CN113968330A - Underwater platform launching control method and underwater launching platform - Google Patents
Underwater platform launching control method and underwater launching platform Download PDFInfo
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- CN113968330A CN113968330A CN202111131524.0A CN202111131524A CN113968330A CN 113968330 A CN113968330 A CN 113968330A CN 202111131524 A CN202111131524 A CN 202111131524A CN 113968330 A CN113968330 A CN 113968330A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/28—Arrangement of offensive or defensive equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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Abstract
The invention relates to the technical field of ship control, and provides an underwater platform launching control method and an underwater launching platform, wherein the underwater platform launching control method comprises the following steps: acquiring motion parameters of an underwater platform; forecasting the change of the motion state of the underwater platform under the launching condition according to the motion parameters of the underwater platform; and calculating the launching conditions according to the motion parameters and the forecast data of the underwater platform, and controlling to launch when the launching conditions are met. According to the underwater platform launching control method and the underwater launching platform, the launching process is controlled based on the motion state forecast and the launching condition calculation, so that the launching opportunity can be selected in a self-adaptive manner according to the motion state and the variation trend of the underwater platform, the launching process is controlled favorably, the motion stability and the launching safety of the underwater platform are ensured, the launching efficiency is improved, and the control requirement of launching the underwater platform can be met.
Description
Technical Field
The invention relates to the technical field of ship control, in particular to an underwater platform launching control method and an underwater launching platform.
Background
When launching the underwater platform, depth and attitude control face many-sided difficulties. Firstly, the motion state of the underwater platform is an important factor influencing underwater normal launching, the launching task has very strict requirements on various motion elements such as the attitude, the depth and the like of the platform according to technical requirements, and the motion state is required to change slightly and smoothly as much as possible and is controlled within a certain range in the whole launching process.
Secondly, under the continuous launching working condition, the control system should meet the stable conditions in as short a time as possible so as to ensure that the motion parameters of each boat at the launching moment meet the launching condition requirements. This is critical for the operation of underwater platforms that are traveling at low speeds near the surface. In addition, the launching speed of the underwater platform is usually very low, and the control capability of the fore-aft rudder of the platform is insufficient.
At present, the launching of an underwater platform has the problem of high control difficulty.
Disclosure of Invention
The invention provides an underwater platform launching control method and an underwater launching platform, which are used for solving the problem that launching of the underwater platform in the prior art is difficult to control.
The invention provides an underwater platform launching control method, which comprises the following steps: acquiring motion parameters of an underwater platform; forecasting the change of the motion state of the underwater platform under the launching condition according to the motion parameters of the underwater platform; and calculating the launching conditions according to the motion parameters and the forecast data of the underwater platform, and controlling launching when the launching conditions are met.
According to the underwater platform launching control method provided by the invention, the launching is controlled, and meanwhile, the method further comprises the following steps: and carrying out instantaneous weight compensation control through the instantaneous weight compensation water tank so as to ensure the buoyancy balance of the underwater platform.
According to the underwater platform launching control method provided by the invention, the instantaneous weight compensation control through the instantaneous weight compensation water tank specifically comprises the following steps: from the launching moment, controlling an instantaneous water compensation cabin corresponding to the launched projectile body to blow off according to the set water buoyancy difference; after blowing is finished, controlling the instant supplementing water tank to close the cover; and after the instantaneous water tank for supplementing is closed, controlling the water pumping from the bomb chamber corresponding to the launched bomb body to supplement the instantaneous water tank for supplementing.
According to the underwater platform launching control method provided by the invention, the instantaneous water compensation tank is set as follows: for any row of the ammunition cabins, two interphase ammunition cabins share one instantaneous water compensation cabin.
According to the underwater platform launching control method provided by the invention, when the launching condition is met, the launching is controlled to specifically comprise the following steps: selecting the bullets in the bullet cabin from the middle to the two sides for launching; when continuously shooting, the projectile bodies in the projectile cabins are sequentially selected for shooting according to the symmetrical sequence about the gravity center.
The underwater platform launching control method provided by the invention further comprises the following steps: and before launching, in the launching process and at the launching finishing stage, controlling the fore-aft rudder according to the motion parameters of the underwater platform so as to control the depth and the trim of the underwater platform.
The underwater platform launching control method provided by the invention further comprises the following steps: before launching, in the launching process and at the launching finishing stage, controlling the water injection and drainage of the balance water tank so as to control the buoyancy balance of the underwater platform; and/or controlling the balance water tank to transfer water between the head and the stern so as to control the balance between the head and the stern of the underwater platform.
According to the underwater platform launching control method provided by the invention, forecasting the change of the motion state of the underwater platform under the launching condition according to the motion parameters of the underwater platform specifically comprises the following steps: forecasting the depth and the trim of the underwater platform according to the current navigational speed, the trim angle, the static load moment and the buoyancy unbalance of the underwater platform; the prediction model of the depth and the trim of the underwater platform is as follows:
θp＝f1(v,θ,M,F)；
ζp＝f2(v,θ,M,F)；
wherein v is the current navigational speed, theta is the longitudinal inclination angle, M is the static load moment, F is the buoyancy unbalance amount, and zetapFor depth prediction values, θpThe trim forecast is reported.
According to the underwater platform launching control method provided by the invention, launching conditions are calculated according to the following formula:
C＝c1Δζ+c2Δθ+c3v+c4Δt
C＜C0when the emission condition is satisfied;
wherein, Δ ζ is the maximum deviation between the depth forecast value and the instruction depth, Δ θ is the maximum deviation between the trim forecast value and the instruction trim, v is the current navigational speed, and Δ t is the time from the last launching time; c0Is a preset threshold value, c*Are parameters.
The present invention also provides an underwater launching platform for executing the underwater platform launching control method, comprising: the state observer is used for acquiring the motion parameters of the underwater platform; the forecasting module is used for forecasting the change of the motion state of the underwater platform under the launching condition according to the motion parameters of the underwater platform; and the emission control module is used for calculating emission conditions according to the motion parameters and the forecast data of the underwater platform and controlling emission when the emission conditions are met.
According to the underwater platform launching control method and the underwater launching platform, the launching process is controlled based on the motion state forecast and the launching condition calculation, so that the launching opportunity can be selected in a self-adaptive manner according to the motion state and the variation trend of the underwater platform, the launching process is controlled favorably, the motion stability and the launching safety of the underwater platform are ensured, the launching efficiency is improved, and the control requirement of launching the underwater platform can be met.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be 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 it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a launching control method for an underwater platform provided by the present invention;
FIG. 2 is a schematic overall flow chart of the launching control method for the underwater platform provided by the invention;
FIG. 3 is a schematic diagram of the arrangement of a missile bay and an instantaneous water compensation bay on an underwater platform provided by the present invention;
FIG. 4 is a diagram of the variation of the gravity of a single-shot ammunition pod and the gravity of an instantaneous water-replenishing pod provided by the present invention;
FIG. 5 is an exemplary illustration of the forces applied to a single-fire capsule and an instantaneous make-up water capsule provided by the present invention;
FIG. 6 is an illustration of an exemplary embodiment of the multiple shot continuous launch capsule and instantaneous make-up water capsule force provided by the present invention;
FIG. 7 is a schematic structural diagram of an electronic device provided by the present invention;
reference numerals:
1: a magazine; 2: and (5) instantly supplementing the water tank.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious 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 underwater platform launching control method and the underwater launching platform of the present invention will be described with reference to fig. 1 to 7.
Referring to fig. 1, the present embodiment provides an underwater platform launching control method, including: acquiring motion parameters of an underwater platform; forecasting the change of the motion state of the underwater platform under the launching condition according to the motion parameters of the underwater platform; and calculating the launching conditions according to the motion parameters and the forecast data of the underwater platform, and controlling launching when the launching conditions are met.
The motion state of the underwater platform can be observed, and the motion parameters of the underwater platform can be obtained according to the observation data. The prediction of the change of the motion state of the underwater platform under the launching condition specifically refers to the prediction calculation of the change range of the motion state of the underwater platform generated in the launching process. The prediction model can be established through mathematical simulation to predict by combining the environmental parameters of the underwater platform. And then, calculating the launching conditions according to the motion parameters of the underwater platform and by combining the forecast data of the motion state of the underwater platform, judging whether the launching conditions are met, and launching when the launching conditions are met.
According to the underwater platform launching control method, the launching process is controlled based on motion state prediction and launching condition calculation, so that the launching opportunity can be selected in a self-adaptive mode according to the motion state and the variation trend of the underwater platform, control of the launching process is facilitated, motion stability and launching safety of the underwater platform are guaranteed, launching efficiency is improved, and the control requirement of launching of the underwater platform can be met.
Further, calculating the emission condition, and controlling emission when the emission condition is satisfied specifically includes: when the continuous emission is carried out, the emission condition is calculated before each emission, and when the emission condition is met, the emission is controlled. The continuous launching control provided by the embodiment is different from the traditional launching process of appointing launching intervals in advance, and the launching opportunity selection strategy of the embodiment is to calculate the satisfaction condition of the launching conditions based on the motion state and determine the proper launching opportunity, so that each launching is carried out under the condition of meeting the launching conditions, and the launching process of the underwater platform can be controlled conveniently.
On the basis of the above embodiment, further, the underwater platform launching control method, while controlling launching, further includes: and instantaneous weight compensation control is carried out through the instantaneous weight compensation water tank so as to ensure the buoyancy balance of the underwater platform. Since the projectile body leaves the underwater platform from the launching moment, after the instantaneous launching counterforce is generated, the underwater platform generates gravity loss due to the launching of the projectile body, and the corresponding projectile cabin starts to enter water to be full of water in the launching process of the projectile body.
In other words, in the embodiment, the change of gravity of the underwater platform in the launching process is considered, and the instantaneous water replenishing cabin on the underwater platform is further used for instantaneous water replenishing control in the launching process, namely, water in the instantaneous water replenishing cabin is regulated and controlled, so that the weight loss of the underwater platform is replenished, the buoyancy balance of the underwater platform is ensured, and the stability of the launching process is improved.
On the basis of the above embodiment, further, the instantaneous re-filling control through the instantaneous re-filling water tank specifically includes: from the launching moment, controlling an instantaneous water compensation cabin corresponding to the launched projectile body to blow off according to the set water buoyancy difference; after blowing is finished, controlling the instant supplementing water tank to close the cover; and after the instantaneous water tank for supplementing is closed, controlling the water pumping from the bomb chamber corresponding to the launched bomb body to supplement the instantaneous water tank for supplementing. Before launching, the instantaneous water compensation tank is in a water full state.
After the projectile body is launched, the corresponding projectile cabin can be filled with water to be full of water, and the weight of the projectile cabin before and after launching can be changed due to the fact that the weight of the water is different when the projectile body and the projectile cabin are full of water. The set water-ejection buoyancy difference is the difference between the buoyancy of the launched projectile body and the buoyancy of water when the corresponding projectile cabin of the launched projectile body is filled with water. Blowing off the instantaneous make-up water tank refers to reducing the amount of water in the instantaneous make-up water tank. Usually, the weight of water can be greater than the weight of the projectile body when the bomb bay is full of water, therefore, through blowing off the instantaneous compensation water bay, maintain the weight of platform under water steady, guarantee the buoyancy balance of platform under water.
Furthermore, during single launching, after the instantaneous water tank for supplementing weight is closed, water is pumped from the corresponding bomb chamber for launching the bomb body to supplement the instantaneous water tank for supplementing weight until the instantaneous water tank for supplementing weight is full of water. Can be used for the next transmission task. When continuously launching, the launching of the lower projectile body can be started before the weight compensation process of the upper projectile body is finished; when the projectile is continuously launched, water is pumped from the corresponding bullet cabin of the upper-launched projectile body to replenish the instantaneous water replenishing cabin, and the launching of the lower-launched projectile body can be started before the instantaneous water replenishing cabin is full of water.
Specifically, the instantaneous compensation control comprises the following steps: when the launching moment begins, the projectile body leaves the platform, after the instantaneous launching counterforce is generated, the launching platform generates gravity loss, and the projectile cabin begins to enter water until the water is full. And at the moment of launching, the instantaneous water tank for supplementing weight is blown off, the blowing-off amount is the set elastic water buoyancy difference, and after blowing-off is finished, the instantaneous water tank for supplementing weight is closed. And after the instantaneous replenishing water tank is closed, pumping water from the bomb tank for replenishing until the instantaneous replenishing water tank is full of water. Can be used for the next transmission task. After completion, the single instantaneous re-emphasis process ends. The examples of fig. 4 and 5 illustrate the change in gravity during the above-described compensation process. When continuously launching, the launch of the lower projectile can be started before the completion of the weight compensation process of the upper projectile, and the gravity change situation in the continuous launch process can be illustrated by the example of fig. 6. The abscissa in fig. 4, 5 and 6 represents the launch progress, i.e. time; the ordinate represents the force situation.
On the basis of the above embodiment, further, with reference to fig. 3, the instantaneous replenishment sump 2 is arranged: for any row of the ammunition cabins 1, two ammunition cabins 1 at intervals share one instantaneous water compensation cabin 2. The difference configuration of the instantaneous weight-complementing water tanks 2 is shown in figure 3, 2 bullet tanks 1 share one instantaneous weight-complementing water tank 2, and the corresponding relation between the bullet tanks 1 and the instantaneous weight-complementing water tanks 2 is shown in the figure of the sequence number. For example, two magazine chambers 2, numbered 1 and 9, share an instantaneous make-up water chamber 2, and two magazine chambers 1, numbered 5 and 13, share an instantaneous make-up water chamber 2. This is provided with and does benefit to the quantity of setting that reduces instantaneous benefit weight water sump 2 to reduce the installation occupation space of instantaneous benefit weight water sump 2 on platform under water.
On the basis of the above embodiment, further, when the emission condition is satisfied, controlling to emit specifically includes: selecting the bullets in the bullet cabin from the middle to the two sides for launching; when continuously shooting, the projectile bodies in the projectile cabins are sequentially selected for shooting according to the symmetrical sequence about the gravity center.
Referring to fig. 3, the selection of the launch capsule is specifically: and when the launching condition is met, selecting a launching magazine position. Selecting the basis comprises preferentially selecting the middle part of the unfired magazine; when continuously transmitting, the pairs symmetrical about the gravity center are selected to transmit in sequence. Fig. 3 depicts the firing sequence, i.e. the firing is performed in the order of the numbering of the magazine 1.
On the basis of the above embodiment, further, a launching control method for an underwater platform further includes: and before launching, in the launching process and at the launching finishing stage, controlling the fore-aft rudder according to the motion parameters of the underwater platform so as to control the depth and the trim of the underwater platform.
On the basis of the above embodiment, further, a launching control method for an underwater platform further includes: before launching, in the launching process and at the launching finishing stage, controlling the water injection and drainage of the balance water tank so as to control the buoyancy balance of the underwater platform; and/or controlling the balance water tank to transfer water between the head and the stern so as to control the balance between the head and the stern of the underwater platform.
On the basis of the above embodiment, further, the acquiring the motion parameters of the underwater platform specifically includes: and observing the depth, the navigational speed, the trim and the fore-aft rudder angle of the underwater platform, and calculating to obtain the depth change rate, the trim angle, the trim change rate, the buoyancy unbalance amount and the static load moment of the underwater platform.
On the basis of the above embodiment, further, predicting, according to the motion parameter of the underwater platform, the change of the motion state of the underwater platform under the launching condition specifically includes: and forecasting the depth and the trim of the underwater platform according to the current navigational speed, the trim angle, the static load moment and the buoyancy unbalance of the underwater platform.
The prediction model of the depth and the trim of the underwater platform is as follows:
θp＝f1(v，θ,M，F)；
ζp＝f2(v，θ,M,F)；
wherein v is the current navigational speed, theta is the longitudinal inclination angle, M is the static load moment, F is the buoyancy unbalance amount, and zetapFor depth prediction values, θpThe trim forecast is reported. Taking the depth prediction value as an example, the depth prediction value refers to the prediction calculation of the depth value during the period of the transmission process.
On the basis of the above embodiment, further, the emission conditions are calculated according to the following formula:
C＝c1Δζ+c2Δθ+c3v+c4Δt；
C＜C0when the emission condition is satisfied;
wherein, Δ ζ is the maximum deviation between the depth forecast value and the instruction depth, Δ θ is the maximum deviation between the trim forecast value and the instruction trim, v is the current navigational speed, and Δ t is the time from the last launching time; c0Is a preset threshold value, c*Are parameters, wherein are 1, 2, 3 and 4 respectively. The instruction depth is a set depth value, which may be a better target depth value in the launch process, and the maximum deviation refers to a maximum value of a difference between the depth prediction value and the instruction depth in a period of time. The command trim is a set trim value, which may be a better target trim value during launch, and the maximum deviation refers to a maximum value of a difference between a trim forecast value and the command trim over a period of time. The instruction trim is typically 0.
On the basis of the above embodiment, further, the control of the fore-aft rudder to control the depth and trim of the underwater platform is as follows:
wherein, deltabIs data of a bow rudder angle, delta s is data of a stern rudder angle, v is current navigational speed, theta is a longitudinal inclination angle, M is static load moment, F is buoyancy unbalance, delta zeta is the maximum deviation of a depth forecast value and an instruction depth, and k isijAre control parameters.
Is the first derivative of θ; ζ is the depth;
the first derivative of ζ.
The underwater launching platform provided by the invention is described below, and the underwater launching platform described below and the underwater platform launching control method described above can be referred to correspondingly.
On the basis of the foregoing embodiment, further, the present embodiment provides an underwater launching platform for executing the underwater platform launching control method according to any of the foregoing embodiments, including: the state observer is used for acquiring the motion parameters of the underwater platform; the forecasting module is used for forecasting the change of the motion state of the underwater platform under the launching condition according to the motion parameters of the underwater platform; and the emission control module is used for calculating emission conditions according to the motion parameters and the forecast data of the underwater platform and controlling emission when the emission conditions are met.
Further, an underwater launch platform further comprises: the platform body with locate the bullet cabin of platform body and instantaneous heavy water sump of mending. The underwater launching platform also comprises a bow and stern rudder, a balance water tank and a balance water tank which are arranged on the platform body; wherein the fore-aft rudder is used for controlling the depth and the trim of the underwater platform; the balance water tank is used for adjusting the gravity of the underwater platform through water injection and drainage; the balance water tanks can be arranged at the bow part and the stern part of the platform body and are used for adjusting the balance between the bow and the stern through the water transfer operation between the bow and the stern.
On the basis of the above embodiment, further, referring to fig. 2, the present embodiment provides a launching control method for an underwater platform, which includes a conventional control flow and a launching flow. The conventional control flow is executed in the stages of emission preparation, emission ending and the like; the transmitting process is executed from the transmitting moment to the completion stage of the compensation; when the emission is carried out simultaneously, the emission process is repeatedly executed. The individual steps of the two phases are explained in detail below with reference to fig. 2-6.
The conventional control flow comprises the following steps: the process utilizes a control means of fore-aft rudder, buoyancy balance and trim balance to control the depth and trim of the underwater platform and ensure the smooth implementation of the launching process:
and observing and filtering the motion state. Based on underwater platform motion sensor data including depth, navigational speed, trim, list, bow and stern rudder angle, an extended state observer is designed to calculate depth, depth change rate, trim angle, trim change rate, residual buoyancy and static load moment.
And (5) forecasting the motion state. On the basis of parameters such as depth rate, trim rate, navigational speed, residual buoyancy and the like, states such as depth, trim and the like of the underwater platform are forecasted, and the variation range of the depth and the trim under the launching condition is determined. v is the current navigational speed, theta is the longitudinal inclination angle, M is the static load moment, F is the buoyancy unbalance, and then the depth forecast value zeta ispAnd a pitch forecast value thetapThe form of the prediction model of (a) is:
ζp＝f2(v，θ,M,F)；
θp＝f1(v，θ,M，F)。
and controlling a bow rudder and a stern rudder. And designing a depth controller by using the depth, depth rate, trim rate and navigational speed data, and controlling the fore-aft rudder to realize the control of the depth and trim of the underwater platform. Adopts linear control law to directly decouple the underwater platform, namely, the rudder deltabThe control form of the stern rudder delta s is as follows, and the control parameter kijAdjusting according to a mathematical model:
specifically, the control parameters can be selected and set based on mathematical simulation, and the adjustment precision, stability, rapidity and self characteristics of the underwater platform are comprehensively considered.
And (4) buoyancy balance control. And calculating static buoyancy borne by the underwater platform by using the data of the navigational speed, the trim and the fore-aft rudder angle, controlling the balance water tank to carry out water injection and drainage operation, and eliminating the static buoyancy. The calculation formula of the static buoyancy is as follows:
wherein the content of the first and second substances,
and
the mean values of the trim, bow and stern rudders over a fixed period of time (e.g. 1 minute), coefficient a1*And determining according to a mathematical model of the underwater platform.
And controlling the balance between the bow and the stern. And calculating static load moment borne by the underwater platform by using the trim and fore-aft rudder angle data, controlling the balance water tank to carry out fore-aft water transfer operation, and eliminating the static load moment. The calculation formula of the static load moment is as follows:
And (5) transmitting. In the transmitting process, calculating transmitting conditions according to the forecasted depth and trim data; when the transmitting condition is satisfied, selecting the transmitter to transmit, comprising the following steps:
and (4) calculating emission conditions. Judging whether the launching condition is met or not by utilizing the depth, trim and buoyancy data calculated in the conventional control flow state forecasting step and the state data of the instantaneous water compensation tank; when the transmission condition is satisfied, transmission is performed. The transmission conditions are calculated by
C＝c1Δζ+c2Δθ+c3v+c4Δt；
Where Δ ζ is a depth deviation (the same as above), Δ θ is a pitch deviation (the same as above), v is a speed, and Δ t is an instantaneous compensation remaining time, that is, a time from the last transmission time. When C is less than C0I.e. the emission condition is less than the calculation threshold C0And in time, the emission condition meets the requirement, and the emission can be carried out. Parameter c*Determined using mathematical simulation.
And 4, selecting a launching capsule. Emission: and after the bullet cabin is determined, launching the corresponding bullet. Instantaneous weight compensation: and at the moment of launching, starting control of the corresponding instantaneous water tank for supplementing weight simultaneously, supplementing the weight loss of the platform caused by launching, and ensuring the buoyancy balance of the underwater platform.
The shortest launch time interval is affected by many factors, including cabin layout, transfer pump capacity, spring water weight difference, and launch strategy and instantaneous weight compensation strategy etc. The tail elevator has little effect on controlling the submarine depth near the counter-speed point of the platform, but has obvious effect on adjusting the submarine trim. The depth control system is effective in making wide-range imbalance adjustments, but requires sufficient computing time, typically above 1 minute, depending on the size of the launch platform.
The embodiment provides a depth and attitude control method in a continuous launching process of an underwater platform, which comprises a conventional control flow and a launching flow. The steps of the conventional control flow are as follows: calculating the depth, the pitch angle, the residual buoyancy, the floating moment (namely static load moment) and the like by utilizing the underwater platform extended state observer, forecasting the states of the depth, the pitch angle and the like of the underwater platform, and determining the variation range of the depth and the pitch angle under the launching condition; the depth controller is used for controlling the fore-aft rudder to realize the control of the depth and the trim of the underwater platform; and buoyancy balance and fore-aft balance control are performed.
The transmission flow comprises the following steps: judging whether the launching condition is met or not by utilizing the depth, trim and buoyancy data calculated in the conventional control flow state forecasting step and the state data of the instantaneous water compensation tank; when the emission condition is met, emitting; and at the moment of launching, starting control of the corresponding instantaneous water tank for supplementing weight simultaneously, supplementing the weight loss of the platform caused by launching, and ensuring the buoyancy balance of the underwater platform.
The emission condition calculation method comprises the following steps: establishing a rapid linear forecasting model based on the depth, the depth rate, the trim change rate, the navigational speed and the launching counterforce, and forecasting the change ranges of the depth and the trim; and when the depth and trim forecast results are in the launching requirement range and the weight compensation water tank meets the launching conditions, launching is started.
The underwater platform launching control method provided by the embodiment mainly comprises the following three aspects: forecasting the motion state of the underwater platform; comprehensively calculating emission conditions; and comprehensively controlling the launching process. In the embodiment, the comprehensive actions of unbalanced force caused by instant seawater irrigation and launching of the launch canister, wave force interference and the like are taken into consideration in the complex mechanical environment underwater, besides the huge launching counterforce. Therefore, under the working condition, various operation means including a fore-aft rudder, an instantaneous water tank, a balance water tank, a fore-aft balance water tank and the like need to be comprehensively operated.
The launching process control method based on the motion state prediction and launching condition calculation overcomes the defect that the traditional control strategy for setting launching time intervals is improved, self-adaptive launching opportunity selection is provided according to the motion state and the variation trend of the underwater platform, the motion stability and the launching safety of the underwater platform are ensured, the launching efficiency is improved, and the control requirement of continuous launching of the underwater platform can be met.
Fig. 7 illustrates a physical structure diagram of an electronic device, and as shown in fig. 7, the electronic device may include: the system comprises a processor (processor), a communication Interface (communication Interface), a memory (memory) and a communication bus, wherein the processor, the communication Interface and the memory are communicated with each other through the communication bus. The processor may invoke logic instructions in the memory to perform a method of launch control of an underwater platform, the method comprising: observing the motion state of an underwater platform to obtain the motion parameters of the underwater platform; forecasting the variation range of the motion state of the underwater platform under the launching condition according to the motion parameters of the underwater platform; and calculating the transmitting condition, and transmitting when the transmitting condition is met.
In addition, the logic instructions in the memory may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the underwater platform launch control method provided by the above methods, the method comprising: observing the motion state of an underwater platform to obtain the motion parameters of the underwater platform; forecasting the variation range of the motion state of the underwater platform under the launching condition according to the motion parameters of the underwater platform; and calculating the transmitting condition, and transmitting when the transmitting condition is met.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the underwater platform launch control method provided above, the method comprising: observing the motion state of an underwater platform to obtain the motion parameters of the underwater platform; forecasting the variation range of the motion state of the underwater platform under the launching condition according to the motion parameters of the underwater platform; and calculating the transmitting condition, and transmitting when the transmitting condition is met.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An underwater platform launching control method is characterized by comprising the following steps:
acquiring motion parameters of an underwater platform;
forecasting the change of the motion state of the underwater platform under the launching condition according to the motion parameters of the underwater platform;
and calculating the launching conditions according to the motion parameters and the forecast data of the underwater platform, and controlling launching when the launching conditions are met.
2. The underwater platform launching control method of claim 1, wherein controlling launching further comprises:
and carrying out instantaneous weight compensation control through the instantaneous weight compensation water tank so as to ensure the buoyancy balance of the underwater platform.
3. The launch control method for an underwater platform as claimed in claim 2, wherein the transient replenishment control by the transient replenishment sump specifically comprises:
from the launching moment, controlling an instantaneous water compensation cabin corresponding to the launched projectile body to blow off according to the set water buoyancy difference;
after blowing is finished, controlling the instant supplementing water tank to close the cover;
and after the instantaneous water tank for supplementing is closed, controlling the water pumping from the bomb chamber corresponding to the launched bomb body to supplement the instantaneous water tank for supplementing.
4. The underwater platform launch control method of claim 3, wherein the instantaneous makeup water pods are configured to: for any row of the ammunition cabins, two interphase ammunition cabins share one instantaneous water compensation cabin.
5. The underwater platform launching control method of claim 1, wherein controlling launching specifically comprises, when a launch condition is met:
selecting the bullets in the bullet cabin from the middle to the two sides for launching;
when continuously shooting, the projectile bodies in the projectile cabins are sequentially selected for shooting according to the symmetrical sequence about the gravity center.
6. The underwater platform launch control method of claim 1, further comprising:
and before launching, in the launching process and at the launching finishing stage, controlling the fore-aft rudder according to the motion parameters of the underwater platform so as to control the depth and the trim of the underwater platform.
7. The underwater platform launch control method of claim 1, further comprising:
before launching, in the launching process and at the launching finishing stage, controlling the water injection and drainage of the balance water tank so as to control the buoyancy balance of the underwater platform;
and/or controlling the balance water tank to transfer water between the head and the stern so as to control the balance between the head and the stern of the underwater platform.
8. The launch control method for an underwater platform according to claim 1, wherein predicting, according to the motion parameters of the underwater platform, the changes in the motion state of the underwater platform under the launch conditions specifically comprises:
forecasting the depth and the trim of the underwater platform according to the current navigational speed, the trim angle, the static load moment and the buoyancy unbalance of the underwater platform;
the prediction model of the depth and the trim of the underwater platform is as follows:
θp＝f1(v,θ,M,F)；
ζp＝f2(v,θ,M,F)；
wherein v is the current navigational speed, theta is the longitudinal inclination angle, M is the static load moment, F is the buoyancy unbalance amount, and zetapFor depth prediction values, θpThe trim forecast is reported.
9. The launch control method for an underwater platform according to claim 8, wherein the launch conditions are calculated according to the following formula:
C＝c1Δζ+c2Δθ+c3v+c4Δt
C＜C0when the emission condition is satisfied;
wherein, Δ ζ is the maximum deviation between the depth forecast value and the instruction depth, Δ θ is the maximum deviation between the trim forecast value and the instruction trim, v is the current navigational speed, and Δ t is the time from the last launching time; c0Is a preset threshold value, c*Are parameters.
10. An underwater launch platform for carrying out the underwater platform launch control method of any one of claims 1 to 9, comprising:
the state observer is used for acquiring the motion parameters of the underwater platform;
the forecasting module is used for forecasting the change of the motion state of the underwater platform under the launching condition according to the motion parameters of the underwater platform;
and the emission control module is used for calculating emission conditions according to the motion parameters and the forecast data of the underwater platform and controlling emission when the emission conditions are met.
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