CN114721289A - Simulation sight error correction method and system based on straight guide rail mechanical motion platform - Google Patents

Simulation sight error correction method and system based on straight guide rail mechanical motion platform Download PDF

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CN114721289A
CN114721289A CN202210225214.3A CN202210225214A CN114721289A CN 114721289 A CN114721289 A CN 114721289A CN 202210225214 A CN202210225214 A CN 202210225214A CN 114721289 A CN114721289 A CN 114721289A
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motion platform
mechanical motion
dimensional
control
guide rail
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张业鑫
王立权
徐啸
陆戈辉
黄杉
江振
万士正
朱迪
韩志强
刘晓娟
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Shanghai Institute of Electromechanical Engineering
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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
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric

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Abstract

The invention provides a method and a system for correcting simulated sight line errors based on a straight guide rail mechanical motion platform, which comprises the following steps: step S1: the simulation control system calculates in real time to obtain a flight turntable control instruction and theoretical target sight line information; step S2: the mechanical motion platform control system receives theoretical target sight line information, calculates a five-dimensional control instruction of the mechanical motion platform in real time and sends the five-dimensional control instruction to the mechanical motion platform; step S3: the mechanical motion platform responds to the five-dimensional control instruction, and the flying turntable responds to the flying turntable control instruction, so that the simulation error correction of the target sight line is realized. The invention corrects the simulation error of the sight line from the two aspects of the angular position and the beam pointing direction, and effectively improves the high-precision simulation capability of the wide-band simulation system.

Description

Simulation sight error correction method and system based on straight guide rail mechanical motion platform
Technical Field
The invention relates to the technical field of weapon guidance control simulation control, in particular to a simulation sight error correction method and a simulation sight error correction system based on a straight guide rail mechanical motion platform, and more particularly relates to a target sight simulation error correction method based on a straight guide rail mechanical motion platform, which is used for correcting sight simulation errors of the mechanical motion platform from five dimensions.
Background
With the rapid development of electronic information technology, the working frequency band of a weapon radar detection system has been expanded from a single frequency band to the field of multimode wide frequency band with wide bandwidth and good anti-interference performance. In order to realize the simulation of the wide-frequency-band electromagnetic environment of the weapon in a guidance control semi-physical simulation system, high-precision weapon-target relative sight line motion needs to be simulated.
The simulation of relative sight movement of a weapon-target in the traditional microwave frequency range is realized by a flight turntable and a microwave antenna array surface. The antenna array surface takes the rotation center of the flying turntable as the spherical center to be designed into a spherical surface, and the movement of the target sight line is realized through the synthetic signal of the antenna triad of the array surface. According to the method, high-precision simulation of a target sight line can be realized through thousands of microwave target simulation units and signal processing units, however, if the wavefront needs to be expanded to a multimode wide-band, for example, on the basis of a microwave wavefront with a field of view of +/-15 degrees, a radio frequency target simulation and processing unit with the same order of magnitude needs to be added, a W-band radio frequency device is 3 mm-sized, the development cost is high, and the whole wavefront band expansion project needs hundreds of millions of capital supports.
The mechanical motion platform can carry radio frequency target signal radiation units of various frequency bands, realizes the sight motion simulation of a wide frequency band target, has less requirements on the number of radio frequency simulation units, has the cost of millions and has the advantage of low cost. In order to accurately simulate the sight of a target, a radio frequency target signal radiation unit needs to move on a spherical surface with the rotation center of a flight turntable as the center of sphere, the existing mechanical motion platform is provided with an arc guide rail and a straight guide rail, the arc guide rail can meet the requirements of spherical motion, but compared with the straight guide rail, the mechanical motion platform designed based on the arc guide rail is limited in motion speed and cannot simulate the high-dynamic sight angular speed. The traditional two-dimensional (horizontal and vertical dimensions) straight guide rail cannot realize the spherical motion of a radio frequency target signal radiation unit, and a sight line error is generated, so that on the premise of ensuring relatively high dynamic sight line angular velocity, a sight line simulation error caused by aspheric surface motion needs to be corrected based on a straight guide rail design control method.
In order to meet the high-precision simulation requirement of wide-band weapon-target relative sight movement, the invention corrects the control of the movement track of a target radiation unit carried on a platform based on a mechanical straight guide rail movement platform, expands the control to five dimensions (horizontal, vertical, front and back, height and direction) on the basis of the original two-dimensional (horizontal and vertical) platform, corrects the movement of the target from the original two-dimensional plane to a theoretical spherical surface by increasing the control of the front and back dimensions, and corrects the beam direction of the target radiation unit to the rotary table rotation center through a two-dimensional cradle head, thereby realizing the error correction of target sight simulation, improving the high-precision simulation capability of a wide-band simulation system, and having the corrected effect as shown in figures 3 and 4.
Patent document CN113063438A (application number: 202110217951.4) discloses a measurement error correction method and system for a full-physical simulation satellite line-of-sight pointing, which includes: step S1: measuring the rotation center coordinate of the triaxial air bearing table of the full physical simulation equipment; step S2: measuring the coordinate component of an emergent point of a satellite sight under a body coordinate system of the three-axis air floatation table; step S3: and in the dynamic measurement process of the satellite sight, correcting the measurement error to obtain measurement error correction result information of the satellite sight direction for full physical simulation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for correcting the simulated sight line error based on a straight guide rail mechanical motion platform.
The invention provides a method for correcting the simulated sight error based on a straight guide rail mechanical motion platform, which comprises the following steps:
step S1: the simulation control system calculates in real time to obtain a flight turntable control instruction and theoretical target sight line information;
step S2: the mechanical motion platform control system receives theoretical target sight line information, calculates a five-dimensional control instruction of the mechanical motion platform in real time and sends the five-dimensional control instruction to the mechanical motion platform;
step S3: the mechanical motion platform responds to the five-dimensional control instruction, and the flying turntable responds to the flying turntable control instruction, so that the simulation error correction of the target sight line is realized.
Preferably, the step S1 adopts: the weapon guidance control simulation control system calculates a flight turntable control instruction in real time through the weapon attitude according to the weapon and target information; theoretical target sight line information is solved in real time through the relative motion relation between the weapon and the target, and is sent to the flying turntable and the mechanical motion platform control system.
Preferably, the step S2 adopts: the mechanical motion platform control system receives theoretical target sight line information, calculates five-dimensional control instructions of the three-dimensional linear guide rail x axial direction, y axial direction, z axial direction, the two-dimensional tripod head height direction and the two-dimensional azimuth direction of the mechanical motion platform in real time, and sends the five-dimensional control instructions to the mechanical motion platform.
Preferably, the five-dimensional control instructions of the three-dimensional linear guide rail of the real-time resolving mechanical motion platform in the x-axis direction, the y-axis direction, the z-axis direction, the height direction of the two-dimensional pan-tilt and the azimuth direction are adopted:
Figure BDA0003535415260000031
Yctr＝R sinθ
Figure BDA0003535415260000032
wherein R is the sphere diameter of the moving sphere of the mechanical moving platform by taking the rotation center of the flying turntable as the sphere center, when theta and phi are 0, the control quantity of a front-back linear guide rail of the mechanical moving platform is 0, and the distance from the platform to the rotation center of the flying turntable is measured to be R; theta represents a theoretical elevation viewing angle; phi represents an azimuth line-of-sight angle; xctrRepresenting a linear guide rail x axial control command; y isctrRepresenting a y-axis control command; zctrRepresenting a z-axis control command;
Figure BDA0003535415260000033
Figure BDA0003535415260000034
wherein alpha represents a height direction control instruction of the holder; β represents an azimuth control command.
Preferably, the step S3 adopts: the flight turntable responds to a flight turntable control instruction sent by the simulation control system in real time; the linear guide rail and the cloud platform of the mechanical motion platform respond to a control instruction of a mechanical motion platform control system in real time, the three-dimensional linear guide rail realizes spherical motion control of the mechanical motion platform by taking a rotation center of a flight turntable as a sphere center, and the cloud platform carries a target signal radiation unit to realize target beam pointing correction and control a beam to the rotation center of the flight turntable.
The invention provides a simulation sight error correction system based on a straight guide rail mechanical motion platform, which comprises:
module M1: the simulation control system calculates in real time to obtain a flight turntable control instruction and theoretical target sight line information;
module M2: the mechanical motion platform control system receives theoretical target sight line information, calculates a five-dimensional control instruction of the mechanical motion platform in real time and sends the five-dimensional control instruction to the mechanical motion platform;
module M3: the mechanical motion platform responds to the five-dimensional control instruction, and the flying turntable responds to the flying turntable control instruction, so that the simulation error correction of the target sight line is realized.
Preferably, the module M1 employs: the weapon guidance control simulation control system calculates a flight turntable control instruction in real time through the weapon attitude according to the weapon and target information; theoretical target sight line information is solved in real time through the relative motion relation between the weapon and the target, and is sent to the flying turntable and the mechanical motion platform control system.
Preferably, the module M2 employs: and the mechanical motion platform control system receives theoretical target sight line information, calculates five-dimensional control instructions of the x axial direction, the y axial direction, the z axial direction of the three-dimensional linear guide rail of the mechanical motion platform, the height direction and the azimuth direction of the two-dimensional holder in real time, and sends the five-dimensional control instructions to the mechanical motion platform.
Preferably, the five-dimensional control instructions of the three-dimensional linear guide rail of the real-time resolving mechanical motion platform in the x-axis direction, the y-axis direction, the z-axis direction, the height direction of the two-dimensional pan-tilt and the azimuth direction are adopted:
Figure BDA0003535415260000041
Yctr＝R sinθ
Figure BDA0003535415260000042
wherein R is the sphere diameter of the moving sphere of the mechanical moving platform by taking the rotation center of the flying turntable as the sphere center, when theta and phi are 0, the control quantity of a front-back linear guide rail of the mechanical moving platform is 0, and the distance from the platform to the rotation center of the flying turntable is measured to be R; theta represents a theoretical elevation viewing angle; phi represents an azimuth line-of-sight angle; xctrRepresenting a linear guide rail x axial control command; y isctrRepresenting a y-axis control command; zctrRepresenting a z-axis control command;
Figure BDA0003535415260000043
Figure BDA0003535415260000044
wherein alpha represents a height direction control instruction of the holder; β represents an azimuth control command.
Preferably, the module M3 employs: the flight turntable responds to a flight turntable control instruction sent by the simulation control system in real time; the linear guide rail and the cloud platform of the mechanical motion platform respond to a control instruction of a mechanical motion platform control system in real time, the three-dimensional linear guide rail realizes spherical motion control of the mechanical motion platform by taking a rotation center of a flight turntable as a sphere center, and the cloud platform carries a target signal radiation unit to realize target beam pointing correction and control a beam to the rotation center of the flight turntable.
Compared with the prior art, the invention has the following beneficial effects: the invention designs a target sight simulation error correction method based on a straight guide rail mechanical motion platform, compensates the target motion sight nonlinear error of the original two-dimensional straight guide rail mechanical motion platform, and improves the high-precision simulation capability of a weapon guidance control system.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of the components and the working principle of the weapon guidance control simulation system described in the invention.
Fig. 2 is a five-dimensional control diagram of the mechanical linear motion platform according to the present invention.
Fig. 3 is a schematic diagram illustrating correction of an angle error of a three-degree-of-freedom straight guide rail of a mechanical motion platform according to the present invention.
Fig. 4 is a schematic view of beam modification of a two-dimensional pan/tilt head of a mechanical motion platform according to the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a target sight simulation error correction method based on a straight guide rail mechanical type motion platform, relates to the technical field of weapon guidance control simulation control, and solves the problem of target sight simulation error of the mechanical straight guide rail motion platform. The mechanical type straight guide rail motion platform carries a target signal radiation unit, a flight turntable is matched to simulate the relative sight line motion of a weapon and a target, the mechanical type motion platform adopts straight guide rails in the front and back direction, the horizontal direction and the vertical direction and a cradle head in the height direction and the azimuth direction, simulation errors of the sight line are corrected from the angle position and the beam pointing direction in five dimensions, and the high-precision simulation capability of the wide-band simulation system is effectively improved.
Example 1
The invention provides a method for correcting the simulated sight error based on a straight guide rail mechanical motion platform, which comprises the following steps:
step S1: the simulation control system calculates in real time to obtain a flight turntable control instruction and theoretical target sight line information;
specifically, the step S1 employs: the weapon guidance control simulation control system calculates a flight turntable control instruction in real time through the weapon attitude according to the weapon and target information; theoretical target sight line information is solved in real time through the relative motion relation between the weapon and the target, and is sent to the flying turntable and the mechanical motion platform control system.
Step S2: the mechanical motion platform control system receives theoretical target sight line information, calculates a five-dimensional control instruction of the mechanical motion platform in real time and sends the five-dimensional control instruction to the mechanical motion platform;
specifically, the step S2 employs: the mechanical motion platform control system receives theoretical target sight line information, calculates five-dimensional control instructions of the three-dimensional linear guide rail x axial direction, y axial direction, z axial direction, the two-dimensional tripod head height direction and the two-dimensional azimuth direction of the mechanical motion platform in real time, and sends the five-dimensional control instructions to the mechanical motion platform.
Step S3: the mechanical motion platform responds to the five-dimensional control instruction, and the flying turntable responds to the flying turntable control instruction, so that the simulation error correction of the target sight line is realized.
Specifically, the five-dimensional control instructions of the three-dimensional linear guide rail x-axis direction, the y-axis direction, the z-axis direction of the real-time resolving mechanical motion platform and the height direction and the azimuth direction of the two-dimensional cradle head are adopted as follows:
Figure BDA0003535415260000051
Yctr＝R sinθ
Figure BDA0003535415260000052
wherein R is the sphere diameter of the moving sphere of the mechanical moving platform by taking the rotation center of the flying turntable as the sphere center, when theta and phi are 0, the control quantity of a front-back linear guide rail of the mechanical moving platform is 0, and the distance from the platform to the rotation center of the flying turntable is measured to be R; theta represents a theoretical elevation viewing angle; phi represents an azimuth line-of-sight angle; xctrRepresenting a linear guide rail x axial control command; y isctrRepresenting a y-axis control command; zctrRepresenting a z-axis control command;
Figure BDA0003535415260000061
Figure BDA0003535415260000062
wherein alpha represents a height direction control instruction of the holder; β represents an azimuth control command.
The step S3 adopts: the flight turntable responds to a flight turntable control instruction sent by the simulation control system in real time; the linear guide rail and the cloud platform of the mechanical motion platform respond to a control instruction of a mechanical motion platform control system in real time, the three-dimensional linear guide rail realizes spherical motion control of the mechanical motion platform by taking a rotation center of a flight turntable as a sphere center, and the cloud platform carries a target signal radiation unit to realize target beam pointing correction and control a beam to the rotation center of the flight turntable.
The invention provides a simulation sight error correction system based on a straight guide rail mechanical motion platform, which comprises:
module M1: the simulation control system calculates in real time to obtain a flight turntable control instruction and theoretical target sight line information;
specifically, the module M1 employs: the weapon guidance control simulation control system calculates a flight turntable control instruction in real time through the weapon attitude according to the weapon and target information; theoretical target sight line information is solved in real time through the relative motion relation between the weapon and the target, and is sent to the flying turntable and the mechanical motion platform control system.
Module M2: the mechanical motion platform control system receives theoretical target sight line information, resolves a five-dimensional control instruction of the mechanical motion platform in real time and sends the five-dimensional control instruction to the mechanical motion platform;
specifically, the module M2 employs: the mechanical motion platform control system receives theoretical target sight line information, calculates five-dimensional control instructions of the three-dimensional linear guide rail x axial direction, y axial direction, z axial direction, the two-dimensional tripod head height direction and the two-dimensional azimuth direction of the mechanical motion platform in real time, and sends the five-dimensional control instructions to the mechanical motion platform.
Module M3: the mechanical motion platform responds to the five-dimensional control instruction, and the flying turntable responds to the flying turntable control instruction, so that the simulation error correction of the target sight line is realized.
Specifically, the five-dimensional control instructions of the three-dimensional linear guide rail x-axis direction, the y-axis direction, the z-axis direction of the real-time resolving mechanical motion platform and the height direction and the azimuth direction of the two-dimensional cradle head are adopted as follows:
Figure BDA0003535415260000063
Yctr＝R sinθ
Figure BDA0003535415260000064
wherein R is the sphere diameter of the moving sphere of the mechanical moving platform by taking the rotation center of the flying turntable as the sphere center, when theta and phi are 0, the control quantity of a front-back linear guide rail of the mechanical moving platform is 0, and the distance from the platform to the rotation center of the flying turntable is measured to be R; theta represents a theoretical elevation viewing angle; phi represents an azimuth line-of-sight angle; xctrRepresenting a linear guide rail x axial control command; y isctrRepresenting a y-axis control command; zctrRepresenting a z-axis control command;
Figure BDA0003535415260000071
Figure BDA0003535415260000072
wherein alpha represents a height direction control instruction of the holder; β represents an azimuth control command.
The module M3 adopts: the flight turntable responds to a flight turntable control instruction sent by the simulation control system in real time; the linear guide rail and the cloud platform of the mechanical motion platform respond to a control instruction of a mechanical motion platform control system in real time, the three-dimensional linear guide rail realizes spherical motion control of the mechanical motion platform by taking a rotation center of a flight turntable as a sphere center, and the cloud platform carries a target signal radiation unit to realize target beam pointing correction and control a beam to the rotation center of the flight turntable.
Example 2
Example 2 is a preferred example of example 1
The invention provides a five-dimensional control method of a mechanical motion platform based on a straight guide rail, which controls the motion of a target radiation unit on a spherical surface with the rotation center of a flight turntable as the center of sphere through the straight guide rail with three dimensions of front and back, horizontal and vertical, and controls the beam direction of the height and direction of the target signal radiation unit by combining a holder, thereby realizing the correction of the simulation error of the target line-of-sight angle of the mechanical linear motion platform.
The invention provides a weapon-based guidance control simulation system for implementing a target sight simulation error correction method based on a straight guide rail mechanical motion platform. The system composition and the working principle are shown in figure 1, a simulation control system gives a theoretical sight line angle and a flight turntable control instruction in real time, a mechanical motion platform control system resolves a five-dimensional platform control instruction in real time, a target signal radiation unit carried by a mechanical motion platform responds to the five-dimensional control instruction, and a flight turntable responds to the turntable control instruction and is matched with a simulated weapon-target relative sight line to move. Fig. 2 is a schematic diagram of five-dimensional control of a mechanical linear motion platform, which realizes simulation of target sight motion by linear guides in front and back (z-axis direction), horizontal (x-axis direction), vertical (y-axis direction) and a pan-tilt in high, low and azimuth directions. As shown in fig. 3, on an original two-dimensional (two dimensions of a horizontal x axis and a vertical y axis) mechanical motion platform, a target can only move on a two-dimensional plane, an angular error epsilon marked in fig. 3 is generated, and after a front dimension and a rear dimension in a z direction are increased, the motion of the target can be corrected to a theoretical spherical surface with a rotation center of a flight turntable as a sphere center. As shown in fig. 4, a beam correction schematic diagram of a two-dimensional pan-tilt of a mechanical motion platform is shown, the beam pointing error of a target signal radiation unit is corrected by the motion of the pan-tilt in the azimuth direction and the elevation direction, the beam points to the right front of the target signal radiation unit before correction, and the beam points to the rotation center of a turntable after correction. Finally, high-precision simulation of the target sight line can be realized through five-dimensional control.
According to the invention, the high-precision target sight line simulation of the wide-band weapon guidance control simulation system is realized by adopting a five-dimensional control method of a three-dimensional straight guide rail and a two-dimensional pan-tilt of the mechanical motion platform through the weapon guidance control simulation control system, the flight turntable, the mechanical motion platform control system and the target signal radiation unit.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (10)

1. A simulation sight error correction method based on a straight guide rail mechanical motion platform is characterized by comprising the following steps:
step S1: the simulation control system calculates in real time to obtain a flight turntable control instruction and theoretical target sight line information;
step S2: the mechanical motion platform control system receives theoretical target sight line information, resolves a five-dimensional control instruction of the mechanical motion platform in real time and sends the five-dimensional control instruction to the mechanical motion platform;
step S3: the mechanical motion platform responds to the five-dimensional control instruction, and the flying turntable responds to the flying turntable control instruction, so that the simulation error correction of the target sight line is realized.
2. The method for correcting the simulated vision error based on the flat guide rail mechanical motion platform as claimed in claim 1, wherein the step S1 adopts: the weapon guidance control simulation control system calculates a flight turntable control instruction in real time through the weapon attitude according to the weapon and target information; theoretical target sight line information is solved in real time through the relative motion relation between the weapon and the target, and is sent to the flying turntable and the mechanical motion platform control system.
3. The method for correcting the simulated vision error based on the flat guide rail mechanical motion platform as claimed in claim 1, wherein the step S2 adopts: the mechanical motion platform control system receives theoretical target sight line information, calculates five-dimensional control instructions of the three-dimensional linear guide rail x axial direction, y axial direction, z axial direction, the two-dimensional tripod head height direction and the two-dimensional azimuth direction of the mechanical motion platform in real time, and sends the five-dimensional control instructions to the mechanical motion platform.
4. The method for correcting the simulated sight error based on the straight guide rail mechanical motion platform according to claim 3, wherein the real-time calculation of five-dimensional control instructions of the three-dimensional linear guide rail of the mechanical motion platform in the x-axis direction, the y-axis direction, the z-axis direction and the two-dimensional holder height direction and azimuth direction adopts:
Figure FDA0003535415250000011
Yctr＝Rsinθ
Figure FDA0003535415250000012
wherein R is the sphere diameter of the moving sphere of the mechanical moving platform by taking the rotation center of the flying turntable as the sphere center, when theta and phi are 0, the control quantity of a front-back linear guide rail of the mechanical moving platform is 0, and the distance from the platform to the rotation center of the flying turntable is measured to be R; theta represents a theoretical elevation line-of-sight angle; phi represents an azimuth line-of-sight angle; xctrRepresenting a linear guide rail x axial control command; y isctrRepresenting a y-axis control command; zctrRepresenting a z-axis control command;
Figure FDA0003535415250000013
Figure FDA0003535415250000014
wherein alpha represents a holder height direction control instruction; β represents an azimuth control command.
5. The method for correcting the simulated vision error based on the flat guide rail mechanical motion platform as claimed in claim 1, wherein the step S3 adopts: the flight turntable responds to a flight turntable control instruction sent by the simulation control system in real time; the linear guide rail and the cloud platform of the mechanical motion platform respond to a control instruction of a mechanical motion platform control system in real time, the three-dimensional linear guide rail realizes spherical motion control of the mechanical motion platform by taking a rotation center of a flight turntable as a sphere center, and the cloud platform carries a target signal radiation unit to realize target beam pointing correction and control a beam to the rotation center of the flight turntable.
6. A simulation sight error correction system based on a straight guide rail mechanical motion platform is characterized by comprising:
module M1: the simulation control system calculates in real time to obtain a flight turntable control instruction and theoretical target sight line information;
module M2: the mechanical motion platform control system receives theoretical target sight line information, calculates a five-dimensional control instruction of the mechanical motion platform in real time and sends the five-dimensional control instruction to the mechanical motion platform;
module M3: the mechanical motion platform responds to the five-dimensional control instruction, and the flying turntable responds to the flying turntable control instruction, so that the simulation error correction of the target sight line is realized.
7. The system of claim 6, wherein the module M1 employs: the weapon guidance control simulation control system calculates a flight turntable control instruction in real time through the weapon attitude according to the weapon and target information; theoretical target sight line information is solved in real time through the relative motion relation between the weapon and the target and is sent to the flying turntable and the mechanical motion platform control system.
8. The system of claim 6, wherein the module M2 employs: the mechanical motion platform control system receives theoretical target sight line information, calculates five-dimensional control instructions of the three-dimensional linear guide rail x axial direction, y axial direction, z axial direction, the two-dimensional tripod head height direction and the two-dimensional azimuth direction of the mechanical motion platform in real time, and sends the five-dimensional control instructions to the mechanical motion platform.
9. The system for correcting the simulated sight error based on the flat guide rail mechanical motion platform according to claim 8, wherein the real-time calculation of the five-dimensional control commands of the three-dimensional linear guide rail of the mechanical motion platform in the x-axis direction, the y-axis direction, the z-axis direction and the two-dimensional holder height direction and azimuth direction adopts:
Figure FDA0003535415250000021
Yctr＝Rsinθ
Figure FDA0003535415250000022
wherein R is the sphere diameter of the moving sphere of the mechanical moving platform by taking the rotation center of the flying turntable as the sphere center, when theta and phi are 0, the control quantity of a front-back linear guide rail of the mechanical moving platform is 0, and the distance from the platform to the rotation center of the flying turntable is measured to be R; theta represents a theoretical elevation viewing angle; phi represents an azimuth line-of-sight angle; xctrRepresenting a linear guide rail x axial control command; y isctrRepresenting a y-axis control command; zctrRepresenting a z-axis control command;
Figure FDA0003535415250000031
Figure FDA0003535415250000032
wherein alpha represents a height direction control instruction of the holder; β represents an azimuth control command.
10. The system of claim 6, wherein the module M3 employs: the flight turntable responds to a flight turntable control instruction sent by the simulation control system in real time; the linear guide rail and the cloud platform of the mechanical motion platform respond to a control instruction of a mechanical motion platform control system in real time, the three-dimensional linear guide rail realizes spherical motion control of the mechanical motion platform by taking the rotation center of the flight turntable as a sphere center, and the cloud platform carries a target signal radiation unit to realize target beam pointing correction and control the beam to the rotation center of the flight turntable.
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