CN115342683A - Gun adjusting method with automatic obstacle avoiding function - Google Patents

Gun adjusting method with automatic obstacle avoiding function Download PDF

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Publication number
CN115342683A
CN115342683A CN202211025948.3A CN202211025948A CN115342683A CN 115342683 A CN115342683 A CN 115342683A CN 202211025948 A CN202211025948 A CN 202211025948A CN 115342683 A CN115342683 A CN 115342683A
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Prior art keywords
gun
low
obstacle avoidance
adjusting
azimuth
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CN115342683B (en
Inventor
任海波
李伟
韩崇伟
张志鹏
王天石
马捷
石志翔
侯景严
刘延锋
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Northwest Institute Of Mechanical & Electrical Engineering
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Northwest Institute Of Mechanical & Electrical Engineering
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages

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  • General Engineering & Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention belongs to the technical field of self-propelled gun firepower control, and particularly relates to a gun adjusting method with an automatic obstacle avoidance function, which receives gun adjusting data sent by a firepower control system and acquires a strapdown inertial navigation position; collecting a body tube orientation trust value, and setting and calculating an obstacle avoidance range according to the position of the 'air inlet cap' equipment in a vehicle body coordinate system; according to the current position of the barrel and the obstacle avoidance range, a gun-adjusting master command and gun-adjusting feedback are changed, and a gun-adjusting path is adjusted; then position control calculation is carried out to obtain a main command of gun adjusting speed; and setting and calculating a deceleration strip range, carrying out gun-adjusting speed limitation according to the current position of the barrel and the deceleration strip range, and controlling the gun-adjusting range and the gun-adjusting speed. The invention can automatically avoid the 'air inlet cap' equipment in the gun barrel turning process, ensure the gun turning safety and improve the intelligent degree of a fire control system and the adaptability to battlefield environment.

Description

Gun adjusting method with automatic obstacle avoiding function
Technical Field
The invention belongs to the technical field of self-propelled gun fire control, and particularly relates to a gun adjusting method with an automatic obstacle avoidance function, which is suitable for operating, aiming and gun adjusting by taking strapdown inertial navigation as main feedback and is provided with a fire control system with an automatic obstacle avoidance function.
Background
The strapdown inertial navigation system is installed on a gun cradle, the gun barrel makes pitching and direction rotating motion along with the cradle, the actual direction of the gun barrel under a geodetic coordinate system can be measured in real time, and the gun barrel motion control based on the geodetic coordinate system can be realized through a gun servo system. And the fire control system enables the artillery to point to the target through the artillery follow-up system according to the target position. However, an air inlet cap device is installed at a fixed position at the front end of the vehicle body, so that the gun adjusting range and the gun adjusting path are limited, the fire control system cannot calculate the gun adjusting range and the gun adjusting path, and in order to avoid the gun barrel from being collided with the air inlet cap device in the adjusting and rotating process, the follow-up system automatically adjusts the gun adjusting path by monitoring the position of the gun barrel based on the vehicle body coordinate system in real time, and carries out obstacle avoidance processing.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: how to provide a gun adjusting method with an automatic obstacle avoidance function.
(II) technical scheme
In order to solve the technical problem, the invention provides a cannon adjusting method with an automatic obstacle avoidance function, which comprises the following steps:
the first step is as follows: the gun adjustment data transmitted by the fire power receiving control system comprises: direction angle
Figure BDA0003815562850000011
High and low angle
Figure BDA0003815562850000012
The second step: acquiring a current direction angle psi and a pitch angle theta of the strapdown inertial navigation;
the third step: collecting a trusted value beta of a barrel orientation b High and low receiving values epsilon b ；
The fourth step: calculating a gun adjustment path;
the gun adjusting path near the position of the 'air inlet cap' equipment arranged at the fixed position of the front end of the vehicle body is an elliptic upper half curve;
from the mathematical expression of an ellipse:
Figure BDA0003815562850000021
calculating a mathematical expression of the cannon adjustment path;
where x represents the current position confidence value, y represents the current high and low confidence values,
Figure BDA0003815562850000022
is the length of the long semi-axis of the ellipse,
Figure BDA0003815562850000023
a short semi-axis length that is elliptical;
Figure BDA0003815562850000024
the lower limit position of the high-low obstacle avoidance is shown,
Figure BDA0003815562850000025
the left limit position of the azimuth obstacle avoidance is shown,
Figure BDA0003815562850000026
indicating the right position of the azimuth obstacle avoidance;
and then, the central point of the ellipse is translated leftwards by a distance a to obtain a mathematical expression of the shot-firing path:
Figure BDA0003815562850000027
to receive the azimuth value beta b With high and low confidence values epsilon b Mathematical expressions with in-gun paths when bearing confidence values satisfy
Figure BDA0003815562850000028
When the temperature of the water is higher than the set temperature,
and high and low trusted values
Figure BDA0003815562850000029
When the temperature of the water is higher than the set temperature,
indicating that the shot-tuning path needs to be modified;
the fifth step: judging the current position receiving value β Satisfy the requirement of
Figure BDA00038155628500000210
And the current high and low trusted values satisfy:
Figure BDA00038155628500000211
modifying a cannon adjusting path, namely modifying a cannon adjusting master command in a high-low direction;
modifying a cannon adjustment path strategy: changing a high-low direction gun-adjusting master;
high-low direction gun-regulating main order epsilon ref Comprises the following steps:
Figure BDA00038155628500000212
high and low position feedback epsilon fdb To a high or low trusted value epsilon b ；
And a sixth step: performing position control calculation;
(1) Using the tuning elements, direction angles, acquired in the first step
Figure BDA0003815562850000031
As a main order of the azimuth gun-adjusting,
Figure BDA0003815562850000032
i.e. high and low angles
Figure BDA0003815562850000033
As master of high-low direction gun-adjusting, i.e.
Figure BDA0003815562850000034
(2) Using the current direction angle psi of the strapdown inertial navigation acquired in the second step as the azimuth position feedback angle, namely beta fdb Phi, strapdown inertial navigation current pitch angle theta as high-low position feedback angle epsilon fdb ＝θ；
(3) Calculating an azimuth speed master command and high and low speed master commands;
the seventh step: carrying out deceleration treatment;
during high-speed gun adjustment, if the gun adjustment path needs to be modified, the phenomenon that the gun cannot be pulled and the gun is adjusted into an obstacle avoidance area is caused due to the influences of inertia adjustment and failure in entering a braking link in advance; therefore, when the air inlet cap is close to the equipment, the air inlet cap needs to be forced to enter a braking link in advance, so that the phenomenon that the cannon cannot be pulled is prevented;
thus, when the orientation receives the value
Figure BDA0003815562850000035
And high and low trusted values
Figure BDA0003815562850000036
When the vehicle enters a deceleration area and the direction of the gun is adjusted to be the obstacle avoidance area, speed limitation is carried out;
in the formula, e max Advance amount for advancing into the deceleration zone;
deceleration strategy of the deceleration zone:
(1) Deceleration strategy of azimuth deceleration zone:
the current high and low confidence values epsilon b Substituting into formula
Figure BDA0003815562850000037
In the specification, ask
Figure BDA0003815562850000038
And take the distance beta b The nearest root;
then, when
Figure BDA0003815562850000039
When the value is equal to Aso, otherwise
Figure BDA00038155628500000310
Keeping the Aso speed direction unchanged;
Figure BDA00038155628500000311
indicates that the current high-low position is epsilon b While adjusting the position, k, of the shot path curve in the direction a Aso is the azimuth velocity master command calculated in the sixth step as a control parameter;
in the vicinity of the shot-tuning path curve
Figure BDA0003815562850000041
Will approach 0rpm, it may not be possible to drive azimuth yaw, so when | Aso<aso min At rpm, the Aso value remains unchanged; wherein aso min The rpm is a speed threshold value of the lowest energy driving azimuth cannon adjustment;
(2) Deceleration strategy of the high-low deceleration region:
receiving the current position by a value beta b Substituting into formula
Figure BDA0003815562850000042
In the specification, ask
Figure BDA0003815562850000043
And satisfy
Figure BDA0003815562850000044
Then, when
Figure BDA0003815562850000045
Keeping Eso value unchanged, and taking out
Figure BDA0003815562850000046
Keeping the Eso speed direction unchanged;
Figure BDA0003815562850000047
indicating a trusted value of epsilon for the current bearing b At high and low positions, k, on the profile of the shot-firing path e As a control parameter, eso is the high and low speed master command calculated in the sixth step;
in the vicinity of the shot-tuning path curve
Figure BDA0003815562850000048
Will approach 0rpm, it may no longer be possible to drive the high-low steering, therefore, when | Eso-<eso min At rpm, the Eso value remained unchanged. Wherein eso min The rpm is the speed threshold of the lowest-energy-driven high-low cannon.
(III) advantageous effects
Compared with the prior art, the invention has the following beneficial effects: after receiving gun adjustment data sent by the fire control system, the invention prevents equipment arranged in a gun adjustment path from being damaged in the gun adjustment process, and the follow-up system can monitor the position of a gun barrel based on a vehicle body coordinate system in real time, automatically adjust the gun adjustment path, carry out obstacle avoidance processing and ensure the gun adjustment safety.
Drawings
Fig. 1 is a schematic diagram of an obstacle avoidance position used in the present invention.
FIG. 2 is a schematic of the computational flow of the present invention.
Detailed Description
In order to make the objects, contents, and advantages of the present invention more apparent, the following detailed description of the present invention will be made in conjunction with the accompanying drawings and examples.
In order to solve the above technical problems, the present invention provides a gun adjustment method with an automatic obstacle avoidance function, as shown in fig. 1 and fig. 2, the method includes the following steps:
the first step is as follows: the gun adjustment data transmitted by the fire power receiving control system comprises: direction angle
Figure BDA0003815562850000051
High low angle
Figure BDA0003815562850000052
The second step is that: acquiring a current direction angle psi and a pitch angle theta of the strapdown inertial navigation;
the third step: collecting a trusted value beta of a barrel orientation b High and low receiving values epsilon b ；
The fourth step: calculating a gun adjustment path;
the shot-adjusting path near the position of the 'air inlet cap' device installed at the fixed position of the front end of the vehicle body is an elliptical upper half-section curve, as shown in fig. 1, the plot2 at the outer side is the shot-adjusting path near the position of the 'air inlet cap' device, and the region between the plot1 at the outer side and the plot2 at the inner side is a deceleration zone region;
from the mathematical expression of an ellipse:
Figure BDA0003815562850000053
calculating a mathematical expression of the cannon adjustment path;
where x represents the current position confidence value, y represents the current high and low confidence values,
Figure BDA0003815562850000054
is the long semi-axis length of the ellipse,
Figure BDA0003815562850000055
is the short semi-axis length of the ellipse;
Figure BDA0003815562850000056
the lower limit position of the high-low obstacle avoidance is shown,
Figure BDA0003815562850000057
the left limit position of the direction obstacle avoidance is shown,
Figure BDA0003815562850000058
indicating the right position of the azimuth obstacle avoidance;
and then, the central point of the ellipse is translated leftwards by a distance a to obtain a mathematical expression of the shot-firing path:
Figure BDA0003815562850000059
to receive the azimuth value beta b With high and low confidence values epsilon b Mathematical expressions with in-gun paths when bearing confidence values satisfy
Figure BDA00038155628500000510
When the utility model is used, the water is discharged,
and high and low received values
Figure BDA00038155628500000511
When the temperature of the water is higher than the set temperature,
indicating that the shot-tuning path needs to be modified;
the fifth step: determining the current direction confidence value beta b Satisfy the requirement of
Figure BDA00038155628500000512
And the current high and low trusted values satisfy:
Figure BDA0003815562850000061
modifying a gun regulating path, namely modifying a gun regulating master command in a high-low direction;
modifying a cannon adjustment path strategy: changing a high-low direction gun-adjusting master;
high-low direction gun-regulating main order epsilon ref Comprises the following steps:
Figure BDA0003815562850000062
high and low position feedback epsilon fdb To a high or low trusted value epsilon b ；
And a sixth step: performing position control calculation;
(1) Using the tuning elements, direction angles, acquired in the first step
Figure BDA0003815562850000063
As a main command for adjusting the gun in the azimuth direction,
Figure BDA0003815562850000064
i.e. high and low angles
Figure BDA0003815562850000065
As master of high-low direction gun-regulating, i.e.
Figure BDA0003815562850000066
(2) Using the current direction angle psi of the strapdown inertial navigation acquired in the second step as a direction position feedback angle, namely beta fdb Phi, strapdown inertial navigation current pitch angle theta as high-low position feedback angle epsilon fdb ＝θ；
(3) Calculating an azimuth speed master command and high and low speed master commands;
the seventh step: carrying out deceleration treatment;
during high-speed gun adjustment, if the gun adjustment path needs to be modified, the phenomenon that the gun cannot be pulled and is adjusted into an obstacle avoidance area is caused due to the influence of rotational inertia adjustment and failure of entering a braking link in advance; therefore, when the air inlet cap is close to the equipment, the air inlet cap needs to be forced to enter a braking link in advance, so that the phenomenon that the cannon cannot be pulled is prevented;
thus, when the orientation receives the value
Figure BDA0003815562850000067
And is
High and low trusted values
Figure BDA0003815562850000068
When the vehicle enters a deceleration area and the shot-blasting direction is adjusted to enter an obstacle avoidance area, speed limitation is carried out; in the formula, e max The advance is the advance of entering the deceleration zone;
deceleration strategy for deceleration zone:
(1) Deceleration strategy of azimuth deceleration zone:
the current high and low confidence values epsilon b Substituting into formula
Figure BDA0003815562850000071
In the specification, ask
Figure BDA0003815562850000072
And take the distance beta b The nearest root;
then, when
Figure BDA0003815562850000073
When the value is equal to Aso, otherwise
Figure BDA0003815562850000074
Keeping the Aso speed direction unchanged;
Figure BDA0003815562850000075
indicates that the current high-low position is epsilon b When the position, k, of the shot-firing path plot2 in the direction of the curve a Aso is the azimuth velocity master command calculated in the sixth step as a control parameter;
near the plot of shot-firing path plot2
Figure BDA0003815562850000076
Will approach 0rpm, azimuth rotation may not be driven, and therefore when | Aso-<aso min At rpm, the Aso values remained unchanged; wherein aso min rpm is the maximumThe low-energy driving azimuth gun adjusting speed threshold value;
(2) Deceleration strategy of the high-low deceleration region:
receiving the current position by a value beta b Substituting into formula
Figure BDA0003815562850000077
In the specification, ask
Figure BDA0003815562850000078
And satisfy
Figure BDA0003815562850000079
Then, when
Figure BDA00038155628500000710
Keeping Eso value unchanged, and taking out
Figure BDA00038155628500000711
Keeping the Eso speed direction unchanged;
Figure BDA00038155628500000712
indicating a trusted value of epsilon for the current bearing b In time, the high and low positions, k, on the shot-tuning path plot2 e As a control parameter, eso is the high and low speed master command calculated in the sixth step;
near the plot of shot-tuning path plot2
Figure BDA00038155628500000713
Will approach 0rpm, it may no longer be possible to drive the high-low steering, therefore, when | Eso<eso min At rpm, the Eso value remained unchanged. Wherein eso min The rpm is the speed threshold of the lowest-energy driving high-low cannon.
Example 1
The embodiment comprises the following steps:
the first step is as follows: receiving gun adjustment data sent by a fire control system, wherein the direction angle is as follows:
Figure BDA0003815562850000081
high and low angles:
Figure BDA0003815562850000082
the second step is that: acquiring a current direction angle psi and a pitch angle theta of the strapdown inertial navigation;
the third step: collecting the trusted value beta of the barrel orientation b High and low receiving values epsilon b ；
The fourth step: and calculating a cannon adjusting path.
The tuning path near the "inlet cap" device position is the upper half of an ellipse as shown in figure 1. The plot of plot2 is the firing path near the "inlet cap" device position, and the region between the plots 1 and 2 is the deceleration band region.
From the mathematical expression of an ellipse:
Figure BDA0003815562850000083
and calculating a mathematical expression of the cannon adjustment path. Wherein x represents an azimuth reception value variable, y represents a high and low reception value variable, a represents a major semi-axis length of the ellipse, and b represents a minor semi-axis length of the ellipse, wherein
Figure BDA0003815562850000084
Figure BDA0003815562850000085
The lower limit position of the high-low obstacle avoidance is shown,
Figure BDA0003815562850000086
the left limit position of the direction obstacle avoidance is shown,
Figure BDA0003815562850000087
indicating the right position of the azimuth obstacle avoidance;
and then, the central point of the ellipse is translated leftwards by a distance a to obtain a mathematical expression of the shot-firing path:
Figure BDA0003815562850000088
in the formula, the lower limit position of the high-low obstacle avoidance is
Figure BDA0003815562850000089
The left position of the azimuth obstacle avoidance is
Figure BDA00038155628500000810
The right position of the azimuth obstacle avoidance is as
Figure BDA00038155628500000811
When x is not less than-816.7 and not more than-216.7, and
Figure BDA00038155628500000812
and modifying the cannon adjusting path.
The fifth step: and modifying the cannon adjustment path.
When-816.7 is less than or equal to beta b Less than or equal to-216.7, and
Figure BDA00038155628500000813
high and low direction gun-regulating main order
Figure BDA00038155628500000814
Position feedback epsilon fdb ＝ε b ；
When beta is b Less than or equal to-816.7 or beta b When the value is more than or equal to-216.7, skipping the fifth step;
and a sixth step: and performing position control calculation.
(1) Using the tuning data elements and direction angles collected in the first step
Figure BDA0003815562850000091
As a main order of the azimuth gun-adjusting,
Figure BDA0003815562850000092
i.e. high and low angles
Figure BDA0003815562850000093
As a master command for adjusting cannon in high and low directionsI.e. by
Figure BDA0003815562850000094
(2) Using the current direction angle psi of the strapdown inertial navigation acquired in the second step as the azimuth position feedback angle, namely beta fdb Phi, strapdown inertial navigation current pitch angle theta as high-low position feedback angle epsilon fdb ＝θ；
(3) And calculating an azimuth speed master command and a high and low speed master command (the algorithm ignores).
The seventh step: and (5) deceleration processing.
Taking advance e entering deceleration zone max =120mil, and when the azimuth confidence value is-916.7 ≦ beta b Less than or equal to-116.7, and
high and low trusted values
Figure BDA0003815562850000095
And when the vehicle enters a deceleration area and the direction of the gun is adjusted to be the obstacle avoidance area, speed limitation is carried out.
(1) Deceleration calculation of the azimuth deceleration zone:
the current high and low confidence values epsilon b Equation of 100mil
Figure BDA0003815562850000096
In (b) obtaining
Figure BDA0003815562850000097
And
Figure BDA0003815562850000098
Figure BDA0003815562850000099
taking the value nearest to the current point, and taking the current position confidence value beta b When the flow rate is not larger than = 900mil,
Figure BDA00038155628500000910
k a =1.5, then
Figure BDA00038155628500000911
Then, assuming Aso =100rpm as calculated in the sixth step, it is assumed that
Figure BDA00038155628500000912
Therefore, aso =100rpm is taken, and if Aso =200rpm calculated in the sixth step is assumed, it is taken
Figure BDA00038155628500000913
I.e. Aso =147rpm.
Assuming that the speed threshold of the lowest energy-driven azimuth cannon is aso min If =50rpm, in the case of speed limitation
Figure BDA00038155628500000914
When judged to be satisfied
Figure BDA0003815562850000101
And taking Aso =50rpm to ensure the minimum turning speed.
Figure BDA0003815562850000102
Indicates that the current high-low position is epsilon b The position k of the shot-firing path plot2 in the direction of the time a And Aso is the azimuth velocity master command calculated in the sixth step as a control parameter.
And the seventh step keeps the sign of the azimuth speed master command Aso calculated in the sixth step unchanged.
(2) Deceleration calculation in the high-low deceleration region:
receiving the current position by a value beta b Formula is substituted by = -300mil
Figure BDA0003815562850000103
In the step (1), the first step,
Figure BDA0003815562850000104
if take epsilon b ＝350mil，k e If =1.5, then
Figure BDA0003815562850000105
Then, assuming that Eso =100rpm calculated in the sixth step, it is calculated
Figure BDA0003815562850000106
Therefore, if Eso =100rpm is assumed, and if Eso =300rpm calculated in the sixth step is assumed, it is taken
Figure BDA0003815562850000107
I.e. keeping the speed Eso =205rpm constant.
Assuming that the speed threshold of the lowest energy-driven high-low direction gun adjustment is eso min If =50rpm, in the case of speed limitation
Figure BDA0003815562850000108
When judged to be satisfied
Figure BDA0003815562850000109
And taking Eso =50rpm to ensure the minimum turning speed.
Figure BDA00038155628500001010
Indicating a trusted value of β for the current position b At the same time, the high and low received signal value, k, on the shot-tuning path plot2 e And Eso is the azimuth velocity master command calculated in the sixth step as a control parameter.
And step seven, keeping the positive and negative signs of the azimuth speed master command Eso calculated in the step six unchanged.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A cannon adjusting method with an automatic obstacle avoiding function is characterized by comprising the following steps:
the first step is as follows: receive firepower control systemThe gun adjustment data sent comprises: angle of direction
Figure FDA0003815562840000011
High and low angle
Figure FDA0003815562840000012
The second step is that: acquiring a current direction angle psi and a pitch angle theta of strapdown inertial navigation;
the third step: collecting the trusted value beta of the barrel orientation b High and low receiving values epsilon b ；
The fourth step: calculating a gun adjustment path;
the cannon adjusting path near the position of an air inlet cap device arranged at the fixed position of the front end of the vehicle body is an elliptical upper half curve;
from the mathematical expression of an ellipse:
Figure FDA0003815562840000013
calculating a mathematical expression of the cannon adjustment path;
where x represents the current location confidence value, y represents the current high and low confidence values,
Figure FDA0003815562840000014
is the long semi-axis length of the ellipse,
Figure FDA0003815562840000015
a short semi-axis length that is elliptical;
Figure FDA0003815562840000016
the lower limit position of the high-low obstacle avoidance is shown,
Figure FDA0003815562840000017
the left limit position of the azimuth obstacle avoidance is shown,
Figure FDA0003815562840000018
indicating the right position of the azimuth obstacle avoidance;
and then, the central point of the ellipse is translated leftwards by a distance a to obtain a mathematical expression of the shot-adjusting path:
Figure FDA0003815562840000019
to receive the azimuth value beta b And high and low receiving values epsilon b Mathematical expressions with in-gun paths when bearing confidence values satisfy
Figure FDA00038155628400000110
When the utility model is used, the water is discharged,
and high and low received values
Figure FDA00038155628400000111
When the temperature of the water is higher than the set temperature,
indicating that the shot adjustment path needs to be modified;
the fifth step: judging the current direction trusted value beta b Satisfy the requirement of
Figure FDA00038155628400000112
And the current high and low trusted values satisfy:
Figure FDA0003815562840000021
when the temperature of the water is higher than the set temperature,
modifying a gun regulating path, namely modifying a gun regulating master command in a high-low direction;
modifying a cannon adjustment path strategy: changing a high-low direction gun-adjusting master order;
master order epsilon for high-low direction gun-adjusting ref Comprises the following steps:
Figure FDA0003815562840000022
high and low position feedback epsilon fdb To a high or low trusted value epsilon b ；
And a sixth step: performing position control calculation;
(1) Using the tuning elements, direction angles, acquired in the first step
Figure FDA0003815562840000023
As a main command for adjusting the gun in the azimuth direction,
Figure FDA0003815562840000024
i.e. high and low angles
Figure FDA0003815562840000025
As master of high-low direction gun-adjusting, i.e.
Figure FDA0003815562840000028
(2) Using the current direction angle psi of the strapdown inertial navigation acquired in the second step as the azimuth position feedback angle, namely beta fdb Phi, strapdown inertial navigation current pitch angle theta as high-low position feedback angle epsilon fdb ＝θ；
(3) Calculating an azimuth speed master command and high and low speed master commands;
the seventh step: carrying out deceleration treatment;
during high-speed gun adjustment, if the gun adjustment path needs to be modified, the phenomenon that the gun cannot be pulled and the gun is adjusted into an obstacle avoidance area is caused due to the influences of inertia adjustment and failure in entering a braking link in advance; therefore, when the air inlet cap is close to the equipment, the air inlet cap needs to be forced to enter a braking link in advance so as to prevent the phenomenon that the cannon cannot be pulled;
thus, when the orientation receives the value
Figure FDA0003815562840000026
And high and low trusted values
Figure FDA0003815562840000027
At the same time, enter into decelerationIn the area, when the gun direction is adjusted to enter the obstacle avoidance area, speed limitation is carried out; in the formula, e max Advance amount for advancing into the deceleration zone;
deceleration strategy of the deceleration zone:
(1) Deceleration strategy of azimuth deceleration zone:
the current high and low confidence values epsilon b Substituting into formula
Figure FDA0003815562840000031
In (1), to
Figure FDA0003815562840000032
And take the distance beta b The nearest root;
then, when
Figure FDA0003815562840000033
When the quantity of Aso is kept, otherwise
Figure FDA0003815562840000034
Keeping the Aso speed direction unchanged;
Figure FDA0003815562840000035
indicates that the current high-low position is epsilon b While adjusting the position, k, of the shot path curve in the direction a Aso is the azimuth velocity master command calculated in the sixth step as a control parameter;
in the vicinity of the shot-tuning path curve
Figure FDA0003815562840000036
Will approach 0rpm, it may not be possible to drive azimuth yaw, so when | Aso<aso min At rpm, the Aso values remained unchanged; wherein aso min The rpm is a speed threshold value of the lowest energy driving azimuth cannon adjustment;
(2) Deceleration strategy of the high-low deceleration region:
receiving the current position by a value beta b Substituting into formula
Figure FDA0003815562840000037
In the specification, ask
Figure FDA0003815562840000038
And satisfy
Figure FDA0003815562840000039
Then, when
Figure FDA00038155628400000310
Keeping Eso value unchanged, and taking out
Figure FDA00038155628400000311
Keeping the Eso speed direction unchanged;
Figure FDA00038155628400000312
indicating a trusted value of epsilon for the current bearing b At high and low positions, k, on the profile of the shot-firing path e As a control parameter, eso is the high and low speed master command calculated in the sixth step;
in the vicinity of the shot-tuning path curve
Figure FDA00038155628400000313
Will approach 0rpm, it may no longer be possible to drive the high-low steering, therefore, when | Eso<eso min At rpm, the Eso value remained unchanged. Wherein eso min The rpm is the speed threshold of the lowest-energy-driven high-low cannon.
2. The method for debugging a cannon having an automatic obstacle avoidance function according to claim 1,
Figure FDA00038155628400000314
the major half axis of the ellipse.
3. The method for debugging a cannon having an automatic obstacle avoidance function according to claim 1,
Figure FDA00038155628400000315
the short half-axis length of the ellipse.
4. The method for debugging a gun with an automatic obstacle avoidance function according to claim 1, wherein x represents a current azimuth confidence value.
5. The method for debugging a gun with an automatic obstacle avoidance function according to claim 1, wherein y represents a current high and low confidence value.
6. The method for debugging a cannon having an automatic obstacle avoidance function according to claim 1,
Figure FDA0003815562840000041
and the lower limit position of the high-low obstacle avoidance is shown.
7. The cannon adjustment method with automatic obstacle avoidance function according to claim 1, characterized in that,
Figure FDA0003815562840000042
and indicating the left limit position of the azimuth obstacle avoidance.
8. The method for debugging a cannon having an automatic obstacle avoidance function according to claim 1,
Figure FDA0003815562840000043
and indicating the right position of the azimuth obstacle avoidance.
9. A method as claimed in claim 1, wherein e is a measure of the total number of shots taken during the process of making a gun with automatic obstacle avoidance max The advance amount for advancing the entry into the deceleration region.
10. A method as claimed in claim 1, wherein k is k e Are control parameters.
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Publication number Priority date Publication date Assignee Title
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JPH0464897A (en) * 1990-07-05 1992-02-28 Japan Steel Works Ltd:The Obstruction avoiding method for gun servo
RU2002119255A (en) * 2002-07-16 2004-02-10 Государственное унитарное предпри тие "Всероссийский научно-исследовательский институт "Сигнал" ARTILLERY INSTALLATION
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