CN114488794A - Method for inhibiting nutation of stamping range-increasing cannonball by adopting rudder - Google Patents
Method for inhibiting nutation of stamping range-increasing cannonball by adopting rudder Download PDFInfo
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- CN114488794A CN114488794A CN202111653785.9A CN202111653785A CN114488794A CN 114488794 A CN114488794 A CN 114488794A CN 202111653785 A CN202111653785 A CN 202111653785A CN 114488794 A CN114488794 A CN 114488794A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000002401 inhibitory effect Effects 0.000 title claims abstract description 7
- 238000005096 rolling process Methods 0.000 claims abstract description 12
- 238000005259 measurement Methods 0.000 claims abstract description 11
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000000452 restraining effect Effects 0.000 claims description 5
- 238000013016 damping Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The invention discloses a method for inhibiting nutation of a stamping range-increasing cannonball by adopting a rudder, which comprises the following specific steps: step one, calculating a pitch angle speed instruction value omega of a steering engine according to an initial rolling speed preset by a stamped range-extended shellyi(ii) a Step two, measuring the pitch angle speed of the steering engine when the punched range-extended cannonball is in initial nutation to obtain a pitch angle speed measured value omegayAccording to the pitch angle speed command value omegayiAnd pitch angle velocity measurement omegayReal-time resolving of deflection angle of steering engine by PID algorithm
Step three, according to the deflection angle of the steering engine
Adjusting a steering engine to enable the steering engine to drive the stamping range-increasing cannonball to deflect in a direction opposite to the initial nutation, wherein the deflection angle is
Thereby inhibiting initial nutation of the punch extended range projectile. The method utilizes a steering engine to control the stamping range-extended cannonball to deflect in the direction opposite to the initial nutation so as to restrain the initial nutation.
Description
Technical Field
The invention belongs to the technical field of control of stamping extended-range shells, and particularly relates to a method for restraining the stamping extended-range shells from nutating by adopting rudders.
Background
For the rolling ram stroke-increasing shell, the longitudinal and lateral motions of the shell are mutually connected, the motion is very complex, the self-spinning of the shell is very beneficial to improving the shooting precision and eliminating the error caused by thrust eccentricity, so the rolling ram stroke-increasing shell is widely applied, however, the ram stroke-increasing shell generates additional yawing force in the initial flight section due to the Magnus effect and the gyroscopic effect generated by the high-speed self-spinning, the nutation of the shell can generate nutation under the comprehensive various forces, the nutation of the shell can influence the air intake of an engine, further the combustion efficiency and the engine thrust, and finally the range of the ram stroke-increasing shell is influenced, and therefore, the nutation has a great influence on the range of the ram stroke-increasing shell. By consulting the data, the stamping range-increasing cannonball at home and abroad does not have effective suppression measures for nutation at present.
Disclosure of Invention
In view of the above, the present invention provides a method for suppressing nutation of a punch-added projectile using a rudder, which suppresses initial nutation by controlling the punch-added projectile to deflect in a direction opposite to the initial nutation using the rudder.
The invention is realized by the following technical scheme:
a method for restraining nutation of a ram stroke-increasing cannonball by adopting a rudder comprises the following specific steps:
step one, calculating a pitch angle speed instruction value omega of a steering engine according to an initial rolling speed preset by a stamped range-extended shellyi；
Step two, measuring the pitch angle speed of the steering engine when the punched range-extended cannonball is in initial nutation to obtain a pitch angle speed measured value omegayAccording to the pitch angle speed command value omegayiAnd pitch angle velocity measurement omegayReal-time resolving of deflection angle of steering engine by PID algorithm
Step three, according to the deflection angle of the steering engine
Adjusting a steering engine to enable the steering engine to drive the stamping range-increasing cannonball to deflect in a direction opposite to the initial nutation, wherein the deflection angle is
Thereby inhibiting initial nutation of the punch extended range projectile.
Further, in the first step, calculating a pitch angle speed instruction value of the steering engine according to a resolving relation between the pitch angle speed of the steering engine and the rolling speed of the stamped range-extended shell;
and the calculation relation is obtained by fitting the test data of the three-axis turntable.
Further, in the second step, the deflection angle of the steering engine
The calculation formula of (a) is as follows:
wherein s is Laplace operator, KpIs a proportionality coefficient, KiIs the integral coefficient, KdIs a differential coefficient; omegayiAnd ωyThe units of (A) are all in DEG/s.
Further, said pitch angular rate measurement ωyMeasured by IMU.
Further, the control model of the method comprises: the device comprises a steering engine, a stamping range-extending cannonball, an IMU, a flight control module and a steering control module;
the external control terminal calculates the pitch angle speed instruction value omega according to the initial rolling speed of the stamping range-extended shellyiThen, the pitch angle speed command value omega is calculatedyiThe measured pitch angle speed value omega of the punched range-extended cannonball is input into a flight control module, and the IMU4 measures the pitch angle speed value omega of the punched range-extended cannonballyThe input is input to a flight control module, and the flight control module controls the flight according to the pitch angle speed instruction value omegayiAnd pitch angle velocity measurement omegayAnd resolving the deflection angle of the steering engine in real time
And the deflection angle of the steering engine
Sending the data to a rudder control module; the rudder control module controls the rudder according to the deflection angle
And controlling the steering engine to drive the stamping range-increasing cannonball to deflect in the direction opposite to the initial nutation direction, so as to inhibit the initial nutation of the stamping range-increasing cannonball.
Has the advantages that:
(1) according to the invention, the steering engine drives the stamping range-extended cannonball to deflect in the direction opposite to the initial nutation when the stamping range-extended cannonball is launched by controlling the deflection angle of the steering engine, so that the initial nutation caused by the disturbance of the stamping range-extended cannonball due to the separation of the tail cover and the ignition of the stamping engine after the stamping range-extended cannonball is ejected out of a barrel bore is inhibited, and the cannonball range influenced by the resistance increase caused by the initial nutation is improved.
(2) The invention realizes the inhibition of the initial nutation of the ramjet extended-range cannonball before the ramjet of the ramjet extended-range cannonball is ignited, improves the ignition reliability of the ramjet after the initial nutation is inhibited, and can switch to the control flow of the autopilot after the ramjet is ignited successfully and stably.
(3) The invention realizes the control of the deflection angle of the steering engine by independently controlling the pitch angle speed of the steering engine, and decouples the control of the yaw channel, thereby effectively solving the problem of the control coupling of the yaw channel and the pitch channel.
Drawings
FIG. 1 is a diagram of a control model of the present invention;
FIG. 2 is a flow chart of the method of the present invention;
wherein: 1. the device comprises a controller, 2, a steering engine, 3, a stamping range-extending cannonball, 4, an IMU, 5, a flight control module and 6 and a rudder control module.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The embodiment provides a method for restraining nutation of a ram stroke-increasing cannonball by using a rudder, and a control model of the method comprises the following steps: the device comprises a controller 1, a steering engine 2, a stamping range-extending cannonball 3 and an IMU 4; the controller 1 comprises a flight control module 5 and a rudder control module 6;
after the ram stroke-increasing shell is launched, when a ram engine of the ram stroke-increasing shell is not ignited, the ram stroke-increasing shell can generate initial nutation, and at the moment, the ram stroke-increasing shell has an initial rolling speed; the external control terminal calculates the pitch angle speed instruction value omega according to the initial rolling speed of the stamping range-extended shellyiThen, the pitch angle speed command value omega is calculatedyiThe measured pitch angle speed value omega of the punched range-extended cannonball is input into the flight control module 5 and measured by the IMU4yThe input is input to a flight control module 5, and the flight control module 5 controls the flight according to the pitch angle speed instruction value omegayiAnd pitch angle velocity measurement omegayAnd resolving the deflection angle of the steering engine in real time
And the deflection angle of the steering engine
Sending to the rudder control module 6; the rudder control module 6 controls the rudder according to the deflection angle
And controlling the steering engine to drive the stamping range-increasing cannonball to deflect in the direction opposite to the initial nutation direction, so as to inhibit the initial nutation of the stamping range-increasing cannonball.
Referring to the attached figure 2, the method comprises the following specific steps:
step one, according to the characteristics of the punched range-extended shell (namely, the greater the roll angular velocity of the punched range-extended shell is, the more easily nutation occurs), fitting through triaxial turntable test data to obtain a resolving relation omega y between the pitch angular velocity of a steering engine and the roll velocity of the punched range-extended shell, wherein the resolving relation omega y is f (omega x);
for example: when the rolling angular velocity of the stamping range-extended shell is 3600 degrees/s, the pitch angular velocity of the steering engine is 200 degrees/s, and the pitch angular velocity is obtained through fitting of test data of a three-axis turntable
Wherein, a0、a1、a2、a3Are all fitting coefficients;
step two, calculating a pitch angle speed instruction value omega of the steering engine according to the initial rolling speed preset by the punched range-extended shell and the calculation relation in the step oneyi；
Step three, measuring the pitch angle speed of the steering engine when the punched range-extended shell is subjected to initial nutation through the IMU to obtain a pitch angle speed measurement value omegayAccording to the pitch angle speed command value omegayiAnd pitch angle velocity measurement omegayReal-time resolving of deflection angle of steering engine by PID algorithm
Wherein s is Laplace operator, KpIs a proportionality coefficient, KiIs the integral coefficient, KdIs a differential coefficient; omegayiAnd ωyThe units of (A) are all DEG/s;
step four, according to the deflection angle of the steering engine in the step three
Adjusting a steering engine to enable the steering engine to drive the stamping range-increasing cannonball to deflect in a direction opposite to the initial nutation, wherein the deflection angle is
Thereby inhibiting initial nutation of the punch extended range projectile; after the initial nutation of the ram stroke-increasing projectile is inhibited, the ram engine of the ram stroke-increasing projectile is ignited and the ram stroke-increasing projectile starts to fly stably.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A method for restraining nutation of a stamped range-extended shell by adopting a rudder is characterized by comprising the following specific steps:
step one, calculating a pitch angle speed instruction value omega of a steering engine according to an initial rolling speed preset by a stamped range-extended shellyi；
Step two, measuring the pitch angle speed of the steering engine when the punched range-extended cannonball is in initial nutation to obtain a pitch angle speed measured value omegayAccording to the pitch angle speed command value omegayiAnd pitch angle velocity measurement omegayReal-time resolving of deflection angle of steering engine by PID algorithm
Step three, according to the deflection angle of the steering engine
Adjusting a steering engine to enable the steering engine to drive the stamping range-increasing cannonball to deflect in a direction opposite to the initial nutation, wherein the deflection angle is
Thereby inhibiting initial nutation of the stamped range-extended projectile.
2. The method for restraining nutation of the ram travel-increasing projectile using a rudder of claim 1 wherein in step one, the pitch angle velocity command value of the steering engine is calculated based on a solution between the pitch angle velocity of the steering engine and the roll velocity of the ram travel-increasing projectile;
and the calculation relation is obtained by fitting the test data of the three-axis turntable.
3. The method of claim 1 wherein in step two the steering engine is deflected through an angle of deflection
The calculation formula of (a) is as follows:
wherein s is Laplace operator, KpIs a proportionality coefficient, KiIs the integral coefficient, KdIs a differential coefficient; omegayiAnd ωyThe units of (A) are all in DEG/s.
4. The method of claim 1, wherein the pitch rate measurement ω is a pitch rate measurement of the ram increased range projectileyMeasured by IMU.
5. A method of damping nutation of a ram increased range projectile using a rudder as in claim 1 wherein the control model of the method comprises: the device comprises a steering engine, a stamping range-extending cannonball, an IMU, a flight control module and a steering control module;
the external control terminal calculates the pitch angle speed instruction value omega according to the initial rolling speed of the stamping range-extended shellyiThen, the pitch angle speed command value omega is calculatedyiThe measured pitch angle speed value omega of the punched range-extended cannonball is input into a flight control module, and the IMU4 measures the pitch angle speed value omega of the punched range-extended cannonballyThe input is input to a flight control module, and the flight control module controls the flight according to the pitch angle speed instruction value omegayiAnd pitch angle velocity measurement omegayResolving steering engines in real timeDeflection angle
And the deflection angle of the steering engine
Sending the data to a rudder control module; the rudder control module controls the rudder according to the deflection angle
And controlling the steering engine to drive the stamping range-increasing cannonball to deflect in the direction opposite to the initial nutation direction, so as to inhibit the initial nutation of the stamping range-increasing cannonball.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111653785.9A CN114488794B (en) | 2021-12-30 | 2021-12-30 | Method for restraining nutation of stamping range-extending shell by adopting rudder |
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| CN202111653785.9A CN114488794B (en) | 2021-12-30 | 2021-12-30 | Method for restraining nutation of stamping range-extending shell by adopting rudder |
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| CN114488794B CN114488794B (en) | 2024-04-19 |
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