CN114777577A - Control method for resisting thrust disturbance of secondary engine of miniature tactical missile - Google Patents
Control method for resisting thrust disturbance of secondary engine of miniature tactical missile Download PDFInfo
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- CN114777577A CN114777577A CN202210439302.3A CN202210439302A CN114777577A CN 114777577 A CN114777577 A CN 114777577A CN 202210439302 A CN202210439302 A CN 202210439302A CN 114777577 A CN114777577 A CN 114777577A
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- 238000004422 calculation algorithm Methods 0.000 description 2
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
- F42B10/60—Steering arrangements
- F42B10/62—Steering by movement of flight surfaces
- F42B10/64—Steering by movement of flight surfaces of fins
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a control method for resisting thrust disturbance of a secondary engine of a micro tactical missile. The control method of the invention can increase the capacity of the microminiature tactical missile for resisting the disturbance of the secondary engine without adding additional devices and equipment on the basis of the hardware of the microminiature tactical missile.
Description
Technical Field
The invention belongs to the field of guidance control, and particularly relates to a control method of a miniature tactical missile.
Background
The miniature tactical missile is usually started by a primary engine, a guidance method uses a proportion guidance method to calculate overload required, and then the miniature tactical missile is controlled to fly by an attitude control method and a steering engine control method.
The secondary engine used by the miniature tactical missile has short combustion time and small volume, tools and equipment which can measure the disturbance of the miniature engine are not available in China, effective disturbance data cannot be measured before a test, the disturbance data are random, the direction is random, the size is random, the disturbance of each product is determined when the product is launched only after the product is assembled, the disturbance data of each product is measured, and then a corresponding anti-disturbance algorithm is set according to the disturbance data.
In addition, in the process of testing a target field of a micro tactical missile of a certain type, the phenomena that disturbance is large at the initial stage of ignition of a secondary engine, the missile touches the ground in advance under the action of certain downward large disturbance and the like occur. The influence of the disturbance cannot be overcome by using the traditional proportional steering algorithm.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a control method for resisting the thrust disturbance of a secondary engine of a miniature tactical missile, and mainly solves the problem of the thrust disturbance of the secondary engine of the miniature tactical missile. The invention has low cost, and can increase the secondary engine disturbance resistance of the micro tactical missile without adding additional devices and equipment on the basis of the hardware of the micro tactical missile.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a control method for resisting thrust disturbance of a secondary engine by a miniature tactical missile comprises the following steps: s101: calculating the current attitude, speed and position information of the miniature tactical missile by using a navigation method; s102: if the micro tactical missile is not launched, repeating the step S101 until the micro tactical missile is launched; s103: judging whether the flight time of the miniature tactical missile is greater than or equal to a threshold value; s104: if the flight time of the micro tactical missile is less than the threshold value, calculating a first control rudder angle of the micro tactical missile by using an anti-interference guidance method; if the flight time of the micro tactical missile is more than or equal to the threshold value, calculating a second control rudder angle of the micro tactical missile by using a guidance method and an attitude control method; s105: calculating a steering engine set angle by using a set rudder angle method according to the first control rudder angle or the second control rudder angle; s106: deflecting a rudder wing of the steering engine to a set angle of the steering engine by adopting a steering engine control method; s107: repeating the steps S101 to S106 until the micro tactical missile lands or hits the target.
Further, in step S101, the current attitude includes a current attitude angle, and the current attitude angle includes a current pitch angle, a current yaw angle, and a current roll angle.
Further, the threshold in step S103 is obtained according to the following formula:
further, in the step S104, an anti-interference guidance method is used to calculate a first control rudder angle of the micro tactical missile, specifically: (1) setting angles of the micro tactical missile are given according to the following formula, wherein the setting angles comprise a pitch angle, a yaw angle and a roll angle;
yaw angle is 0
The roll angle is 0;
(2) and (2) calculating the first control rudder angle according to the setting angle in the step (1) and the current attitude angle calculated by the navigation method in the step (S101).
Further, the first control rudder angle is calculated according to the setting angle in step (1) and the current attitude angle calculated by the navigation method in step S101, specifically as follows:
wherein epsilonnIs the nth deviation of the set angle from the current attitude anglen-1Is the deviation of the set angle from the current attitude angle at time n-1, P, D, I is a control parameter, and t is the control period of the micro tactical missile.
Further, the navigation method in step S101 is: and calculating the current attitude, speed and position information of the miniature tactical missile according to the information of the acceleration and the angular velocity sensed by the inertial measurement element.
Further, the guidance method in step S104 is: and calculating overload information required by the missile according to the current attitude, speed and position information of the miniature tactical missile and the position of the target.
Further, the attitude control method in step S104 is: and calculating the angle of the second control rudder according to the overload information required by the miniature tactical missile.
Further, the shot-point and target distance is the slant distance between the shot point and the target when the miniature tactical missile is launched.
Drawings
Fig. 1 is a flowchart of a control method for resisting thrust disturbance of a secondary engine by a micro tactical missile according to an embodiment of the invention.
Fig. 2 is a trajectory curve simulation diagram of a micro tactical missile according to the control method for resisting the thrust disturbance of the secondary engine of the micro tactical missile in the embodiment of the invention.
Fig. 3 is a simulation diagram of an attitude curve of a micro tactical missile according to the control method of the micro tactical missile for resisting the thrust disturbance of the secondary engine in the embodiment of the invention.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the following detailed description of the present invention will be made with reference to the accompanying drawings.
Referring to fig. 1, a method for controlling a micro tactical missile to resist thrust disturbance of a secondary engine according to an embodiment of the present invention includes the following steps.
S101: and calculating the current attitude, speed and position information of the miniature tactical missile by using a navigation method.
Specifically, the body of the miniature tactical missile of the embodiment is provided with an inertia measurement element, and the inertia measurement element can acquire the acceleration and angular velocity information of the body in real time. Meanwhile, the missile body is also provided with a controller, and the navigation method executed in the controller calculates the current attitude, speed and position information of the miniature tactical missile according to the acceleration and angular velocity information. The navigation method can be GPS, beidou navigation, multi-element fusion navigation, etc., and those skilled in the art can select a suitable navigation method according to actual needs, which is not limited specifically here. The current attitude described above includes a current attitude angle, and the current attitude angle includes a current pitch angle, a current yaw angle, and a current roll angle.
S102: if the micro tactical missile is not launched, repeating step S101 until the micro tactical missile is launched.
S103: and judging whether the flight time of the miniature tactical missile is greater than or equal to a threshold value.
When the miniature tactical missile is launched and flies in the air, the controller collects the flight time and compares the flight time with a threshold value. The threshold here is calculated according to the following formula:
wherein, the shot-eye distance of the launching point refers to the slant distance between the launching point and the target during launching.
By setting the threshold value, the set time threshold value can be adjusted according to the target distance, so that the execution time of the anti-interference guidance method is controlled adaptively according to the target distance.
S104: if the flight time of the micro tactical missile is less than the threshold value, calculating a first control rudder angle of the micro tactical missile by using an anti-interference guidance method; and if the flight time of the micro tactical missile is more than or equal to the threshold value, calculating a second control rudder angle of the micro tactical missile by using a guidance method and an attitude control method.
It should be noted that, here, the difference of the flight time of the micro tactical missile is judged according to the threshold value, and different guidance methods are adopted to calculate and control the rudder angle, so that the time threshold value and the angle threshold value can be dynamically adjusted according to the distance between the missile and the target at the launching point, and the self-adaptive control method for the target distance is realized.
S105: and calculating the set angle of the steering engine by using a set rudder angle method according to the first control rudder angle and the second control rudder angle.
And according to the first control rudder angle obtained by calculation of the anti-interference guidance method or the second control rudder angle obtained by calculation of the guidance method and the attitude control method, the controller deflects the rudder wing to the set angle according to the steering engine control method in the controller, so that the micro tactical missile flies to the target.
S106: and deflecting the rudder wings of the steering engine to a set angle of the steering engine by adopting a steering engine control method.
S107: repeating the steps S101 to S105 until the micro tactical missile lands or hits a target. Thus, the flight control of the whole miniature tactical missile is completed.
In this embodiment, the above-mentioned anti-jamming guidance method is implemented by the following steps:
(1) setting angles of the micro tactical missile are given according to the following formula, wherein the setting angles comprise a pitch angle, a yaw angle and rolling
Turning;
yaw angle equal to 0
(2) calculating the first control rudder angle according to the setting angle in the step (1) and the current attitude angle calculated by the navigation method in the step S101, specifically as follows:
wherein epsilonnIs the nth deviation of the set angle from the current attitude angle, εn-1Is the deviation of the setting angle from the current attitude angle for the (n-1) th time, specifically, P, D and I are corresponding control parameters, and t is the control period of the miniature tactical missile, and the value is 5 ms.
In this embodiment, when the set angle is the pitch angle, the current attitude angle corresponds to the current pitch angleAngle, calculating the nth deviation between the two as epsilonnTherefore, the first control rudder angle in the above formula is the pitch angle, and in this case, the parameters in the above formula are specifically set as follows, P is 225.0, I is 196.0, and D is-29. Similarly, when the set angle is the yaw angle, the current attitude angle corresponds to the current yaw angle, and the nth deviation therebetween is calculated as εnTherefore, the first rudder control angle in the above equation is the yaw angle, and at this time, the parameters in the above equation are specifically set as follows: p is-225.0, I is-201.0, and D is 30. Correspondingly, when the set angle is the roll angle, the current attitude angle is corresponding to the current roll angle, and the nth deviation between the current attitude angle and the current attitude angle is calculated as epsilonnTherefore, the first control rudder angle in the above formula is the roll angle, and at this time, the parameters in the above formula are specifically set as follows: p is-225.0, I is-194.0 and D is 1.5.
In this embodiment, the PID controller may be used to implement the above process, which is not described herein.
Without loss of generality, in this embodiment, the navigation method, the guidance method, and the attitude control method in step S101 may adopt methods conventional in the art, for example, the navigation method may be that current attitude, speed, and position information of the micro tactical missile is calculated according to acceleration and angular speed information sensed by an inertial measurement element, the guidance method may be that overload information required by the missile is calculated according to the current attitude, speed, and position information of the micro tactical missile and the position of a target, and the attitude control method may be that a required second control rudder angle of a steering engine is calculated according to the overload information required by the micro tactical missile.
Fig. 2 is a trajectory curve simulation diagram of a micro tactical missile of a control method for resisting the thrust disturbance of a secondary engine of a micro tactical missile according to an embodiment of the invention, and fig. 3 is an attitude curve simulation diagram of the micro tactical missile of the control method for resisting the thrust disturbance of the secondary engine of the micro tactical missile according to the embodiment of the invention. When the control method is used for control, the missile flies according to the trajectory curve and the posture shown in the attached figures 2-3 and hits the set target, and the distance from the target center is 0.275 m; and by using the control method simulation of the unscrambled dynamic guidance method, the miniature tactical missile lands in advance at a position 8m away from the launching point after the ignition of the secondary engine and can not hit a target.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. A control method for resisting thrust disturbance of a secondary engine of a miniature tactical missile comprises the following steps:
s101: calculating the current attitude, speed and position information of the miniature tactical missile by using a navigation method;
s102: if the micro tactical missile is not launched, repeating the step S101 until the micro tactical missile is launched;
s103: judging whether the flight time of the miniature tactical missile is greater than or equal to a threshold value;
s104: if the flight time of the micro tactical missile is less than the threshold value, calculating a first control rudder angle of the micro tactical missile by using an anti-interference guidance method; if the flight time of the micro tactical missile is larger than or equal to the threshold value, calculating a second control rudder angle of the micro tactical missile by using a guidance method and an attitude control method;
s105: calculating a steering engine set angle by using a set rudder angle method according to the first control rudder angle or the second control rudder angle;
s106: a steering engine control method is adopted to deflect a rudder wing of the steering engine to a set angle of the steering engine;
s107: repeating the steps S101 to S106 until the micro tactical missile lands or hits the target.
2. The method of controlling the secondary engine thrust disturbance resistance of a micro tactical missile according to claim 1,
in step S101, the current attitude includes a current attitude angle, and the current attitude angle includes a current pitch angle, a current yaw angle, and a current roll angle.
3. The method of claim 1, wherein the method of controlling the secondary engine thrust disturbance rejection of a micro tactical missile,
the threshold in step S103 is obtained according to the following equation:
4. the method for controlling the secondary engine thrust disturbance resistance of the micro tactical missile according to claim 2, wherein in step S104, the first control rudder angle of the micro tactical missile is calculated by using an anti-disturbance guidance method, specifically:
(1) setting angles of the miniature tactical missile are given according to the following formula, wherein the setting angles comprise a pitch angle, a yaw angle and a roll angle;
yaw angle equal to 0
Roll angle 0;
(2) and (2) calculating the first control rudder angle according to the set angle in the step (1) and the current attitude angle calculated by the navigation method in the step (S101).
5. The method for controlling the secondary engine thrust disturbance resistance of the micro tactical missile according to claim 4, wherein the first control rudder angle is calculated according to the setting angle in the step (1) and the current attitude angle calculated by the navigation method in the step S101, and specifically as follows:
wherein epsilonnIs the nth deviation of the set angle from the current attitude angle, εn-1Is the deviation of the set angle from the current attitude angle at time n-1, P, D, I is a control parameter, and t is the control period of the micro tactical missile.
6. The method for controlling secondary engine thrust disturbance resistance of a micro tactical missile according to claim 1 or 2,
the navigation method in step S101 is: and calculating the current attitude, the current speed and the current position information of the miniature tactical missile according to the acceleration and the angular speed information sensed by the inertial measurement element.
7. The method for controlling secondary engine thrust disturbance resistance of a micro tactical missile according to claim 1 or 2,
the guidance method in step S104 is: and calculating overload information required by the missile according to the current attitude, the current speed, the current position information and the position information of the target of the miniature tactical missile.
8. The method of controlling a micro tactical missile to resist thrust disturbance of a secondary engine as defined in claim 7,
the attitude control method in step S104 is: and calculating the angle of the second control rudder according to the overload information required by the miniature tactical missile.
9. The method for controlling the secondary engine thrust disturbance resistance of a micro tactical missile according to any of the claims 3 to 5,
the shot-point and target distance is the slant distance between the shot point and the target when the miniature tactical missile is launched.
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