CN113934156A - Semi-physical simulation method for verifying 2-3-1 rotation flight motion model by using horizontal three-axis turntable - Google Patents
Semi-physical simulation method for verifying 2-3-1 rotation flight motion model by using horizontal three-axis turntable Download PDFInfo
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- CN113934156A CN113934156A CN202111112336.3A CN202111112336A CN113934156A CN 113934156 A CN113934156 A CN 113934156A CN 202111112336 A CN202111112336 A CN 202111112336A CN 113934156 A CN113934156 A CN 113934156A
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Abstract
The invention discloses a semi-physical simulation method for verifying a 2-3-1 order-transfer flight motion model by using a horizontal three-axis turntable, belongs to the field of aircraft control simulation, and relates to a 2-3-1 order-transfer model for projectile body movement around the center and semi-physical simulation. According to the method, the three-axis angular velocity of the projectile body is obtained through resolving the projectile body model, and then the three-axis angular velocity is used as input to further resolve the rotation angle of each frame of the horizontal turntable. The navigation module is used for resolving the 'projectile' attitude angle installed on the horizontal rotary table, and the feasibility of the method is verified. By adopting the method, the method error can be reduced to a great extent when the horizontal turntable is used for semi-physical simulation verification of the 2-3-1 rotation motion model, and the method has wider applicability.
Description
Technical Field
The invention discloses a semi-physical simulation method for verifying a 2-3-1 order-transfer flight motion model by using a horizontal three-axis turntable, belongs to the field of aircraft control simulation, and relates to semi-physical simulation of an aircraft core-around motion model and an attitude control system.
Background
The aircraft attitude control system and the like are mainly checked by means of flight tests, and semi-physical simulation before the flight tests is essential to ensure the success of the flight tests. Semi-physical emulation is the insertion of part of the hardware of the system under verification into the loop, which typically includes: missile-borne computers, inertial measurement units, rudder systems, etc. Three-axis turntables are often required for the verification of the performance of the inertial measurement unit in the control system.
The three-axis rotary table is generally divided into a horizontal rotary table and a vertical rotary table, wherein the horizontal rotary table is generally used for verifying the performance of the attitude control system using a 3-2-1 rotation sequence flight motion model, and the vertical rotary table is generally used for verifying the performance of the attitude control system using a 2-3-1 rotation sequence motion model. The outer frame shaft of the horizontal turntable is a pitching shaft, the middle frame shaft is a yawing shaft, and the inner frame shaft is a rolling shaft. Due to the limitations of enterprise qualification, turntable performance, capital, manpower and the like, a horizontal turntable is sometimes used for semi-physical simulation of 2-3-1 rotation. At this time, there are two common methods, one is to directly give the attitude angle of the projectile resolved by the simulator to the turntable, and the other is to give the outer frame of the horizontal turntable as a yaw frame and the middle frame as a pitch frame, that is, to give the pitch angle resolved by the simulator to the middle frame and give the yaw angle to the inner frame.
In fact, if the inertial measurement unit uses a three-axis gyroscope (angle gyroscope), the second method is feasible. If an angle rate gyroscope is adopted, the two methods are inaccurate, and the method has larger error. With the development of MEMS technology, more and more micro-electromechanical angular rate gyroscopes are used in missiles, and at the moment, if a horizontal turntable is used for performing 2-3-1 rotation sequence semi-physical simulation, errors of the two traditional methods can not be ignored any more.
Disclosure of Invention
The invention provides a semi-physical simulation method for verifying a 2-3-1 rotating sequence flight motion model by using a horizontal three-axis turntable, which can well reduce the error of the method. The invention has no method error in theory when the earth rotation is not considered. However, in actual use, due to factors such as the precision of an inertial device, the precision of a rotary table, installation deviation and truncation error, a certain deviation still exists between the attitude angle calculated by the navigation assembly according to the method and the original attitude angle, and the deviation is smaller compared with the traditional two methods.
The technical solution of the invention is as follows:
compared with the traditional two methods, the method has the advantages that:
(1) the method proposed herein is theoretically free of method errors when the earth's rotation is not considered. However, in practice, due to the influence of a series of factors such as earth rotation, turntable precision, inertial unit installation deviation, inertial unit component null shift, initial alignment deviation, four-order L-K method error, data truncation error and the like, a certain deviation still exists between a final navigation result of semi-physical simulation according to the method and original data;
(2) for short-range missiles, the curvature and autorotation of the earth are often ignored, and a 2-3-1 rotation motion model is often used, so that the method provided by the text has great fitness for short-range missiles;
(3) according to the semi-physical simulation method for verifying the 2-3-1 motion model by the horizontal turntable, the rotation angle of the turntable needs to be solved in real time according to the three-axis angular speed of the projectile body, a four-order L-K method is used for solving, the calculation amount is small, and the additional increase of the link transmission delay of the system during semi-physical simulation is avoided;
(4) the method proposed herein is more applicable than the two conventional methods. For example, when a projectile body performs large-pitch large-yaw maneuvering, the method for performing semi-physical simulation verification by using a horizontal three-axis turntable according to the two traditional methods may not be suitable, and the method provided by the invention is still feasible.
Drawings
FIG. 1: according to the specific steps, a horizontal turntable is used for performing 2-3-1 order-changing projectile motion model semi-physical simulation flow chart
In the drawings
Core algorithm 1-step (2) of the embodiment;
the black arrow body-arrow points to represent the data flow relation, the tail part of the arrow body is a data sending end, and the arrow body points to a data receiving end.
FIG. 2: flow chart for verifying mathematical simulation of the steps
In the drawings
The method comprises the following steps of (1) carrying out three mathematical simulation processes for verifying the feasibility of the method, reproducing the method, and carrying out comparison;
in the second step, the pitching, yawing and rolling angles are directly given to each frame of the corresponding rotary table;
taking an outer frame shaft of the horizontal rotary table as a yaw shaft, taking a middle frame shaft as a pitch shaft, and correspondingly adjusting an initial zero position of the rotary table;
fig. 3 and 4: partial mathematical simulation verification data;
FIG. 4 a: comparing the three processes with the rolling angular velocity and the original angular velocity;
FIG. 4 b: fig. 4a is a partial enlargement.
Detailed Description
A semi-physical simulation method for verifying a 2-3-1 rotation flight motion model by using a horizontal three-axis turntable comprises the following steps:
(1) the single machine (simulator) uses a four-order L-K method to solve a motion model of the projectile body around the center under 2-3-1 rotation sequence:
wherein M isx、My、MzIs the external torque applied to the projectile, Jx、Jy、JzIs the moment of inertia, omega, of the projectile about three principal axes of inertiax、ωy、ωzIs the triaxial angular velocity of the projectile, theta, psi, gamma are the pitch angle, yaw angle, roll angle, respectively.
(2) Taking the three angular velocities solved from (1) as inputs to equation (2), the following system of differential equations is solved:
wherein, thetazt_w、ψzt_w、γzt_wIs the angle theta of the horizontal turntable which is recalculated according to the three angular velocities of the projectile bodyzt_wIs the outer frame corner psi of the horizontal three-axis turntablezt_wIs a horizontal three-axis turntable middle frame corner, gammazt_wIs the corner of the inner frame of the horizontal three-axis turntable.
(3) Driving the rotary table to rotate according to the rotation angle calculated in the step (2), sensing the three-axis angular speed of the rotary table by the angular rate gyroscope on the rotary table, wherein when the earth rotation is not considered, a mathematical model of an angular speed equation sensitive to the angular rate gyroscope is as follows:
wherein, ω isx_w、ωy_w、ωz_wIs the "projectile" angular velocity sensed by the angular rate gyro on the turntable.
(4) Using the initial alignment value and the angular velocity of the projectile in (3) to apply a quaternion method to solve the attitude angle of the projectile, and if the pitch angle and the yaw angle are not close to 90 degrees, using the following decoupling matrix to solve the attitude angle of the projectile:
wherein theta isjs、ψjs、γjsProjectile attitude angles resolved for navigation.
Therefore, a semi-physical simulation method for verifying a 2-3-1 rotation flight motion model by using a horizontal three-axis turntable is realized, theoretically, the method has no method error, but in actual use, due to factors such as the precision of an inertial device, the precision of the turntable, installation deviation, truncation error and the like, a certain deviation still exists between the attitude angle calculated by the navigation assembly according to the method and the original attitude angle, but compared with the two traditional methods, the deviation is smaller, and the applicability is stronger.
In order to fully verify the accuracy of the method provided by the text, two comparison processes are provided, and the comparison processes are realized by the following steps:
(5) repeating (1);
(6) giving the pitch angle calculated in the step (5) to an outer frame of the horizontal turntable, giving a yaw angle to a middle frame of the horizontal turntable, and giving a roll angle to an inner frame of the horizontal turntable;
(7) repeating the step (3) and the step (4) to obtain a navigation result;
(8) repeating (1);
(9) and (4) giving the pitch angle calculated in the step (8) to the middle frame of the horizontal turntable, giving the yaw angle to the outer frame of the horizontal turntable, and giving the roll angle to the inner frame of the horizontal turntable. Setting an initial attitude by taking a middle frame shaft of the horizontal turntable as a pitching shaft and taking an outer frame shaft as a yawing shaft;
(10) and (4) repeating the steps (3) and (4) to obtain a navigation result.
The invention is not described in detail and is within the knowledge of a person skilled in the art.
Claims (5)
1. A semi-physical simulation method for verifying a 2-3-1 rotation sequence flying motion model by using a horizontal three-axis rotary table is designed to reduce method errors when the horizontal rotary table is used for semi-physical simulation of the 2-3-1 rotation sequence flying motion model and expand the applicability of the horizontal rotary table to an application object. The method comprises the steps of resolving the rotating angle of each frame of the rotary table through the three-axis angular velocity of a projectile body, and driving the rotary table to rotate. And the sensitive rotary table of the devices such as the inertial measurement unit and the like on the rotary table rotates, so that navigation calculation is carried out, and finally a navigation result is output.
2. The semi-physical simulation method for verifying 2-3-1 rotation order flight motion model by using a horizontal three-axis turntable as claimed in claim (1), wherein the attitude angle of the projectile body is not directly given to the turntable, and the outer frame of the turntable is not required to be used as a yaw frame, and the middle frame is used as a pitch frame.
3. The semi-physical simulation method for verifying 2-3-1 rotation sequence flying motion model by using a horizontal three-axis turntable according to claim (1), wherein each frame rotation angle of the turntable is solved according to three angular velocities of the projectile body.
4. The semi-physical simulation method for verifying 2-3-1 rotation sequence flying motion model by using a horizontal three-axis turntable according to claim (1), wherein the method provided by the step (2) is implemented to solve the rotation angle of each frame of the turntable.
5. The semi-physical simulation method for verifying 2-3-1 rotation flight motion model by using a horizontal three-axis turntable according to claim (1) is characterized in that the three procedures provided by the attached figure 2 are used for building, comparing and verifying a mathematical simulation model.
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Citations (2)
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| CN110109191A (en) * | 2019-04-19 | 2019-08-09 | 哈尔滨工业大学 | A kind of Electromagnetic Survey of Underground Pipelines method combined based on MEMS and odometer |
| CN110262282A (en) * | 2019-05-27 | 2019-09-20 | 南京理工大学 | Rocket grade, which is settled in an area, controls three-axle table semi-matter simulating system and method |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110109191A (en) * | 2019-04-19 | 2019-08-09 | 哈尔滨工业大学 | A kind of Electromagnetic Survey of Underground Pipelines method combined based on MEMS and odometer |
| CN110262282A (en) * | 2019-05-27 | 2019-09-20 | 南京理工大学 | Rocket grade, which is settled in an area, controls three-axle table semi-matter simulating system and method |
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| 何秋茹: "半实物仿真中转台指令的形成", pages 49 - 51 * |
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