CN114065538A - Method for calculating over-emphasis coefficient and scale guide coefficient, electronic device, and medium - Google Patents
Method for calculating over-emphasis coefficient and scale guide coefficient, electronic device, and medium Download PDFInfo
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Abstract
The application discloses a method for calculating an over-emphasis coefficient and a proportional guidance coefficient, electronic equipment and a medium. The method can comprise the following steps: grid cutting is carried out on missile envelope lines, and each grid intersection point is a dynamically calculated state point; performing coefficient configuration calculation for each flight trajectory of each state point; setting initial participation step length of the coefficient, performing mathematical simulation, and screening coefficient configuration corresponding to each flight trajectory of the state point and meeting set conditions; and repeating the steps until the coefficient configuration of each state point in the missile envelope is completed. The optimal solution of the coefficient under the full trajectory condition is obtained by dynamically calculating the over-compensated proportional guidance coefficient of each trajectory, and in practical application, an applicable value is obtained through a multi-dimensional difference value, so that the guidance precision is improved.
Description
Technical Field
The invention relates to the field of flight data, in particular to a method for calculating an over-emphasis coefficient and a proportional guidance coefficient, electronic equipment and a medium.
Background
The tactical air-ground missile flying at subsonic speed adopts a proportional guidance method to guide attack, and is characterized in that the flight speed of the final guidance section is not high, the overload capacity is limited, the problems of loss of upward maneuvering overload at the tail end of guidance and asymmetric upward and downward maneuvering capacities can be solved by adopting an overcomplete proportional guidance law, the attack falling angle can be enlarged, and the damage power of a warhead is improved. The over-recomposing coefficient and the proportional guide coefficient have a mutual influence and restriction relationship, a set of specific coefficients cannot cover all ballistic flight envelopes, and different coefficients are required to be configured according to different launching conditions.
Therefore, it is necessary to develop an over-emphasis coefficient and scale guide coefficient calculation method, an electronic device, and a medium.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention provides a method for calculating an overcomplete coefficient and a proportional guidance coefficient, electronic equipment and a medium, which can obtain an optimal solution of a coefficient under a full trajectory condition by dynamically calculating the overcomplete proportional guidance coefficient of each trajectory, and obtain an application value through a multi-dimensional difference in practical application, thereby improving the guidance precision.
In a first aspect, an embodiment of the present disclosure provides a method for calculating an over-recomposing coefficient and a scaling pilot coefficient, including:
grid cutting is carried out on missile envelope lines, and each grid intersection point is a dynamically calculated state point;
performing coefficient configuration calculation for each flight trajectory of each state point;
setting initial participation step length of the coefficient, performing mathematical simulation, and screening coefficient configuration corresponding to each flight trajectory of the state point and meeting set conditions;
and repeating the steps until the coefficient configuration of each state point in the missile envelope is completed.
Preferably, the flight trajectory phase comprises an engine combustion section, a middle guidance section and a terminal guidance section.
Preferably, after each trajectory simulation is completed, whether the trajectory simulation is hit is judged, if the trajectory simulation is hit, data is recorded, whether the missile hit point is in the optimal 10% miss distance area is judged according to a stack rule, whether the terminal overload requirement meets the set condition is determined, and if the terminal overload requirement meets the set condition, the data is stored.
Preferably, the end use overload is calculated by equation (1):
wherein c is an overcomplete coefficient, N is a proportional guidance coefficient, T is proportional guidance time, and T is terminal guidance time.
Preferably, the coefficients include an overcomplete coefficient and a scale guide coefficient.
Preferably, the initial parameter of the over-emphasis coefficient is 1, and the step length is 0.1.
Preferably, the initial parameter of the over-emphasis coefficient is 2, and the step length is 0.2.
Preferably, if there are a plurality of coefficient configurations satisfying the condition, the configuration of the optimal attack angle coefficient is screened as the optimal solution.
As a specific implementation of the embodiments of the present disclosure,
in a second aspect, an embodiment of the present disclosure further provides an electronic device, including:
a memory storing executable instructions;
a processor executing the executable instructions in the memory to implement the method for calculating the overcomplete coefficient and the scaling factor.
In a third aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for calculating an overcomplete coefficient and a scale guide coefficient is implemented.
The beneficial effects are that:
(1) the method can overcome the defect that the conventional design system needs a designer to manually search for state points to design the guidance law, and automatically records the value of the optimal coefficient according to the result of a large amount of circular simulation data.
(2) The design state of each trajectory can be refined under the support of a large amount of data, and the real-time change coefficient is changed according to different launching conditions.
(3) Simulation input can be adjusted according to the conditions emphasized in the actual flight of the missile, the optimal guidance coefficient is recalculated, and repeated operation of a designer is prevented.
The method and apparatus of the present invention have other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts.
Fig. 1 shows an idealized scaled steering loop transfer function block diagram in accordance with one embodiment of the present invention.
FIG. 2 shows a loop simulation flow diagram according to one embodiment of the invention.
Fig. 3 shows a flow chart of the steps of the method for calculating the overcomplete coefficient and the scaling pilot coefficient according to one embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein.
The invention provides a method for calculating an over-heavy compensation coefficient and a proportional guidance coefficient, which comprises the following steps:
grid cutting is carried out on missile envelope lines, and each grid intersection point is a dynamically calculated state point;
performing coefficient configuration calculation for each flight trajectory of each state point;
setting initial participation step length of the coefficient, performing mathematical simulation, and screening coefficient configuration corresponding to each flight trajectory of the state point and meeting set conditions;
and repeating the steps until the coefficient configuration of each state point in the missile envelope is completed.
In one example, the ballistic phase includes an engine combustion section, a mid-lead section, and a terminal-lead section.
In one example, after each trajectory simulation is completed, whether the trajectory simulation is hit is judged, if the trajectory simulation is hit, data is recorded, whether the missile hit point is in the optimal 10% miss distance area is judged according to a stacking rule, whether the terminal overload requirement meets the set condition is determined, and if the terminal overload requirement meets the set condition, the data is stored.
In one example, the end demand overload is calculated by equation (1):
wherein c is an overcomplete coefficient, N is a proportional guidance coefficient, T is proportional guidance time, and T is terminal guidance time.
In one example, the coefficients include an overcomplete coefficient and a scale guide coefficient.
In one example, the initial parameter of the overcomplete coefficient is 1 and the step size is 0.1.
In one example, the initial parameter of the overcomplete coefficient is 2 and the step size is 0.2.
In one example, if there are a plurality of coefficient configurations satisfying the condition, the configuration of the optimal attack angle coefficient is screened as the optimal solution.
Specifically, grid cutting is carried out on missile envelope lines, and each grid intersection point is a dynamically calculated state point; coefficient configuration calculation is performed for each flight trajectory of each state point:
dividing the flight trajectory of the state point into three stages, namely an engine combustion stage, a middle guidance stage and a final guidance stage, wherein the coefficient configuration of each stage needs to be calculated independently;
the missile normal overload requirement is only related to the over-heavy compensation coefficient and the proportional guidance coefficient, and the normal aerodynamic overload is between 1 g and 4g in the actual air-ground missile flying process, so that the value range of the over-heavy compensation coefficient c is set to be 1-4, and the larger the normal overload is required along with the increase of the over-heavy compensation coefficient c according to the formula (1).
The missile body normal overload analytic solution is defined in a proportional guidance law, a proportional guidance coefficient N is selected within a range of 1< N < ∞, usually 2-6 is selected, and the required direction overload is smaller along with the increase of the proportional guidance coefficient N according to a formula (1).
FIG. 1 shows a block diagram of an ideally-scaled steering loop transfer function to approximately linearize the steering loop at the final stage for a target position Y in the Y direction, according to one embodiment of the present inventiontFor inputting, outputting and feeding back the position Y of the missile in the Y directionmThe gravity compensation cg and the gravity g are respectively used as positive compensation for an input command of the automatic pilot and negative interference for an output acceleration, and an ideal proportional guide loop mathematical model with over-gravity compensation is obtained as shown in fig. 1.
FIG. 2 shows a loop simulation flow diagram according to one embodiment of the invention.
Setting an initial parameter of an over-emphasis coefficient to be 1, an initial parameter of a proportional guidance coefficient to be 2, a ballistic phase to be an outer circulation, setting a step length of the over-emphasis coefficient to be 0.1 as a middle circulation, setting a step length of the proportional guidance coefficient to be 0.2 as an inner circulation, setting a launching condition, a guidance parameter and a simulation period, and starting simulation according to a circulation simulation flow of the figure 2;
judging whether each trajectory hits after simulation is finished, recording data if the trajectory hits, judging whether the hit point of the missile is in the optimal 10% miss distance area according to a stacking rule, and calculating the overload f needed by the tail end according to a formula (1)mWhether the condition of less than 0.5g is met or not, and if the condition is met, storing the data; if there is oneIf the bars are not satisfied, the transmitting conditions are changed according to the circulation sequence of the figure 2, the over-heavy compensation and proportion guide parameters are changed, if the transmitting conditions reach the interval upper limit, the simulation conditions are changed according to the step length, and the over-heavy compensation and proportion guide parameters are reset. After the trajectory simulation of a single stage is completed, changing the flight trajectory stage until the trajectories of the three stages complete the cycle simulation;
and recording coefficient configuration data as the optimal configuration of the flight trajectory of the state point, and sequentially replacing the state points until the left and right state points in the flight envelope are completed, wherein if a plurality of coefficient configurations meeting the conditions exist, the configuration of the optimal attack angle coefficient is screened as the optimal solution.
And (3) the recorded data is combined with the over-heavy compensation coefficient and the proportional guidance coefficient as interpolation contents according to the conditions that the launching height, the slope distance and the fan angle are used as interpolation conditions, a three-dimensional table is manufactured, and the over-heavy compensation coefficient and the proportional guidance coefficient of the trajectory are obtained by three-dimensional interpolation before launching and in the flying process in actual flying overload.
The present invention also provides an electronic device, comprising: a memory storing executable instructions; and the processor runs the executable instructions in the memory to realize the method for calculating the over-recomposing coefficient and the proportional pilot coefficient.
The present invention also provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the above-mentioned method for calculating the over-emphasis coefficient and the scale guide coefficient.
To facilitate understanding of the solution of the embodiments of the present invention and the effects thereof, three specific application examples are given below. It will be understood by those skilled in the art that this example is merely for the purpose of facilitating an understanding of the present invention and that any specific details thereof are not intended to limit the invention in any way.
Example 1
Fig. 3 shows a flow chart of the steps of the method for calculating the overcomplete coefficient and the scaling pilot coefficient according to one embodiment of the present invention.
As shown in fig. 3, the method for calculating the overcomplete coefficient and the scaling pilot coefficient includes: step 101, grid cutting is carried out on missile envelope lines, and each grid intersection point is a dynamically calculated state point; 102, performing coefficient configuration calculation on each flight trajectory of each state point; 103, setting the initial participation step length of the coefficient, performing mathematical simulation, and screening coefficient configuration corresponding to each flight trajectory of the state point and meeting set conditions; and step 104, repeating the steps until the coefficient configuration of each state point in the missile envelope is completed.
An ideal proportional guidance loop transfer function block diagram with over-gravity compensation is obtained by carrying out mathematical modeling on an 80 kg-grade air-ground missile guidance loop, neglecting the dynamic lag of a guidance head and an autopilot, taking a linear proportional guidance loop model as the basis, and respectively taking gravity compensation and gravity as positive compensation of an input command of the autopilot and negative interference of output acceleration, and is shown in fig. 1.
Grid cutting is carried out on missile envelope lines according to the interval of 100m in height, the interval of 200m in missile eye distance and the interval of 5 degrees in sector angle, and each grid intersection point is a dynamically calculated state point; coefficient configuration calculation is performed for each flight trajectory of each state point:
dividing the flight trajectory of the state point into three stages, namely an engine combustion stage, a middle guidance stage and a final guidance stage, wherein the coefficient configuration of each stage needs to be calculated independently;
setting an initial parameter of an over-emphasis coefficient to be 1, an initial parameter of a proportional guidance coefficient to be 2, a trajectory stage to be an outer circulation, setting a step length of the over-emphasis coefficient to be 0.1 as a middle circulation, setting a step length of the proportional guidance coefficient to be 0.2 as an inner circulation, setting a launching condition, a guidance parameter and a simulation period, and starting simulation according to a circulation simulation flow shown in a figure 1;
judging whether each trajectory hits after simulation is finished, recording data if the trajectory hits, judging whether the hit point of the missile is in the optimal 10% miss distance area according to a stacking rule, and calculating the overload f needed by the tail end according to a formula (1)mWhether the condition of less than 0.5g is met or not, and if the condition is met, storing the data; if none of the above is satisfied, the transmitting strips are changed according to the circulation sequenceIf the launching conditions reach the upper limit of the value range, the flight trajectory stage is changed until the trajectories of the three stages complete the circular simulation;
and recording coefficient configuration data as the optimal configuration of the flight trajectory of the state point, and sequentially replacing the state points until the left and right state points in the flight envelope are completed, wherein if a plurality of coefficient configurations meeting the conditions exist, the configuration of the optimal attack angle coefficient is screened as the optimal solution.
And (3) the recorded data is combined with the over-heavy compensation coefficient and the proportional guidance coefficient as interpolation contents according to the conditions that the launching height, the slope distance and the fan angle are used as interpolation conditions, a three-dimensional table is manufactured, and the over-heavy compensation coefficient and the proportional guidance coefficient of the trajectory are obtained by three-dimensional interpolation before launching and in the flying process in actual flying overload.
Example 2
The present disclosure provides an electronic device including: a memory storing executable instructions; and the processor runs executable instructions in the memory to realize the method for calculating the over-recomposing coefficient and the proportional guidance coefficient.
An electronic device according to an embodiment of the present disclosure includes a memory and a processor.
The memory is to store non-transitory computer readable instructions. In particular, the memory may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc.
The processor may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device to perform desired functions. In one embodiment of the disclosure, the processor is configured to execute the computer readable instructions stored in the memory.
Those skilled in the art should understand that, in order to solve the technical problem of how to obtain a good user experience, the present embodiment may also include well-known structures such as a communication bus, an interface, and the like, and these well-known structures should also be included in the protection scope of the present disclosure.
For the detailed description of the present embodiment, reference may be made to the corresponding descriptions in the foregoing embodiments, which are not repeated herein.
Example 3
The embodiment of the disclosure provides a computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method for calculating the over-emphasis coefficient and the scale guide coefficient.
A computer-readable storage medium according to an embodiment of the present disclosure has non-transitory computer-readable instructions stored thereon. The non-transitory computer readable instructions, when executed by a processor, perform all or a portion of the steps of the methods of the embodiments of the disclosure previously described.
The computer-readable storage media include, but are not limited to: optical storage media (e.g., CD-ROMs and DVDs), magneto-optical storage media (e.g., MOs), magnetic storage media (e.g., magnetic tapes or removable disks), media with built-in rewritable non-volatile memory (e.g., memory cards), and media with built-in ROMs (e.g., ROM cartridges).
It will be appreciated by persons skilled in the art that the above description of embodiments of the invention is intended only to illustrate the benefits of embodiments of the invention and is not intended to limit embodiments of the invention to any examples given.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. A method for calculating an overcomplete coefficient and a proportional pilot coefficient includes:
grid cutting is carried out on missile envelope lines, and each grid intersection point is a dynamically calculated state point;
performing coefficient configuration calculation for each flight trajectory of each state point;
setting initial participation step length of the coefficient, performing mathematical simulation, and screening coefficient configuration corresponding to each flight trajectory of the state point and meeting set conditions;
and repeating the steps until the coefficient configuration of each state point in the missile envelope is completed.
2. The method of claim 1, wherein the ballistic phase comprises an engine combustion phase, a mid-guidance phase, and a terminal-guidance phase.
3. The method for calculating the overcomplete coefficient and the proportional guidance coefficient according to claim 1, wherein each trajectory simulation is completed and then whether the trajectory simulation hits or not is judged, if the trajectory simulation hits, data is recorded, whether the missile hit point is in the optimal 10% miss distance area or not is judged according to a stack rule, whether the terminal required overload meets a set condition or not is determined, and if the terminal required overload meets the set condition, the data is stored.
4. The method of claim 3, wherein the end use overload is calculated by equation (1):
wherein c is an overcomplete coefficient, N is a proportional guidance coefficient, T is proportional guidance time, and T is terminal guidance time.
5. The method of claim 1, wherein the coefficients comprise an overcomplete coefficient and a scaled pilot coefficient.
6. The method of claim 5, wherein the initial parameter of the overcomplete coefficient is 1 and the step size is 0.1.
7. The method of claim 5, wherein the initial parameter of the overcomplete coefficient is 2 and the step size is 0.2.
8. The method of claim 1, wherein if there are multiple coefficient configurations that satisfy the condition, the configuration of the optimal attack angle coefficient is screened as the optimal solution.
9. An electronic device, characterized in that the electronic device comprises:
a memory storing executable instructions;
a processor executing the executable instructions in the memory to implement the method of calculating an overcomplete coefficient and a scaled pilot coefficient of any of claims 1-8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the method for calculating an overcomplete coefficient and a scale guide coefficient according to any one of claims 1 to 8.
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