CN113901645A - Fixed-height flight technology applied to short-range supersonic speed cruise missile - Google Patents
Fixed-height flight technology applied to short-range supersonic speed cruise missile Download PDFInfo
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- CN113901645A CN113901645A CN202111112337.8A CN202111112337A CN113901645A CN 113901645 A CN113901645 A CN 113901645A CN 202111112337 A CN202111112337 A CN 202111112337A CN 113901645 A CN113901645 A CN 113901645A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/02—Reliability analysis or reliability optimisation; Failure analysis, e.g. worst case scenario performance, failure mode and effects analysis [FMEA]
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Abstract
The invention discloses a fixed-height flight technology applied to a short-range supersonic speed cruise missile, belongs to the field of aircraft attitude control, and relates to an aircraft longitudinal channel motion model and a flight control loop. The invention ensures the stability of the flight attitude through the inner ring, generates the guide instruction of the fixed-height flight through the outer ring, and controls the aircraft to track the guide instruction of the outer ring through the inner ring so as to realize the purpose of the fixed-height flight. The inner ring can carry out amplitude limiting on an attack angle command and realize quick leveling of a cruise missile by using PD control of an attack angle and a pitch angle speed, and the outer ring generates the attack angle command by using comprehensive proportional control of a local ballistic inclination angle and an altitude so as to well realize the purpose of cruising at a preset height.
Description
Technical Field
The invention discloses a fixed-height flight technology applied to a short-range supersonic speed cruise missile, belongs to the field of aircraft attitude control, and relates to an aircraft longitudinal channel motion and attitude control loop and the like.
Background
The traditional subsonic cruise bomb for achieving the penetration performance is usually to carry out long-time sea-sweeping or ground-sweeping flight so as to avoid being discovered by a local radar. With the increasing maturity of ramjet engines, the supersonic speed or hypersonic speed penetration is more and more emphasized. In the case of cruise bombs, they are generally divided into a climb segment, a cruise segment and a dive segment (generally with terminal guidance in the dive segment). Generally speaking, the cruise bomb generally requires constant-height and constant-speed cruising in a cruising section. The constant-speed cruise mainly adjusts the flow of an engine according to speed feedback, and the constant-height cruise has certain control difficulty and is an important ring in the process of realizing the task of a cruise bomb.
Disclosure of Invention
A fixed-height flight technique applicable to short-range supersonic cruise bombs is proposed. For the fixed-height flight of cruise bombs, two control strategies are generally adopted, wherein the PID with the height difference is directly applied to control, the stability is ensured by an inner ring, and the fixed-height function is realized by an outer ring. The height-fixing technology proposed herein belongs to the second strategy described above, but unlike the past, the present invention, the inner ring, using PD control of the angle of attack and pitch angle velocity, ensures the stability of the control system and rapidity of response; and the outer ring generates a height-fixing guiding instruction by the comprehensive proportional control of the local trajectory inclination angle and the altitude, so that the height-fixing cruise of the cruise bomb is finally realized.
The technical solution of the invention is as follows: (in accordance with the claims)
The invention has the advantages that:
(1) the outer ring guide instruction is simple and easy to realize, and does not need complex calculation;
(2) the outer ring control parameters are easy to adjust;
(3) the guiding instruction of the outer ring is a program attack angle instruction, so that the maximum attack angle of the climbing section or the pressing section is conveniently limited, which is particularly important for the bullet cruising by using the ramjet engine;
(4) the fixed-height flight technology provided by the invention has strong adaptability to different fixed heights;
(5) the dependency of the fixed-height flight technology on the initial launching angle of the missile is greatly reduced, and the fixed-height flight at different heights can be realized by the same launching angle under the condition of enough engine capacity;
(6) the fixed-height flight technology provided by the invention is based on the prior supersonic cruise bombs, but has applicability to cruise bombs with different speeds.
Drawings
FIG. 1: according to the height-fixing technology provided by the invention, the corresponding inner and outer ring control structure diagrams
In the drawings
An inner ring control loop is arranged in the red dotted line frame;
the part outside the red dotted line frame is an outer ring guidance loop.
FIG. 2: equivalent open-loop structure chart used in frequency domain design of inner loop
In the drawings
The two "missile body" block diagrams represent different meanings, and after laplace transformation is carried out, the two "missile body" block diagrams respectively represent a transfer function of a rudder to an attack angle and a transfer function of a rudder pitch angle and a rudder pitch speed.
FIG. 3: and (4) taking a certain type of supersonic bomb as a support, and setting the height of a cruise result graph.
In the drawings
The blue curve with overshoot is a reference ballistic curve, and the height is set to be 3500 m.
The other color curves are 10 randomly selected limit ballistic curves, and the out-of-barrel interference under the condition of in-barrel launching is considered.
FIG. 4: cruise section cruise altitude variation enlarged view
In the drawings
From 40 seconds to 110 seconds, the cruise time is approximate, and the height fixing technology of the invention has height fixing deviation about +/-20 m.
FIG. 5: cruise segment Mach number
In the drawings
The blue line is the reference trajectory and the other color curves are the limit trajectories corresponding to fig. 3.
Detailed Description
A height-fixed flight technology applied to short-range supersonic cruise bombs comprises the following steps:
(1) the cruise missile six-degree-of-freedom motion model is established, and the knowledge points belong to the common knowledge of the technical personnel in the field and are not described in detail herein.
(2) According to a frequency domain analysis method, control parameters are designed, and the stability of an inner ring is ensured, wherein transfer functions of a steering engine to an attack angle and a pitch angle speed are respectively as follows:
wherein the coefficient amnIs the kinetic coefficient, amnAnd PiAnd the like, are within the common knowledge of those skilled in the art.
The inner loop control instructions are as follows:
δz＝kp·(α-αc)+kd·ωz
wherein k isp、kdIt is the control coefficient that needs to be designed in this link.
(2a) Solving for the height versus local ballistic dip, approximately as follows:
since the velocity V belongs to a long period and is a slow variable, the amount of change in the altitude in a short time is mainly determined by the ballistic inclination angle and the amount of change in the ballistic inclination angle.
(2b) Degenerate the above formulation to take the laplace transform, then there are:
that is, to some extent, the amount of change in height can be regarded as the integral of the amount of change in ballistic inclination angle multiplied by a certain coefficient.
(3) The outer loop pilot command is generated in the following way:
wherein, k is required to be paired in this linkpθ、kphThe two coefficients are valued, the height change value is far larger than the change value of the local ballistic inclination angle, so k is used for adjusting the parameterspθIs generally much larger than kphThe initial 600 times proportional relationship may be taken.
(3a) The height term can be removed first, only k is adjustedpθAnd after the horizontal cruise is realized by combining the subsequent steps, the constant-height cruise is realized by adding a height link.
(4) Combining the outer ring guidance instruction with the inner ring control instruction to form a pitching channel control instruction, which comprises the following steps:
δz＝kp·(α-αc)+kd·ωz
(5) and performing simulation verification by using a six-degree-of-freedom trajectory.
(6) If the trajectory is buffeting or unstable or not legally high, the step (3) is repeated, and the step (5) is repeated.
The 6 steps can realize the invention and verify the correctness of the invention.
The invention is not described in detail and is within the knowledge of a person skilled in the art.
Claims (6)
1. A height-fixed flight technology applied to a short-range supersonic speed cruise bomb aims to solve the height-fixed cruise problem of the short-range supersonic speed cruise bomb.
2. The high-altitude flight technique applied to the short-range supersonic cruise missile according to the claim (1), characterized in that the inner loop stabilizes the attitude by using the feedback control of the attack angle and the pitch angle speed, and the outer loop generates the guidance instruction by using the comprehensive proportional control of the local ballistic inclination angle and the altitude.
3. The high-altitude flight technique applied to the short-range supersonic cruise missile according to the claim (1), characterized in that the guidance instruction generated by the outer ring according to the local ballistic inclination and altitude is an attack angle instruction but not an overload instruction.
4. The altitude fixing flight technology applied to the short-range supersonic cruise missile according to the claim (1), is characterized in that the control structure shown in figure 1 of the invention is used for altitude fixing flight.
5. The altitude-fixing flight technology applied to the short-range supersonic cruise bomb according to the claim (1), characterized in that the altitude-fixing control of the cruise bomb is performed by using the altitude-fixing technology provided by the invention.
6. The altitude fixing flight technique applied to the short-range supersonic cruise bomb according to the claim (1), characterized in that the guidance and control law of the invention 'embodiment (4') is used to perform altitude fixing flight of cruise bomb.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111112337.8A CN113901645A (en) | 2021-09-17 | 2021-09-17 | Fixed-height flight technology applied to short-range supersonic speed cruise missile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111112337.8A CN113901645A (en) | 2021-09-17 | 2021-09-17 | Fixed-height flight technology applied to short-range supersonic speed cruise missile |
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| CN113901645A true CN113901645A (en) | 2022-01-07 |
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| CN202111112337.8A Pending CN113901645A (en) | 2021-09-17 | 2021-09-17 | Fixed-height flight technology applied to short-range supersonic speed cruise missile |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115328191A (en) * | 2022-07-15 | 2022-11-11 | 北京星途探索科技有限公司 | Method, system, equipment and storage medium for controlling cruise of grazing cruise target |
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2021
- 2021-09-17 CN CN202111112337.8A patent/CN113901645A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115328191A (en) * | 2022-07-15 | 2022-11-11 | 北京星途探索科技有限公司 | Method, system, equipment and storage medium for controlling cruise of grazing cruise target |
| CN115328191B (en) * | 2022-07-15 | 2023-09-12 | 北京星途探索科技有限公司 | Method, system, equipment and storage medium for controlling cruising of ground sweeping cruising target |
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