CN115342683B - Gun adjusting method with automatic obstacle avoidance function - Google Patents

Gun adjusting method with automatic obstacle avoidance function Download PDF

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Publication number
CN115342683B
CN115342683B CN202211025948.3A CN202211025948A CN115342683B CN 115342683 B CN115342683 B CN 115342683B CN 202211025948 A CN202211025948 A CN 202211025948A CN 115342683 B CN115342683 B CN 115342683B
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gun
low
azimuth
adjusting
trusted
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CN115342683A (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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Abstract

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 comprises the steps of receiving gun adjusting units sent by a fire control system and collecting strapdown inertial navigation positions; collecting a barrel azimuth trusted 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, changing a gun adjusting main command and gun adjusting feedback, and adjusting a gun adjusting path; then, performing position control calculation to obtain a gun adjusting speed master command; setting and calculating a deceleration strip range, limiting the gun adjusting speed according to the current position of the barrel and the deceleration strip range, and controlling the gun adjusting range and the gun adjusting speed. According to the invention, during the gun barrel turning process, the 'air inlet cap' equipment can be automatically avoided, the gun turning safety is ensured, and the intelligent degree of the fire control system and the adaptability to the battlefield environment are improved.

Description

Gun adjusting method with automatic obstacle avoidance function
Technical Field
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 is suitable for a firepower control system which adopts strapdown inertial navigation as main feedback to operate aiming gun adjusting and has an automatic obstacle avoidance function.
Background
The strapdown inertial navigation device is arranged on the gun cradle, and the gun barrel rotates along with the cradle in pitching and direction, so that the actual pointing 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 the gun follow-up system. And the fire control system leads the artillery to point to the target through the artillery follow-up system according to the target position. However, the 'air inlet cap' device is arranged 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 phenomenon that the 'air inlet cap' device is damaged in the gun barrel transferring process, the follow-up system automatically adjusts the gun adjusting path by utilizing the position of the gun barrel based on the vehicle body coordinate system, and the obstacle avoidance treatment is performed.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to solve the technical problems that: how to provide a gun adjusting method with an automatic obstacle avoidance function.
(II) technical scheme
In order to solve the technical problems, the invention provides a gun adjusting method with an automatic obstacle avoidance function, which comprises the following steps:
the first step: receiving gun adjusting units sent by a fire control system, comprising: direction angle
Figure BDA0003815562850000011
High-low angle->
Figure BDA0003815562850000012
And a second step of: collecting a current direction angle psi and a pitch angle theta of strapdown inertial navigation;
and a third step of: collecting a barrel azimuth trusted value beta b High and low trusted value epsilon b ；
Fourth step: calculating a gun adjusting path;
the gun adjusting path near the position of the 'air inlet cap' equipment arranged at the front end position 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 gun adjusting path;
where x represents the current bearing trusted value, y represents the current high and low trusted values,
Figure BDA0003815562850000022
is a long half-axis length of ellipse, +.>
Figure BDA0003815562850000023
Is a short half-axis length of ellipse;
Figure BDA0003815562850000024
Indicates the lower limit position of high and low obstacle avoidance and is +.>
Figure BDA0003815562850000025
Indicating the left limit position of azimuth obstacle avoidance, < >>
Figure BDA0003815562850000026
Representing the right limit position of the azimuth obstacle avoidance;
and translating the center point of the ellipse leftwards by a distance to obtain a mathematical expression of the gun adjusting path:
Figure BDA0003815562850000027
bearing trusted value beta b And a high-low trusted value epsilon b Mathematical expression of the path of the monitor is carried in, when the received azimuth value meets the following condition
Figure BDA0003815562850000028
In the time-course of which the first and second contact surfaces,
and high and low trusted values
Figure BDA0003815562850000029
In the time-course of which the first and second contact surfaces,
indicating that the gun adjusting path needs to be modified;
fifth step: judging the trusted value of the current azimuth β Satisfy the following requirements
Figure BDA00038155628500000210
And the current high-low trusted value satisfies:
Figure BDA00038155628500000211
modifying the gun adjusting path, namely modifying the high-low direction gun adjusting master command;
modifying a gun adjusting path strategy: changing a main command of the high-low direction gun adjustment;
master command epsilon for adjusting cannon in high-low direction ref The method comprises the following steps:
Figure BDA00038155628500000212
position feedback epsilon of height and low fdb For a high and low trusted value epsilon b ；
Sixth step: performing position control calculation;
(1) Gun adjusting units and direction angles acquired in the first step are utilized
Figure BDA0003815562850000031
As main command of azimuth monitor>
Figure BDA0003815562850000032
I.e. high and low angle->
Figure BDA0003815562850000033
As a main command of adjusting the gun in the high-low direction, namely +.>
Figure BDA0003815562850000034
(2) The current direction angle psi of the strapdown inertial navigation acquired in the second step is used as a feedback angle of the azimuth position, namely beta fdb =ψ, strapdown inertial navigation current pitch angle θ, epsilon as high-low position feedback angle fdb ＝θ；
(3) Calculating azimuth speed master orders and high-low speed master orders;
seventh step: deceleration treatment;
when the gun is quickly adjusted, if the gun adjusting path is judged to be needed to be modified, the phenomenon that the gun cannot be pulled and is adjusted into the obstacle avoidance area is caused due to the influence of turning inertia and the fact that the gun does not enter a braking link in advance; therefore, when the 'air inlet cap' is near the equipment, the braking link needs to be forced to enter in advance, so that the 'pull-out of the gun' is prevented;
thus, when the bearing is trusted
Figure BDA0003815562850000035
And high and low trusted values
Figure BDA0003815562850000036
When entering a deceleration area, and adjusting the gun direction to enter an obstacle avoidance area, limiting the speed;
in the formula e max An advance amount for advancing into the deceleration region;
deceleration strategy for deceleration zone:
(1) Deceleration strategy for azimuth deceleration zone:
the current high-low trusted value epsilon b Carry-over formula
Figure BDA0003815562850000037
In->
Figure BDA0003815562850000038
And take the distance beta b The nearest root;
then, when
Figure BDA0003815562850000039
When the magnitude of Aso is maintained, the opposite is true>
Figure BDA00038155628500000310
And keeping the speed direction of Aso unchanged;
Figure BDA00038155628500000311
indicating that the current high-low position is epsilon b In the process, the position k of the direction on the gun-adjusting path curve a Aso is the azimuth speed master calculated in the sixth step as a control parameter;
near the curve of the gun-setting path
Figure BDA0003815562850000041
Will approach 0rpm and may not drive the azimuth rotation, thus, when Aso<aso min At rpm, aso magnitude remained unchanged; therein aso min rpm is a speed threshold value of the lowest driving azimuth cannon;
(2) Deceleration strategy of high-low deceleration area:
the current azimuth trusted value beta b Carry-over formula
Figure BDA0003815562850000042
In->
Figure BDA0003815562850000043
And satisfy +.>
Figure BDA0003815562850000044
Then, when
Figure BDA0003815562850000045
When the magnitude of Eso is kept unchanged, otherwise +.>
Figure BDA0003815562850000046
And keeping the speed direction of Eso unchanged;
Figure BDA0003815562850000047
indicating that the current bearing trusted value is epsilon b During the process, the high and low positions, k, on the curve of the gun-adjusting path are adjusted e Eso is the high and low speed calculated in the sixth step for controlling parametersMaster command;
near the curve of the gun-setting path
Figure BDA0003815562850000048
Will approach 0rpm and may not be able to drive the high-low roll any more, therefore, when | Eso |<eso min At rpm, the Eso magnitude remained unchanged. Therein eso min rpm is the lowest speed threshold that can drive the high and low tone cannon.
(III) beneficial effects
Compared with the prior art, the invention has the following beneficial effects: after receiving the gun adjusting data sent by the fire control system, the gun adjusting device prevents equipment arranged in a gun adjusting path from being crashed in the gun adjusting process, and the follow-up system can monitor the position of the gun barrel based on a vehicle body coordinate system in real time, automatically adjust the gun adjusting path, perform obstacle avoidance treatment and ensure gun adjusting safety.
Drawings
FIG. 1 is a schematic view of an obstacle avoidance position used in the present invention.
FIG. 2 is a schematic diagram of a calculation flow of the present invention.
Detailed Description
For the purposes of clarity, content, and advantages of the present invention, a detailed description of the embodiments of the present invention will be described in detail below with reference to the 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 2, the method comprises the following steps:
the first step: receiving gun adjusting units sent by a fire control system, comprising: direction angle
Figure BDA0003815562850000051
High-low angle->
Figure BDA0003815562850000052
And a second step of: collecting a current direction angle psi and a pitch angle theta of strapdown inertial navigation;
and a third step of: collecting a barrel azimuth trusted value beta b High and highLow trusted value epsilon b ；
Fourth step: calculating a gun adjusting path;
the shot adjusting path near the position of the 'air inlet cap' equipment installed at the front end position of the vehicle body is an elliptic upper half curve, as shown in fig. 1, the shot 2 curve at the outer side is the shot adjusting path near the position of the 'air inlet cap' equipment, and the area between the shot 1 curve at the outer side and the shot 2 curve at the inner side is a deceleration strip area;
from the mathematical expression of an ellipse:
Figure BDA0003815562850000053
calculating a mathematical expression of the gun adjusting path;
where x represents the current bearing trusted value, y represents the current high and low trusted values,
Figure BDA0003815562850000054
is a long half-axis length of ellipse, +.>
Figure BDA0003815562850000055
Is a short half-axis length of ellipse;
Figure BDA0003815562850000056
Indicates the lower limit position of high and low obstacle avoidance and is +.>
Figure BDA0003815562850000057
Indicating the left limit position of azimuth obstacle avoidance, < >>
Figure BDA0003815562850000058
Representing the right limit position of the azimuth obstacle avoidance;
and translating the center point of the ellipse leftwards by a distance to obtain a mathematical expression of the gun adjusting path:
Figure BDA0003815562850000059
bearing trusted value beta b And a high-low trusted value epsilon b Mathematical expression of the path of the monitor is carried in, when the received azimuth value meets the following condition
Figure BDA00038155628500000510
In the time-course of which the first and second contact surfaces,
and high and low trusted values
Figure BDA00038155628500000511
In the time-course of which the first and second contact surfaces,
indicating that the gun adjusting path needs to be modified;
fifth step: judging the current azimuth trusted value beta b Satisfy the following requirements
Figure BDA00038155628500000512
And the current high-low trusted value satisfies:
Figure BDA0003815562850000061
modifying the gun adjusting path, namely modifying the high-low direction gun adjusting master command;
modifying a gun adjusting path strategy: changing a main command of the high-low direction gun adjustment;
master command epsilon for adjusting cannon in high-low direction ref The method comprises the following steps:
Figure BDA0003815562850000062
position feedback epsilon of height and low fdb For a high and low trusted value epsilon b ；
Sixth step: performing position control calculation;
(1) Gun adjusting units and direction angles acquired in the first step are utilized
Figure BDA0003815562850000063
As main command of azimuth monitor>
Figure BDA0003815562850000064
I.e. high and low angle->
Figure BDA0003815562850000065
As a main command of adjusting the gun in the high-low direction, namely +.>
Figure BDA0003815562850000066
(2) The current direction angle psi of the strapdown inertial navigation acquired in the second step is used as a feedback angle of the azimuth position, namely beta fdb =ψ, strapdown inertial navigation current pitch angle θ, epsilon as high-low position feedback angle fdb ＝θ；
(3) Calculating azimuth speed master orders and high-low speed master orders;
seventh step: deceleration treatment;
when the gun is quickly adjusted, if the gun adjusting path is judged to be needed to be modified, the phenomenon that the gun cannot be pulled and is adjusted into the obstacle avoidance area is caused due to the influence of turning inertia and the fact that the gun does not enter a braking link in advance; therefore, when the 'air inlet cap' is near the equipment, the braking link needs to be forced to enter in advance, so that the 'pull-out of the gun' is prevented;
thus, when the bearing is trusted
Figure BDA0003815562850000067
And is also provided with
High and low trusted values
Figure BDA0003815562850000068
When entering a deceleration area, and adjusting the gun direction to enter an obstacle avoidance area, limiting the speed; in the formula e max An advance amount for advancing into the deceleration region;
deceleration strategy for deceleration zone:
(1) Deceleration strategy for azimuth deceleration zone:
the current high-low trusted value epsilon b Carry-over formula
Figure BDA0003815562850000071
In->
Figure BDA0003815562850000072
And take the distance beta b The nearest root;
then, when
Figure BDA0003815562850000073
When the magnitude of Aso is maintained, the opposite is true>
Figure BDA0003815562850000074
And keeping the speed direction of Aso unchanged;
Figure BDA0003815562850000075
indicating that the current high-low position is epsilon b In the process, the position k of the direction on the shot adjusting path plot2 curve a Aso is the azimuth speed master calculated in the sixth step as a control parameter;
near the shot-setting path plot2 curve
Figure BDA0003815562850000076
Will approach 0rpm and may not drive the azimuth rotation, thus, when Aso<aso min At rpm, aso magnitude remained unchanged; therein aso min rpm is a speed threshold value of the lowest driving azimuth cannon;
(2) Deceleration strategy of high-low deceleration area:
the current azimuth trusted value beta b Carry-over formula
Figure BDA0003815562850000077
In->
Figure BDA0003815562850000078
And satisfy +.>
Figure BDA0003815562850000079
Then, when
Figure BDA00038155628500000710
When the magnitude of Eso is kept unchanged, otherwise +.>
Figure BDA00038155628500000711
And keeping the speed direction of Eso unchanged;
Figure BDA00038155628500000712
indicating that the current bearing trusted value is epsilon b In the process, the high and low positions, k, on the plot2 of the gun adjusting path e As control parameters, eso is a high-low speed master command calculated in the sixth step;
near the shot-setting path plot2 curve
Figure BDA00038155628500000713
Will approach 0rpm and may not be able to drive the high-low roll any more, therefore, when | Eso |<eso min At rpm, the Eso magnitude remained unchanged. Therein eso min rpm is the lowest speed threshold that can drive the high and low tone cannon.
Example 1
The embodiment comprises the following steps:
the first step: receiving gun adjusting units sent by a fire control system, and the direction angle is as follows:
Figure BDA0003815562850000081
high-low angle:
Figure BDA0003815562850000082
And a second step of: collecting a current direction angle psi and a pitch angle theta of strapdown inertial navigation;
and a third step of: collecting a barrel azimuth trusted value beta b High and low trusted value epsilon b ；
Fourth step: and calculating a gun adjusting path.
The gun adjusting path near the position of the 'air inlet cap' device is an elliptic upper half curve, as shown in figure 1. The plot2 curve is a gun adjusting path near the position of the 'air inlet cap' device, and the area between the plot1 curve and the plot2 curve is a deceleration strip area.
From the mathematical expression of an ellipse:
Figure BDA0003815562850000083
and calculating a mathematical expression of the gun adjusting path. Wherein x represents azimuth trusted value variable, y represents high and low trusted value variable, a represents long half-axis length of ellipse, b represents short half-axis length of ellipse, wherein
Figure BDA0003815562850000084
Figure BDA0003815562850000085
Indicates the lower limit position of high and low obstacle avoidance and is +.>
Figure BDA0003815562850000086
Indicating the left limit position of azimuth obstacle avoidance, < >>
Figure BDA0003815562850000087
Representing the right limit position of the azimuth obstacle avoidance;
and translating the center point of the ellipse leftwards by a distance to obtain a mathematical expression of the gun adjusting path:
Figure BDA0003815562850000088
wherein the lower limit position of the high and low obstacle avoidance is
Figure BDA0003815562850000089
The left limit position of the azimuth obstacle avoidance is +.>
Figure BDA00038155628500000810
The right limit position of the azimuth obstacle avoidance is +.>
Figure BDA00038155628500000811
When x is less than or equal to-816.7 and less than or equal to-216.7And (2) and
Figure BDA00038155628500000812
and modifying the gun adjusting path.
Fifth step: modifying the gun adjusting path.
When-816.7 is less than or equal to beta b Not more than-216.7, and
Figure BDA00038155628500000813
when in use, the main command of the high-low direction gun is changed>
Figure BDA00038155628500000814
Position feedback epsilon fdb ＝ε b ；
When beta is b Not more than-816.7 or beta b Skipping the fifth step when the number of the steps is more than or equal to-216.7;
sixth step: and performing position control calculation.
(1) Gun adjusting units and direction angles acquired in the first step are utilized
Figure BDA0003815562850000091
As main command of azimuth monitor>
Figure BDA0003815562850000092
I.e. high and low angle->
Figure BDA0003815562850000093
As a main command of adjusting the gun in the high-low direction, namely +.>
Figure BDA0003815562850000094
(2) The current direction angle psi of the strapdown inertial navigation acquired in the second step is used as a feedback angle of the azimuth position, namely beta fdb =ψ, strapdown inertial navigation current pitch angle θ, epsilon as high-low position feedback angle fdb ＝θ；
(3) The azimuth speed master and the high-low speed master are calculated (algorithm ignored).
Seventh step: and (5) deceleration treatment.
Taking the advance e entering the deceleration area max ＝120mil, when the azimuth trusted value is-916.7 is less than or equal to beta b Is less than or equal to-116.7, and
high and low trusted values
Figure BDA0003815562850000095
And when entering a deceleration area, adjusting the gun direction to enter an obstacle avoidance area, and limiting the speed.
(1) And (5) calculating the speed reduction of the azimuth speed reduction area:
the current high-low trusted value epsilon b =100 mil carry-in formula
Figure BDA0003815562850000096
In (1) get->
Figure BDA0003815562850000097
And->
Figure BDA0003815562850000098
Figure BDA0003815562850000099
Take the nearest value from the current point, when taking the current azimuth trusted value beta b When = -900 mil->
Figure BDA00038155628500000910
k a =1.5, then
Figure BDA00038155628500000911
Then, assuming Aso =100 rpm calculated in the sixth step, then
Figure BDA00038155628500000912
Therefore, taking Aso =100 rpm, if Aso =200 rpm calculated in the sixth step is assumed, taking +.>
Figure BDA00038155628500000913
I.e. Aso =147 rpm.
Assume that the lowest-energy-driven azimuth gun-adjusting speed threshold value is aso min ＝5At 0rpm, if the speed is limited
Figure BDA00038155628500000914
When judging that +.>
Figure BDA0003815562850000101
At this time, aso =50 rpm was taken to ensure the lowest turning speed.
Figure BDA0003815562850000102
Indicating that the current high-low position is epsilon b In the process, the position k of the direction on the shot adjusting path plot2 curve a As a control parameter, aso is the azimuth speed master calculated in the sixth step.
The seventh step keeps the sign of the azimuth speed master Aso calculated in the sixth step unchanged.
(2) And (3) calculating the deceleration of the high-low deceleration area:
the current azimuth trusted value beta b = -300mil carry-in formula
Figure BDA0003815562850000103
In (I)>
Figure BDA0003815562850000104
If epsilon is taken b ＝350mil，k e When=1.5, then
Figure BDA0003815562850000105
Then, assuming Eso =100 rpm calculated in the sixth step, +.>
Figure BDA0003815562850000106
Therefore, taking Eso =100 rpm, if Eso =300 rpm calculated in the sixth step is assumed, taking +.>
Figure BDA0003815562850000107
I.e. the Eso =205 rpm speed is kept unchanged.
Assuming the lowest energy drives highThe speed threshold value of the low-direction gun is eso min When =50 rpm, if the speed is limited
Figure BDA0003815562850000108
When judging that +.>
Figure BDA0003815562850000109
At this time, eso =50 rpm was taken to ensure the lowest turning speed.
Figure BDA00038155628500001010
Representing the current bearing as a trusted value beta b In the process, the trusted value, k, of the height of the shot adjusting path plot2 curve e As a control parameter, eso is the azimuth speed master calculated in the sixth step.
The seventh step keeps the sign of the azimuth speed master Eso calculated in the sixth step unchanged.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.

Claims (1)

1. The cannon adjusting method with the automatic obstacle avoidance function is characterized by comprising the following steps of:
the first step: receiving gun adjusting units sent by a fire control system, comprising: direction angle
Figure FDA0004140182460000011
High-low angle->
Figure FDA0004140182460000012
And a second step of: collecting a current direction angle psi and a pitch angle theta of strapdown inertial navigation;
and a third step of: collecting a barrel azimuth trusted value beta b High and low trusted value epsilon b ；
Fourth step: calculating a gun adjusting path;
the gun adjusting path near the position of 'air inlet cap' equipment installed at the front end position of the vehicle body is an elliptic upper half section curve;
from the mathematical expression of an ellipse:
Figure FDA0004140182460000013
calculating a mathematical expression of the gun adjusting path;
where x represents the current bearing trusted value, y represents the current high and low trusted values,
Figure FDA0004140182460000014
is a long half-axis length of ellipse, +.>
Figure FDA0004140182460000015
Is a short half-axis length of ellipse;
Figure FDA0004140182460000016
Indicates the lower limit position of high and low obstacle avoidance and is +.>
Figure FDA0004140182460000017
Indicating the left limit position of the azimuth obstacle avoidance,
Figure FDA0004140182460000018
representing the right limit position of the azimuth obstacle avoidance;
and translating the center point of the ellipse leftwards by a distance to obtain a mathematical expression of the gun adjusting path:
Figure FDA0004140182460000019
bearing trusted value beta b And a high-low trusted value epsilon b Mathematical expression of the path of the monitor is carried in, when the received azimuth value meets the following condition
Figure FDA00041401824600000110
In the time-course of which the first and second contact surfaces,
and high and low trusted values
Figure FDA00041401824600000111
In the time-course of which the first and second contact surfaces,
indicating that the gun adjusting path needs to be modified;
fifth step: judging the current azimuth trusted value beta b Satisfy the following requirements
Figure FDA00041401824600000112
And the current high-low trusted value satisfies:
Figure FDA0004140182460000021
in the time-course of which the first and second contact surfaces,
modifying the gun adjusting path, namely modifying the high-low direction gun adjusting master command;
modifying a gun adjusting path strategy: changing a main command of the high-low direction gun adjustment;
master command epsilon for adjusting cannon in high-low direction ref The method comprises the following steps:
Figure FDA0004140182460000022
position feedback epsilon of height and low fdb For a high and low trusted value epsilon b ；
Sixth step: performing position control calculation;
(1) Gun adjusting units and direction angles acquired in the first step are utilized
Figure FDA0004140182460000023
As main command of azimuth monitor>
Figure FDA0004140182460000024
I.e. high and low angle->
Figure FDA0004140182460000025
As a main command of adjusting the gun in the high-low direction, namely +.>
Figure FDA0004140182460000026
(2) The current direction angle psi of the strapdown inertial navigation acquired in the second step is used as a feedback angle of the azimuth position, namely beta fdb =ψ, strapdown inertial navigation current pitch angle θ, epsilon as high-low position feedback angle fdb ＝θ；
(3) Calculating azimuth speed master orders and high-low speed master orders;
seventh step: deceleration treatment;
when the gun is quickly adjusted, if the gun adjusting path is judged to be needed to be modified, the phenomenon that the gun cannot be pulled and is adjusted into the obstacle avoidance area is caused due to the influence of turning inertia and the fact that the gun does not enter a braking link in advance; therefore, when the 'air inlet cap' is near the equipment, the braking link needs to be forced to enter in advance, so that the 'pull-out of the gun' is prevented;
thus, when the bearing is trusted
Figure FDA0004140182460000027
And high and low trusted values
Figure FDA0004140182460000028
When entering a deceleration area, and adjusting the gun direction to enter an obstacle avoidance area, limiting the speed; in the formula e max An advance amount for advancing into the deceleration region;
deceleration strategy for deceleration zone:
(1) Deceleration strategy for azimuth deceleration zone:
the current high-low trusted value epsilon b Carry-over formula
Figure FDA0004140182460000031
In->
Figure FDA0004140182460000032
And take the distance beta b The nearest root;
then, when
Figure FDA0004140182460000033
When the magnitude of Aso is maintained, the opposite is true>
Figure FDA0004140182460000034
And keeping the speed direction of Aso unchanged;
Figure FDA0004140182460000035
indicating that the current high-low position is epsilon b In the process, the position k of the direction on the gun-adjusting path curve a Aso is the azimuth speed master calculated in the sixth step as a control parameter;
near the curve of the gun-setting path
Figure FDA0004140182460000036
Will approach 0rpm and may not drive azimuth rotation, therefore, when | Aso | < aso min At rpm, aso magnitude remained unchanged; therein aso min rpm is a speed threshold value of the lowest driving azimuth cannon;
(2) Deceleration strategy of high-low deceleration area:
the current azimuth trusted value beta b Carry-over formula
Figure FDA0004140182460000037
In->
Figure FDA0004140182460000038
And satisfy +.>
Figure FDA0004140182460000039
Then, when
Figure FDA00041401824600000310
When the magnitude of Eso is kept unchanged, otherwise +.>
Figure FDA00041401824600000311
And keeping the speed direction of Eso unchanged;
Figure FDA00041401824600000312
indicating that the current bearing trusted value is epsilon b During the process, the high and low positions, k, on the curve of the gun-adjusting path are adjusted e As control parameters, eso is a high-low speed master command calculated in the sixth step; />
Near the curve of the gun-setting path
Figure FDA00041401824600000313
Will approach 0rpm and may not be able to drive the roll up and down any more, therefore, when | Eso | < eso min At rpm, eso magnitude remained unchanged; therein eso min rpm is the lowest speed threshold that can drive the high and low tone cannon. />
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Publication number Priority date Publication date Assignee Title
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US4079658A (en) * 1976-11-26 1978-03-21 The United States Of America As Represented By The Secretary Of The Army Vehicle gun control having deck avoidance feature
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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GB588138A (en) * 1942-02-04 1947-05-15 Bendix Aviat Corp Improvements in gun turrets
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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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