSDIs the pressure at the impulse plate, w is the average perimeter of the bare boat skirt, w ═ pi (r)ciol+rceol)，rciolAnd rceolThe body radius of the skirt plate at the gas flow inlet and the body radius of the skirt plate at the gas flow outlet, tfIs the time of decay of the shock wave to ambient pressure, PaIs the ambient pressure; PRF is the maximum value of laser pulse frequency, delta is the inclination angle of the annular cover, and c is the laser frequency coefficient; q. q.smMass flow in rocket mode.
Optionally, the first calculating module 30 is further configured to: calculating the air inlet channel stamping resistance of the target laser aircraft in the air suction mode according to the following formula:
Figure BDA0003133085540000141
Figure BDA0003133085540000142
wherein D isRAMIn order to provide the punching resistance of the air inlet channel,
Figure BDA0003133085540000143
ρin、uin、Ainrespectively the mass flow rate of the throat, the density of the throat, the flow velocity of the throat and the area of the throat, deltacone2Half cone angle of second-stage cone, rciolAnd rceolThe body radius of the apron at the gas flow inlet and the body radius of the apron at the gas flow outlet, respectively.
Optionally, the second calculating module 40 is further configured to: calculating a kinematic equation and a kinetic equation of the target laser aircraft in the launching process based on the dynamic model parameters, the pneumatic parameters and the initial pitch angle; and integrating the kinematic equation and the kinetic equation by adopting a fourth-order Runge Kutta method to obtain the speed information and the position coordinate of the target laser aircraft in the launching process.
The embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the steps of the method in the first embodiment are implemented.
The embodiment of the invention also provides a computer readable medium with a non-volatile program code executable by a processor, wherein the program code causes the processor to execute the method in the first embodiment.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1.一种多光源激光飞行器弹道设计方法，应用于目标激光飞行器，所述目标激光飞行器为至少两个光源提供激光束的激光飞行器，所述目标激光飞行器的型号为Myrabo光船构型；其特征在于，包括：1. a ballistic design method for a multi-light source laser aircraft, applied to a target laser aircraft, the target laser aircraft provides a laser aircraft with laser beams for at least two light sources, and the model of the target laser aircraft is a Myrabo light ship configuration; its Features include: 确定所述目标激光飞行器的结构模型参数；determining the structural model parameters of the target laser aircraft; 确定为所述目标激光飞行器提供激光束的光源的位置信息，和确定所述目标激光飞行器的初始俯仰角；determining the position information of the light source that provides the laser beam to the target laser aircraft, and determining the initial pitch angle of the target laser aircraft; 基于所述结构模型参数，计算所述目标激光飞行器在加速过程的动力模型参数，和计算所述目标激光飞行器在吸气模式下的气动参数；Based on the structural model parameters, calculate the dynamic model parameters of the target laser aircraft in the acceleration process, and calculate the aerodynamic parameters of the target laser aircraft in the air-breathing mode; 基于所述光源的位置信息、所述动力模型参数、所述气动参数和所述初始俯仰角，对所述目标激光飞行器进行弹道计算。Based on the position information of the light source, the dynamic model parameters, the aerodynamic parameters and the initial pitch angle, a ballistic calculation is performed on the target laser aircraft. 2.根据权利要求1所述的方法，其特征在于，为所述目标激光飞行器提供激光束的光源包括：第一光源和第二光源；所述第一光源为地基激光站，所述第二光源为中继卫星；确定为所述目标激光飞行器提供激光束的光源的位置信息，包括：2 . The method according to claim 1 , wherein the light source that provides the laser beam for the target laser aircraft comprises: a first light source and a second light source; the first light source is a ground-based laser station, and the second light source is a ground-based laser station. 3 . The light source is a relay satellite; determine the position information of the light source that provides the laser beam for the target laser aircraft, including: 基于如下算式确定所述第二光源的位置信息：The position information of the second light source is determined based on the following formula: dα(t)＝α0+ωαdtdα(t)=α 0 +ω α dt
Figure FDA0003133085530000011
Figure FDA0003133085530000011
Figure FDA0003133085530000012
Figure FDA0003133085530000012
Figure FDA0003133085530000013
Figure FDA0003133085530000013
Figure FDA0003133085530000014
Figure FDA0003133085530000014
 其中，x*、y*、z*为所述中继卫星的位置信息，x* max、y* max、z* max为所述中继卫星的轨道在地心赤道坐标系投影的最大坐标值，αx、αy、αz分别是投影取到最大坐标值时所述中继卫星转过的角度，α0为所述中继卫星为所述目标激光飞行器开始提供激光束时与地心连线和所述目标激光飞行器与地心连线的角度，ωα为所述中继卫星的运行角速度，Re为地球半径，H为所述中继卫星距离地面的高度，G为万有引力常量，M为地球质量；α(t)为所述中继卫星与地心的连线和所述中继卫星为所述激光飞行器开始提供激光束时刻所述激光飞行器与地心连线随时间变化的夹角角度。Wherein, x * , y * , z * are the position information of the relay satellite, x * max , y * max , z * max are the maximum coordinate values of the orbit of the relay satellite projected on the earth-centered equatorial coordinate system , α x , α y , α z are the angles that the relay satellite turns when the projection takes the maximum coordinate value, respectively, α 0 is the time when the relay satellite starts to provide the laser beam for the target laser vehicle and the center of the earth The angle between the connection line and the connection line between the target laser aircraft and the center of the earth, ω α is the operating angular velocity of the relay satellite, Re is the radius of the earth, H is the height of the relay satellite from the ground, and G is the gravitational constant , M is the mass of the earth; α(t) is the connection between the relay satellite and the earth's center and the time when the relay satellite starts to provide a laser beam for the laser vehicle and the earth's center. the included angle. 3.根据权利要求1所述的方法，其特征在于，所述动力模型参数包括冲量和推力；基于所述结构模型参数，计算所述目标激光飞行器在加速过程的动力模型参数，包括：3. The method according to claim 1, wherein the dynamic model parameters include impulse and thrust; based on the structural model parameters, calculating the dynamic model parameters of the target laser aircraft during acceleration, including: 通过如下算式计算所述目标激光飞行器在吸气模式下所受到的冲量：
Figure FDA0003133085530000021
Calculate the impulse received by the target laser aircraft in the air-breathing mode by the following formula:
Figure FDA0003133085530000021
 通过如下算式计算所述目标激光飞行器在吸气模式下所受到的推力：Calculate the thrust received by the target laser aircraft in the air-breathing mode by the following formula: F＝c(Ipp+Ism)PRF·cosδF=c(I pp +I sm )PRF·cosδ 通过如下算式计算所述目标激光飞行器在火箭模式下所受到的推力：Calculate the thrust received by the target laser vehicle in the rocket mode by the following formula: F＝IsqmgF=I s q mg 其中，Ipp和Ism分别是激光脉冲爆轰阶段和衰减阶段的冲量分量，t2D是爆轰波传播到冲量板的时间，RLSD是爆轰波的半径，pLSD是冲量板处压强，w为光船裙板的平均周长，w＝π(rciol+rceol)，rciol和rceol分别是气流入口处裙板的体半径和气流出口处裙板的体半径，tf是冲击波衰减至环境压强的时间，Pa是环境压强；PRF为激光脉冲频率最大值，δ为环形罩倾角，c为激光频率系数；qm为火箭模式下的质量流量。where I pp and I sm are the impulse components of the laser pulse in the detonation and decay stages, respectively, t 2D is the time for the detonation wave to propagate to the impulse plate, R LSD is the radius of the detonation wave, and p LSD is the pressure at the impulse plate , w is the average perimeter of the bareboat apron, w=π(r ciol + r ceol ), r ciol and r ceol are the body radius of the apron at the air inlet and the body radius of the apron at the air outlet, respectively, t f is the time for the shock wave to decay to the ambient pressure, P a is the ambient pressure; PRF is the maximum laser pulse frequency, δ is the inclination angle of the annular cover, c is the laser frequency coefficient; q m is the mass flow in the rocket mode. 4.根据权利要求1所述的方法，其特征在于，所述气动参数包括进气道冲压阻力；计算所述目标激光飞行器在吸气模式下的气动参数，包括：4. The method according to claim 1, wherein the aerodynamic parameters include air inlet ram resistance; and calculating the aerodynamic parameters of the target laser aircraft in an air-breathing mode, comprising: 通过如下算式计算所述目标激光飞行器在吸气模式下受到的进气道冲压阻力：Calculate the intake port ram resistance of the target laser aircraft in the air-breathing mode by the following formula:
Figure FDA0003133085530000031
Figure FDA0003133085530000031
Figure FDA0003133085530000032
Figure FDA0003133085530000032
 其中，DRAM为所述进气道冲压阻力，
Figure FDA0003133085530000033
ρin、uin、Ain分别为喉部的质量流率、喉部的密度、喉部的流速和喉部的面积，δcone2为第二级锥的半锥角，rciol和rceol分别是气流入口处裙板的体半径和气流出口处裙板的体半径。Wherein, DRAM is the ram resistance of the intake port,
Figure FDA0003133085530000033
ρ in , u in , A in are the mass flow rate of the throat, the density of the throat, the flow velocity of the throat and the area of the throat, respectively, δ cone2 is the half cone angle of the second-order cone, r ciol and r ceol respectively is the body radius of the apron at the air inlet and the body radius of the apron at the air outlet. 5.根据权利要求2所述的方法，其特征在于，基于所述光源的位置信息、所述动力模型参数、所述气动参数和所述初始俯仰角，对所述目标激光飞行器进行弹道计算，包括：5. The method according to claim 2, characterized in that, based on the position information of the light source, the dynamic model parameters, the aerodynamic parameters and the initial pitch angle, ballistic calculation is performed on the target laser aircraft, include: 基于所述动力模型参数、所述气动参数和所述初始俯仰角，计算所述目标激光飞行器在发射过程的运动学方程和动力学方程；Based on the dynamic model parameters, the aerodynamic parameters and the initial pitch angle, calculate the kinematic equations and dynamic equations of the target laser aircraft during the launch process; 采用四阶龙格库塔法对所述运动学方程和所述动力学方程进行积分，得到所述目标激光飞行器在发射过程的速度信息和位置坐标。The fourth-order Runge-Kutta method is used to integrate the kinematic equation and the dynamic equation to obtain the velocity information and position coordinates of the target laser aircraft during the launch process. 6.根据权利要求5所述的方法，其特征在于，所述目标激光飞行器的加速过程包括：第一加速段和第二加速段，所述第一加速段为所述第一光源提供激光束的加速段，所述第二加速段为所述第二光源提供激光束的加速段；所述方法还包括：6 . The method according to claim 5 , wherein the acceleration process of the target laser aircraft comprises: a first acceleration section and a second acceleration section, and the first acceleration section provides a laser beam for the first light source. 7 . the acceleration section, the second acceleration section provides the acceleration section of the laser beam for the second light source; the method further includes: 基于所述位置坐标和所述光源的位置信息，确定所述目标激光飞行器在发射过程的俯仰角变化；其中，Based on the position coordinates and the position information of the light source, determine the pitch angle change of the target laser aircraft during the launch process; wherein, 通过如下算式确定所述目标激光飞行器在所述第一加速段的俯仰角变化：The pitch angle change of the target laser aircraft in the first acceleration segment is determined by the following formula:
Figure FDA0003133085530000034
Figure FDA0003133085530000034
 通过如下算式确定所述目标激光飞行器在所述第二加速段的俯仰角变化：The pitch angle change of the target laser aircraft in the second acceleration segment is determined by the following formula:
Figure FDA0003133085530000041
Figure FDA0003133085530000041
Figure FDA0003133085530000042
为所述目标激光飞行器的俯仰角，x、y、z为所述目标激光飞行器的位置坐标。
Figure FDA0003133085530000042
is the pitch angle of the target laser aircraft, and x, y, and z are the position coordinates of the target laser aircraft. 7.一种多光源激光飞行器弹道设计系统，应用于目标激光飞行器，所述目标激光飞行器为至少两个光源提供激光束的激光飞行器，所述目标激光飞行器的型号为Myrabo光船构型；其特征在于，包括：第一确定模块，第二确定模块，第一计算模块和第二计算模块；其中，7. A ballistic design system for a multi-light source laser aircraft, applied to a target laser aircraft, the target laser aircraft is a laser aircraft that provides laser beams for at least two light sources, and the model of the target laser aircraft is a Myrabo light ship configuration; its It is characterized in that it includes: a first determination module, a second determination module, a first calculation module and a second calculation module; wherein, 所述第一确定模块，用于确定所述目标激光飞行器的结构模型参数；The first determination module is used to determine the structural model parameters of the target laser aircraft; 所述第二确定模块，用于确定为所述目标激光飞行器提供激光束的光源的位置信息，和确定所述目标激光飞行器的初始俯仰角；the second determining module, configured to determine the position information of the light source that provides the laser beam for the target laser aircraft, and determine the initial pitch angle of the target laser aircraft; 所述第一计算模块，用于基于所述结构模型参数，计算所述目标激光飞行器在加速过程的动力模型参数，和计算所述目标激光飞行器在吸气模式下的气动参数；The first calculation module is configured to calculate the dynamic model parameters of the target laser aircraft in the acceleration process based on the structural model parameters, and calculate the aerodynamic parameters of the target laser aircraft in the suction mode; 所述第二计算模块，用于基于所述光源的位置信息、所述动力模型参数、所述气动参数和所述初始俯仰角，对所述目标激光飞行器进行弹道计算。The second calculation module is configured to perform ballistic calculation on the target laser aircraft based on the position information of the light source, the dynamic model parameters, the aerodynamic parameters and the initial pitch angle. 8.根据权利要求7所述的系统，其特征在于，所述第二计算模块还用于：8. The system according to claim 7, wherein the second computing module is further used for: 基于所述动力模型参数、所述气动参数和所述初始俯仰角，计算所述目标激光飞行器在发射过程的运动学方程和动力学方程；Based on the dynamic model parameters, the aerodynamic parameters and the initial pitch angle, calculate the kinematic equations and dynamic equations of the target laser aircraft during the launch process; 采用四阶龙格库塔法对所述运动学方程和所述动力学方程进行积分，得到所述目标激光飞行器在发射过程的速度信息和位置坐标。The fourth-order Runge-Kutta method is used to integrate the kinematic equation and the dynamic equation to obtain the velocity information and position coordinates of the target laser aircraft during the launch process. 9.一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现上述权利要求1至6任一项所述的方法的步骤。9. An electronic device comprising a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor implements the above claims when executing the computer program The steps of any one of 1 to 6 of the method. 10.一种具有处理器可执行的非易失的程序代码的计算机可读介质，其特征在于，所述程序代码使所述处理器执行所述权利要求1-6任一项所述方法。10. A computer-readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the method of any one of claims 1-6.
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