CN115328191B - Method, system, equipment and storage medium for controlling cruising of ground sweeping cruising target - Google Patents
Method, system, equipment and storage medium for controlling cruising of ground sweeping cruising target Download PDFInfo
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- CN115328191B CN115328191B CN202210837005.4A CN202210837005A CN115328191B CN 115328191 B CN115328191 B CN 115328191B CN 202210837005 A CN202210837005 A CN 202210837005A CN 115328191 B CN115328191 B CN 115328191B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The application provides a glancing cruise target cruise control method, a glancing cruise target cruise control system, glancing cruise target cruise control equipment and a storage medium, wherein the glancing cruise target cruise control method comprises the following steps: controlling the ground sweeping cruise target to enter the climbing earlier stage based on a preset climbing earlier stage control strategy; when the secondary ignition of the ground-sweeping cruising target is detected, controlling the ground-sweeping cruising target to enter a climbing later stage, a depression leveling stage and a ground-sweeping cruising stage based on a preset control strategy, wherein a first attack angle instruction is determined according to a preset altitude instruction, and the preset control strategy is determined according to a sideslip angle instruction and the first attack angle instruction; when the ground sweeping cruise target is detected to reach the preset height in the low leveling period, the ground sweeping cruise target is controlled to conduct linear low leveling based on a preset control strategy; and when the second-stage engine of the glancing cruise target is detected to stop fire, controlling the glancing cruise target to dive based on a preset dive control strategy. The safety of the ground sweeping cruising target in the stage of low-voltage leveling is improved, and the ground contact risk is reduced.
Description
Technical Field
The application relates to the technical field of aerospace, in particular to a glancing cruise control method, a glancing cruise control system, glancing cruise control equipment and a storage medium.
Background
Currently, there is a huge market in China for cruise targets, wherein glancing cruise targets have better anti-burst performance. However, as the altitude of the terrain of China is high and low in the east and the west, the altitude difference is larger, and the corresponding air density is also larger, the pneumatic lift force of the target of the ground sweeping cruise target is smaller in the plateau environment, and the ground sweeping cruise target has the ground contact risk in the stage of pressing down and leveling.
In the prior art, it is common to increase the missile wing area of the cruise target to increase the aerodynamic lift during flight. However, increasing the missile wing area of the target reduces the cruising speed of the target and increases the design cost.
Disclosure of Invention
Therefore, the technical problem to be solved by the application is to overcome the defect that the ground contact risk exists in the low-pressure leveling stage when the pneumatic lift force of the ground-sweeping cruise target is small in the prior art, so as to provide a ground-sweeping cruise target cruise control method, a system, equipment and a storage medium.
In a first aspect, the present application provides a glancing cruise target cruise control method, the method comprising:
controlling the ground sweeping cruise target to enter the climbing earlier stage based on a preset climbing earlier stage control strategy;
when the secondary ignition of the ground-sweeping cruising target is detected, controlling the ground-sweeping cruising target to enter a climbing later stage, a depression leveling stage and a ground-sweeping cruising stage based on a preset control strategy, wherein a first attack angle instruction is determined according to a preset altitude instruction, and a preset control strategy is determined according to a sideslip angle instruction and the first attack angle instruction;
when the ground sweeping cruise target is detected to reach the preset height in the low leveling period, the ground sweeping cruise target is controlled to conduct linear low leveling based on a preset control strategy;
and after the second-level engine of the glancing cruise target is detected to stop fire, controlling the glancing cruise target to dive based on a preset diving control strategy.
In the mode, in different flight phases of the ground sweeping cruise target, the ground sweeping cruise target is controlled to fly through a corresponding control strategy, and when the ground sweeping cruise target is detected to reach a preset height in the low leveling period, the ground sweeping cruise target is controlled to linearly lower and level, so that the ground sweeping cruise target is reduced to the ground sweeping cruise height according to linear change, the safety of the ground sweeping cruise target in the low leveling phase is improved, and the ground contact risk is reduced.
In an embodiment, the preset climb early control strategy is:
wherein delta xc 、δ yc Delta zc Respectively roll, yaw and pitch rudder deflection angle commands, k px 、k dx 、k py 、k dy 、k pz K dz For control coefficients, γ, β and α are roll angle, sideslip angle and attack angle, ω, respectively x 、ω y Omega, omega z The roll angle speed, yaw angle speed, and pitch angle speed, respectively.
In an embodiment, after the second-level ignition of the ground-sweeping cruise target is detected, the ground-sweeping cruise target is controlled to enter a climbing later period, a depression leveling period and a ground-sweeping cruise period based on a preset control strategy, and the method comprises the following steps:
when the secondary ignition of the ground-sweeping cruise target is detected, controlling the ground-sweeping cruise target to enter a climbing later stage and a depression leveling stage based on a preset control strategy;
determining a real-time fixed height in a low-turn leveling period based on the preset height instruction;
and when the glancing cruise target is detected to reach the fixed height, controlling the glancing cruise target to perform linear depression leveling based on the preset control strategy.
In the mode, after the secondary ignition of the ground-sweeping cruising target is detected, the ground-sweeping cruising target is controlled to enter the climbing later stage, so that the phenomenon of 'bullet falling' of a climbing section caused by factors such as thrust deflection can be prevented, and the initial emission angle is raised; when the ground sweeping cruise target reaches the fixed height, the ground sweeping cruise target is controlled to conduct linear depression and leveling, and the safety of the ground sweeping cruise target in depression and leveling can be improved.
In one embodiment, the preset control strategy is:
wherein alpha is c Is a first angle of attack instruction;
the first angle of attack instruction is:
wherein k is pz2 K iz2 For control factor, H is altitude, H c And (t) is a preset altitude command according to time variation.
In one embodiment, the predetermined height command H c (t) is:
wherein T is dh Is the second-stage ignition moment, H c0 Is a predetermined glancing height H 1 Is a preset height value, T 6 Is the expected rotational time point.
In one embodiment, the preset dive control strategy is:
wherein k is ix To control the coefficient t 0 Time zero, t is time, beta c And alpha c The side slip angle instruction and the second attack angle instruction are generated by an outer ring guidance link;
the second attack angle instruction is:
wherein k is pz1 K iz1 To control the coefficient, θ c Indicating ballistic tilt command, θ d Is the inclination angle of trajectory, t 0 Time zero and t is time.
In a second aspect, the present application provides a glancing cruise target cruise control system, the system comprising:
the first control module is used for controlling the ground sweeping cruise target to enter the climbing earlier stage based on a preset climbing earlier stage control strategy;
the second control module is used for controlling the ground-sweeping cruise target to enter a climbing later stage, a low-voltage leveling stage and a ground-sweeping navigation stage based on a preset control strategy after the secondary ignition of the ground-sweeping cruise target is detected, wherein in the low-voltage leveling stage, when the ground-sweeping cruise target is detected to reach a preset height in the low-voltage leveling stage, the ground-sweeping cruise target is controlled to perform linear low-voltage leveling based on the preset control strategy;
when the ground sweeping cruise target is detected to reach the preset height in the low leveling period, the ground sweeping cruise target is controlled to conduct linear low leveling based on a preset control strategy;
and the third control module is used for controlling the glancing cruise target to dive based on a preset dive control strategy after the second-stage engine of the glancing cruise target is detected to stop fire.
In a third aspect, the present application provides a computer device comprising a memory and a processor, the memory and the processor being communicatively coupled to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the glancing cruise target cruise control method of any one of the first aspect and its alternative embodiments.
In a fourth aspect, the present application provides a computer readable storage medium storing computer instructions for causing a computer to perform the glancing cruise target cruise control method of any one of the first aspect and its alternative embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of various stages in a cruise process for a prior-art cruise target;
FIG. 2 is a flow chart of a glancing cruise target cruise control method according to an embodiment of the present application;
FIG. 3 is a schematic illustration of various stages of cruise trajectory of a glancing cruise target according to an embodiment of the present application;
FIG. 4 is a schematic representation of a reference trajectory curve at a relative altitude of 15m in a plateau environment, in accordance with an embodiment of the present application;
FIG. 5 is a schematic diagram of a limit ballistic altitude curve for a 15m relative altitude glancing at a plateau environment in accordance with an embodiment of the present application;
FIG. 6 is a graph showing local ballistic inclination angles of a limit trajectory at a relative altitude of 15m in a plateau environment according to an embodiment of the present application;
FIG. 7 is a schematic representation of a limit ballistic altitude curve for a 50m relative altitude sweep in a plateau environment in accordance with an embodiment of the present application;
FIG. 8 is a graph showing local ballistic inclination angles of a limit trajectory at a relative altitude of 50m in a plateau environment according to an embodiment of the present application;
FIG. 9 is a graph showing the limiting ballistic angle of attack at a relative altitude of 50m in a plateau environment according to an embodiment of the present application;
FIG. 10 is a graph showing the altitude curves of the homopolar trajectory when sweeping the ground with a relative altitude of 5m in a plateau environment according to an embodiment of the present application;
FIG. 11 is a graph showing local ballistic inclination angles of homopolar ballistic trajectories at 5m relative altitude in a plateau environment according to an embodiment of the present application;
FIG. 12 is a graph showing the same-pole limit Mach number curve at 5m relative altitude in a plateau environment according to an embodiment of the present application;
FIG. 13 is a block diagram of a glancing cruise target cruise control system according to an embodiment of the present application;
fig. 14 is a schematic hardware structure of a computer device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the application are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The cruising trajectory of the existing cruising target is roughly divided into four parts, as shown in fig. 1, the trajectory is raised firstly, namely, the stage of climbing is entered, and the phenomenon of 'bullet drop' caused by factors such as thrust deflection is avoided; secondly, the ballistic trajectory is depressed and flattened, namely, the stage of 'depression and flattening' is entered, and in the later stage of depression and flattening, the inclination angle of the ballistic trajectory needs to be raised more quickly, so that enough pneumatic pressure is needed; then enter the "cruising glance" phase; finally, the "dive" phase is entered.
In order to improve the safety of a glancing cruise target in a depression and leveling stage, the embodiment of the application provides a glancing cruise target cruise control method which is suitable for a sub-transonic cruise target, a glancing cruise target (hereinafter, simply referred to as a target), a target aircraft, a cruise bomb and the like, and is mainly applied to environments with smaller lifting force or air density in highland and the like. As shown in fig. 2, the method includes the following steps S1 to S4.
Step S1: and controlling the ground sweeping cruise target to enter the climbing prophase based on a preset climbing prophase control strategy.
In the embodiment of the application, the following steps are included: as shown in fig. 3, the climbing phase is divided into a climbing early stage and a climbing late stage, and the 1 st phase is the climbing early stage.
Specifically, the preset climbing early control strategy is:
wherein delta xc 、δ yc Delta zc Respectively roll, yaw and pitch rudder deflection angle commands, k px 、k dx 、k py 、k dy 、k pz K dz For control coefficients, γ, β and α are roll angle, sideslip angle and attack angle, ω, respectively x 、ω y Omega, omega z The roll angle speed, yaw angle speed, and pitch angle speed, respectively.
It should be noted that, each parameter involved in the above control strategy is reasonably set according to the actual application scenario, and is not particularly limited herein.
In the embodiment of the application, the target is controlled to enter the climbing earlier stage based on the preset climbing earlier stage control strategy, and the rolling angle is mainly ensured to be near the zero position before the secondary ignition.
Step S2: and when the secondary ignition of the ground-sweeping cruise target is detected, controlling the ground-sweeping cruise target to enter a climbing later stage, a depression leveling stage and a ground-sweeping cruising stage based on a preset control strategy.
In the embodiment of the application, the following steps are included: and when the target meets the overload instruction in a continuous preset period, the target is the target secondary ignition moment. When the target secondary ignition is detected, the target is controlled to enter the climbing later stage based on a preset control strategy, as shown in fig. 3, and the 2 nd stage is the climbing later stage.
When the target reaches the highest elevation of the climbing stage, the target is controlled to enter a depression and leveling stage based on a preset control strategy, as shown in fig. 3, the 3 rd stage and the 4 th stage are the depression and leveling stage, and the 5 th stage is the sweepback cruising stage.
In the embodiment of the application, the following steps are included: the first attack angle instruction is determined according to the preset height instruction, the preset depression and leveling control strategy is determined according to the sideslip angle instruction and the first attack angle instruction, as shown in fig. 3, and the 4 th stage is a linear depression and leveling stage.
Specifically, after the secondary ignition of the ground-sweeping cruise target is detected, the ground-sweeping cruise target is controlled to enter a climbing later stage and a depression leveling stage based on a preset control strategy;
determining a real-time fixed height in a low-turn leveling period based on a preset height instruction;
and when the glancing cruise target is detected to reach the fixed height, controlling the glancing cruise target to perform linear depression leveling based on a preset control strategy.
In the embodiment of the application, the following steps are included: the fixed height of the low-turning period is the highest elevation of the target in the climbing period, and when the target reaches the fixed height, the target is controlled to start descending.
And when the preset height of the target in the depression leveling period is detected, controlling the target to perform linear depression leveling based on a preset control strategy.
Step S3: and after the second-level engine of the glancing cruise target is detected to stop fire, controlling the glancing cruise target to dive based on a preset diving control strategy.
In the embodiment of the application, the following steps are included: as shown in fig. 3, the 6 th stage is a dive stage. The control strategy of the target in the sweepback cruising and diving phases is consistent with the control strategy in the later climbing phase, but the corresponding attack angle instructions are different.
According to the embodiment, in different flight phases of the ground sweeping cruise target, the ground sweeping cruise target is controlled to fly through the corresponding control strategy, and when the ground sweeping cruise target is detected to reach the preset height in the low leveling period, the ground sweeping cruise target is controlled to linearly lower and level, so that the ground sweeping cruise target is reduced to the ground sweeping cruise height according to linear change, the safety of the ground sweeping cruise target in the low leveling phase is improved, and the ground contact risk is reduced.
Specifically, the preset control strategy is:
wherein alpha is c Is a first angle of attack instruction;
the first angle of attack instruction is:
wherein k is pz2 K iz2 For control factor, H is altitude, H c And (t) is a preset altitude command according to time variation.
Specifically, the height instruction H is preset c And (t) determining the height according to a time-varying instruction, specifically:
wherein T is dh Is the second-stage ignition moment, H c0 Is a predetermined glancing height H 1 Is a preset height value H 1 Greater than H c0 ，T 6 Is the expected rotational time point. In particular, in a plateau environment, H 1 The values of (2) may be: h 1 ＝H c0 +100. When the cruising target is in a plateau environment, T is used for improving the safety of target leveling 6 Should be properly amplified.
Specifically, the preset dive control strategy is:
wherein k is ix To control the coefficient t 0 Time zero, t is time, beta c And alpha c The side slip angle instruction and the second attack angle instruction are generated by an outer ring guidance link;
the second attack angle instruction is:
wherein k is pz1 K iz1 To control the coefficient, θ c Indicating ballistic tilt command, θ d Is the inclination angle of trajectory, t 0 Time zero and t is time.
The above k px 、k dx 、k py 、k dy 、k pz 、k dz 、k ix 、k pz1 、k iz1 、k pz2 K iz2 The control coefficient may be determined based on the actual conditions of the target cruise process.
In this embodiment, the technical solution corresponding to fig. 1 is used as a control group, as shown in fig. 4 to 6, and fig. 4 to 6 respectively use a reference trajectory curve, a limit trajectory altitude curve and a limit trajectory local trajectory inclination curve of 15m relative altitude in a plateau environment as a comparison, where the control group can not raise the trajectory inclination relatively fast due to smaller lift force when performing the depression and the rotation under certain limit conditions, for example, negative lift force and positive mass lift force, so that the target touches the ground, and the corresponding technical solution in this embodiment can improve the security of the depression and the rotation of the target.
In this embodiment, as shown in fig. 7 to 9, fig. 7 to 9 are respectively a limit ballistic altitude curve, a ballistic inclination curve and a ballistic attack angle curve when the altitude of the plateau environment 50m is swept to the altitude, and in the limit case, the control group will "sink" downwards by about 40m in the later period of the depression and leveling stage, and a larger attack angle is required for rapidly raising the ballistic inclination control group. In order to ensure flight safety, the minimum relative cruising height of the control group should be greater than 40m, but the embodiment can ensure that the target can safely turn flat when the lifting force is insufficient, and the cruising height can be moderately reduced, so that the target cruises in ultra-low altitude glancing.
Under the same limit conditions, the technical scheme of the embodiment is adopted to carry out the sweep ground cruising with the relative height of 5m, and as shown in figures 10-12, figures 10-12 are respectively a homopolar ballistic altitude curve, a local ballistic dip angle curve and a ballistic Mach number curve when the relative height of 5m is sweep ground in a plateau environment. When the control group carries out 5m relative altitude sweeping, the control group touches the ground in the stage of pressing down and leveling, but the embodiment can safely level and cruise at a constant altitude, and the sweeping altitude can be properly reduced, in the embodiment, the lowest relative cruising altitude is 5m plus or minus 2m, so that the target has stronger breakthrough performance.
In sum, when the target cruises in a highland environment, the target can touch the ground when the target is rotated downwards due to small aerodynamic lift force, and the embodiment can properly reduce the height of the target for sweeping the ground and enhance the breakthrough performance of the target.
Based on the same inventive concept, the application also provides a glancing cruise target cruise control system.
FIG. 13 is a block diagram of a glancing cruise target cruise control system according to one exemplary embodiment. As shown in fig. 13, the system includes a first control module 1301, a second control module 1302, and a third control module 1303.
The first control module 1301 is used for controlling the ground sweeping cruise target to enter the climbing earlier stage based on a preset climbing earlier stage control strategy;
the second control module 1302 is configured to control, based on a preset control strategy, the ground-sweeping cruise target to enter a climbing later stage, a depression leveling stage and a ground-sweeping cruising stage when the secondary ignition of the ground-sweeping cruise target is detected, wherein a first attack angle instruction is determined according to a preset altitude instruction, and a preset control strategy is determined according to a sideslip angle instruction and the first attack angle instruction;
when the ground sweeping cruise target is detected to reach the preset height in the low leveling period, the ground sweeping cruise target is controlled to conduct linear low leveling based on a preset control strategy;
and the third control module 1303 is used for controlling the glancing cruise target to dive based on a preset dive control strategy after the glancing cruise target secondary engine is detected to stop fire.
In one embodiment, the second control module 1302 includes:
the fourth control sub-module is used for controlling the ground sweeping cruise target to enter a climbing later stage and a depression leveling stage based on a preset control strategy when the secondary ignition of the ground sweeping cruise target is detected;
the determining submodule is used for determining the real-time fixed height of the low-turning period based on a preset height instruction;
and the sixth control sub-module is used for controlling linear depression leveling based on a preset control strategy when the glancing cruise target is detected to reach a fixed height.
The specific limitations and benefits of the above-described glancing cruise target cruise control system may be found in the above-described limitations of glancing cruise target cruise control methods, and are not described in detail herein. The various modules described above may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
Fig. 14 is a schematic diagram of a hardware structure of a computer device according to an exemplary embodiment. As shown in fig. 14, the device includes one or more processors 1410 and a memory 1420, the memory 1420 including persistent memory, volatile memory and a hard disk, one processor 1410 being illustrated in fig. 14. The apparatus may further include: an input device 1430 and an output device 1440.
Processor 1410, memory 1420, input device 1430, and output device 1440 may be connected by a bus or other means, for example in fig. 14.
The processor 1410 may be a central processing unit (Central Processing Unit, CPU). The processor 1410 may also be a chip such as other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination thereof. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Memory 1420, which is a non-transitory computer-readable storage medium, includes persistent memory, volatile memory, and hard disk, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the business management methods in embodiments of the present application. The processor 1410 performs various functional applications of the server and data processing, i.e., implements any of the glancing cruise target cruise control methods described above, by running non-transitory software programs, instructions, and modules stored in the memory 1420.
Memory 1420 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data, etc., as needed, used as desired. In addition, memory 1420 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 1420 may optionally include memory located remotely from processor 1410, which may be connected to data processing apparatus via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 1430 may receive input numeric or character information and generate key signal inputs related to user settings and function control. The output device 1440 may include a display device such as a display screen.
One or more modules are stored in the memory 1420 that, when executed by the one or more processors 1410, perform the glancing cruise target cruise control method shown in fig. 2.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. Technical details which are not described in detail in the present embodiment can be found in the related description in the embodiment shown in fig. 2.
The embodiment of the application also provides a non-transitory computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the authentication method in any of the method embodiments. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the application.
Claims (6)
1. A glancing cruise target cruise control method, comprising:
controlling the ground sweeping cruise target to enter the climbing earlier stage based on a preset climbing earlier stage control strategy;
when the secondary ignition of the ground-sweeping cruising target is detected, controlling the ground-sweeping cruising target to enter a climbing later stage, a depression leveling stage and a ground-sweeping cruising stage based on a preset control strategy, wherein a first attack angle instruction is determined according to a preset altitude instruction, and the preset control strategy is determined according to a sideslip angle instruction and the first attack angle instruction;
when the ground sweeping cruise target is detected to reach the preset height in the low leveling period, the ground sweeping cruise target is controlled to conduct linear low leveling based on a preset control strategy;
when the second-level engine of the ground-sweeping cruise target is detected to stop fire, the ground-sweeping cruise target is controlled to dive based on a preset diving control strategy;
wherein, the preset climbing earlier stage control strategy is:
wherein delta xc 、δ yc Delta zc Respectively roll, yaw and pitch rudder deflection angle commands, k px 、k dx 、k py 、k dy 、k pz K dz For controlling the coefficients, gamma, beta and alpha are the roll angles,Sideslip angle and angle of attack, ω x 、ω y Omega, omega z The roll angle speed, yaw angle speed and pitch angle speed respectively;
after the secondary ignition of the ground-sweeping cruise target is detected, the ground-sweeping cruise target is controlled to enter a climbing later stage, a depression leveling stage and a ground-sweeping cruise stage based on a preset control strategy, and the method comprises the following steps of:
when the secondary ignition of the ground-sweeping cruise target is detected, controlling the ground-sweeping cruise target to enter a climbing later stage and a depression leveling stage based on a preset control strategy;
determining a real-time fixed height in a low-turn leveling period based on the preset height instruction;
when the ground sweeping cruise target is detected to reach the fixed height, controlling the ground sweeping cruise target to perform linear depression leveling based on the preset control strategy;
wherein, the preset control strategy is:
wherein alpha is c Is a first angle of attack instruction;
the first angle of attack instruction is:
wherein k is ix 、k pz1 、k pz2 K iz2 For control factor, H is altitude, H c (t) is a preset height command according to time variation, θ d Is the inclination angle of trajectory beta c Is sideslip angle instruction, t 0 Is time zero.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the preset height instruction H c (t) is:
wherein T is dh Is the second-stage ignition moment, H c0 Is a predetermined glancing height H 1 Is a preset height value, T 6 Is the expected rotational time point.
3. The method of claim 2, wherein the preset dive control strategy is:
wherein k is ix To control the coefficient t 0 Time zero, t is time, beta c And alpha c The side slip angle instruction and the second attack angle instruction are generated by an outer ring guidance link;
the second attack angle instruction is:
wherein k is pz1 K iz1 To control the coefficient, θ c Indicating ballistic tilt command, θ d Is the inclination angle of trajectory, t 0 Time zero and t is time.
4. A glancing cruise target cruise control system, the system comprising:
the first control module is used for controlling the ground sweeping cruise target to enter the climbing earlier stage based on a preset climbing earlier stage control strategy;
the second control module is used for controlling the ground-sweeping cruise target to enter a climbing later stage, a depression leveling stage and a ground-sweeping navigation stage based on a preset control strategy after the secondary ignition of the ground-sweeping cruise target is detected, wherein a first attack angle instruction is determined according to a preset height instruction, and the preset control strategy is determined according to a sideslip angle instruction and the first attack angle instruction;
when the ground sweeping cruise target is detected to reach the preset height in the low leveling period, the ground sweeping cruise target is controlled to conduct linear low leveling based on a preset control strategy;
the third control module is used for controlling the ground skimming cruise target to dive based on a preset dive control strategy after the second-stage engine of the ground skimming cruise target is detected to stop fire;
wherein, the preset climbing earlier stage control strategy is:
wherein delta xc 、δ yc Delta zc Respectively roll, yaw and pitch rudder deflection angle commands, k px 、k dx 、k py 、k dy 、k pz K dz For control coefficients, γ, β and α are roll angle, sideslip angle and attack angle, ω, respectively x 、ω y Omega, omega z The roll angle speed, yaw angle speed and pitch angle speed respectively;
after the secondary ignition of the ground-sweeping cruise target is detected, the ground-sweeping cruise target is controlled to enter a climbing later stage, a depression leveling stage and a ground-sweeping cruise stage based on a preset control strategy, and the method comprises the following steps of:
when the secondary ignition of the ground-sweeping cruise target is detected, controlling the ground-sweeping cruise target to enter a climbing later stage and a depression leveling stage based on a preset control strategy;
determining a real-time fixed height in a low-turn leveling period based on the preset height instruction;
when the ground sweeping cruise target is detected to reach the fixed height, controlling the ground sweeping cruise target to perform linear depression leveling based on the preset control strategy;
wherein, the preset control strategy is:
wherein alpha is c Is the firstAn angle of attack instruction;
the first angle of attack instruction is:
wherein k is ix 、k pz1 、k pz2 K iz2 For control factor, H is altitude, H c (t) is a preset height command according to time variation, θ d Is the inclination angle of trajectory beta c Sideslip angle command, t 0 Is time zero.
5. A computer device comprising a memory and a processor, said memory and said processor being communicatively coupled to each other, said memory having stored therein computer instructions, said processor executing said computer instructions to thereby perform the glancing cruise target cruise control method of any one of claims 1-3.
6. A computer readable storage medium having stored thereon computer instructions for causing the computer to perform the glancing cruise target cruise control method of any one of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210837005.4A CN115328191B (en) | 2022-07-15 | 2022-07-15 | Method, system, equipment and storage medium for controlling cruising of ground sweeping cruising target |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210837005.4A CN115328191B (en) | 2022-07-15 | 2022-07-15 | Method, system, equipment and storage medium for controlling cruising of ground sweeping cruising target |
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| CN115574666B (en) * | 2022-12-09 | 2023-03-24 | 北京航天众信科技有限公司 | Height setting method for grazing cruise target |
| CN115659103B (en) * | 2022-12-27 | 2023-03-10 | 北京航天众信科技有限公司 | Method, device, medium and equipment for calculating roll angle of rotating target |
| CN115993847B (en) * | 2023-03-23 | 2023-06-06 | 北京航天众信科技有限公司 | Height setting method, device, medium and equipment of glancing cruise bomb |
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