CN116280295A - Ultra-high-speed fine sighting control release separation system and control method - Google Patents
Ultra-high-speed fine sighting control release separation system and control method Download PDFInfo
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Abstract
The invention discloses a super-high-speed fine sighting control release separation system and a control method, wherein the system comprises the following components: a delivery target point setting unit that sets a delivery target point of the simulation target; defining a delivery release coordinate system unit, which is used for establishing a delivery release coordinate system so as to simulate the delivery release separation flight track of the simulated target and set parameters in the delivery release separation flight track simulation; a release azimuth and speed calculating unit for calculating the delivery release azimuth and speed of the simulation target according to the delivery release coordinate system; and the release azimuth and speed correction unit is used for correcting the delivery release azimuth and speed of the simulation target calculated by the release azimuth and speed calculation unit, and carrying out release separation experiments according to the corrected delivery release azimuth and speed. The invention also provides a control method of the system, which solves the problem that the separation cannot be accurately released after the ultra-high-speed linear velocity is acquired in the prior art.
Description
Technical Field
The invention belongs to the technical field of aerospace, and particularly relates to a super-high-speed fine sighting control release separation system and a control method.
Background
Currently, the low-orbit giant constellation represented by the star chain in the united states and the like is developed in blowout mode and rapidly deployed in orbit, the star chain in 10 months of 2022 is deployed in orbit for over 3000 satellites, and the giant constellation in the future occupies more than 70% of orbit resources of the near-earth orbit, so that the global Internet service is provided for benefiting mankind, and meanwhile, space congestion is aggravated, more space garbage is caused, particularly, the low-orbit space becomes a 'heavy disaster area', and the internationally recognized active debris removal is the most direct and effective means for solving the problem.
The active debris removal is to actively reduce the track height of the low-track space debris, reduce the height of the near-ground point of the debris to below about 200km by means of a space propulsion technology, and rapidly reduce the semi-long axis of the track and finally fall into the atmosphere to burn out under the influence of the atmospheric resistance of the earth. The existing technologies of space intersection butt joint, space target capture (such as a space mechanical arm, a flying net, a flying claw, a flying spear and the like), conventional propulsion mode dragging rail transfer (such as chemical propulsion, electric propulsion and the like) and the like do not have technical bottlenecks, but when the technology is used for low-rail space debris removal tasks with the characteristics of distributed dispersion and multiple quantity, a great amount of on-rail fuel is inevitably consumed for achieving rail lowering reentry of a captured assembly, and the problems of efficiency and economy of actively removing low-rail space debris are difficult to solve.
Therefore, a low-orbit geomagnetic energy storage-release delivery system with the patent number ZL201910773631.X and a transmission type opposite-rotation geomagnetic energy storage-release delivery system and method with the patent number ZL201910774222.1 are provided, a new energy storage working medium-free on-orbit delivery method based on low-orbit in-situ geomagnetic field energy and solar energy is provided, the captured combination is subjected to orbit transfer and reentry, fuel working medium is not required to be consumed, and the problem that the economical efficiency and the efficiency of the prior art are not compatible in the low-orbit active cleaning can be effectively solved. Meanwhile, a coaxial contra-rotating geomagnetic energy storage and release delivery ground experiment system and method with the patent number ZL202110269136.2 and a geomagnetic energy storage and release based multi-degree-of-freedom delivery ground system and method with the patent number ZL202110269133.9 provide corresponding ground verification systems and methods of the technology and delivery technology, and overcome the difficulty that the upper limit of linear speed is limited by ground air resistance.
Therefore, the prior art only provides a corresponding system and method for ground verification of energy storage acceleration rotation and ultra-high linear velocity acquisition, and does not consider how to realize dynamic and instant high-response delivery release separation control of a simulation target after the ultra-high linear velocity (10-100 m/s magnitude) is acquired, how to realize accurate release separation control towards an expected target point, in other words, the accurate release separation control after the ultra-high linear velocity acquisition cannot be realized based on the prior art.
Disclosure of Invention
The invention discloses a super-high-speed fine aiming control release separation system and a control method, which are used for solving the problem that the super-high-speed linear velocity cannot be accurately released and separated in the prior art.
In a first aspect of the present invention, there is provided a ultra-high speed fine sight controlled release separation system comprising:
a delivery target point setting unit that sets a delivery target point of the simulation target;
defining a delivery release coordinate system unit, which is used for establishing a delivery release coordinate system so as to simulate the delivery release separation flight track of the simulated target and set parameters in the delivery release separation flight track simulation;
a release azimuth and speed resolving unit for resolving delivery release azimuth and speed of the simulation target at the end of the first delivery component and the second delivery component according to the established delivery release coordinate system; and the release azimuth and speed correction unit corrects the delivery release azimuth and speed of the simulation target calculated by the release azimuth and speed calculation unit, and performs ultra-high speed delivery release separation according to the corrected delivery release azimuth and speed.
Further, the ultra-high-speed fine sighting control release separation system further comprises a release azimuth and speed calibration unit, wherein the release azimuth and speed calibration unit is used for calibrating according to azimuth and speed of release moments of a plurality of groups of experiments, and obtaining calibration error values of delivery release azimuth and speed of simulation targets positioned at the ends of the first delivery assembly and the second delivery assembly;
and the release azimuth angle and speed correction unit corrects according to the calibration error value of the release azimuth angle and speed.
Further, in the acceleration rotation process of the first delivery component and the second delivery component, two independent and non-interfering parallel delivery rotation surfaces are formed, and a fixed distance is arranged between the two delivery rotation surfaces, so that the ultra-high-speed fine sighting control release separation system can release and deliver 1 to 4 simulation targets simultaneously/in a time-sharing manner.
In a second aspect of the present invention, there is provided a control method of a super high speed fine sight controlled release separation system, comprising:
and 5, calculating a delivery release azimuth angle and a speed value required by a set delivery target point, correcting according to the calibration error value to obtain a delivery release separation correction value, and setting the delivery release separation correction value to perform an ultra-high speed delivery release separation experiment.
Further, in the defining the delivery release coordinate system and the parameters thereof in step 2, a plane formed by combining an origin and optionally two coordinate axes and parallel to the delivery rotation plane is taken as a reference plane, a three-dimensional delivery release coordinate system is established by setting a line where a zero angle of a motor is located to be parallel to one of the coordinate axes in the reference plane, and a plane formed by a coordinate axis parallel to the line where the zero angle of the motor is located and a third coordinate axis is defined as a delivery reachable area for simulating a delivery release separation flight trajectory of a simulation target.
Further, in step 3, the calculated values of delivery release azimuth angles of the simulation targets located at both ends of the same delivery unit are complementary, and the calculated values of delivery release speeds are equal, so that the delivery release speed v can be calculated according to the delivery height of the delivery target point j Where j=1, 2.
Further, the method for solving the delivery release azimuth angle is also included:
taking the clockwise rotation of the first delivery component and the anticlockwise selection of the second delivery component as examples, when the rotation direction is different from the clockwise rotation, only the difference of the negative sign exists, and the delivery release azimuth of the first delivery component is calculated:
calculating angle ACD:
∠ACD＝π-δ-θ
wherein, the point A is a delivery target point, the point C is a release separation point of the simulation target, the solid line from the point C to the point A is a projection line of a flight track of the simulation target which is released and separated on an Oxy plane, the point D is a projection point of the point C on an Oy axis, the length distribution of the line AB and the line BC is a and b, delta is a delivery release azimuth angle of the simulation target, and theta is an installation angle of a delivery assembly at the end part of the delivery assembly;
the calculated lengths a and b are calculated according to the following formulas:
a＝X+R sinδ
wherein c is the length of a projection line of the flight trajectory in the xy plane of the coordinate system; a and b are the projected lengths of c on the coordinate axes Ox and Oy, respectively; x and Y are horizontal and vertical coordinate values in the rotation center coordinate system Oxyz; r is the radius of rotation;
then, calculate tan ++acd based on a and b, can obtain:
namely:
further, the delivery release azimuth delta is calculated, and tan delta=sin delta/cos delta is brought into the above formula, so that it is obtained:
the existence of (pi-delta) is more than or equal to theta (identical to Y-Y) 0 ) R, and hence, formula (2) becomes formula (3) below:
for formula (2), when (Y-Y 0 ) When R is not less than (or pi-delta is not less than theta), the following formula (4) can be obtained:
[(Y-y 0 )tanθ-X]sinδ-[(Y-y 0 )+Xtanθ]cosδ＝R(4)
solving for δ in equation (4) above, let:
[(Y-y 0 )tanθ-X]＝A；(5)
[(Y-y 0 )+Xtanθ]＝B(6)
the above two formulas are simplified to the following formulas:
A sinδ-B cosδ＝R(4-1)
further converting to solve for delta in the above formula (4-1), let
Then:
the above two formulas are brought into formula (4-1), and the following formula (7) can be obtained:
considering that the angle θ >0 and smaller, and δ+θ > pi/2, we get:
namely:
In the above formula, in particular, when θ=0, i.e., δ=0, δ=pi;
similarly, with reference to the above procedure, the process is repeated for (Y-Y 0 )<R (or pi-delta)<θ), obtain:
(Y-y 0 )<r (or pi-delta)<θ)
In summary, the programmability of the algorithm is considered, and the judgment condition is equivalently converted into the relation judgment of the angles delta and theta, so that the relation judgment of the angles delta and theta is obtained:
the above-described configuration can obtain the delivery release azimuth of the simulation target located at one end of the first delivery module.
Further, in step 3, when the delivery release azimuth and speed of the simulation target located at the end of the first delivery component are calculated by using the clockwise motion of the first delivery component, the second delivery component moves anticlockwise;
in the track simulation of the counterclockwise moving delivery assembly, the projection point of the simulation target in the plane of the delivery reachable area is marked as a D point, the set delivery target point A is positioned at two sides of the projection point, and then the expression of the delivery release azimuth angle of the simulation target positioned at the end part of the second delivery assembly is as follows:
in delta * The azimuth is released for delivery of the simulated target at the end of the counter-clockwise rotating assembly.
Further, the method for calibrating the error value is also included:
repeating at least 3 times according to the steps 1-2 and 3, defining the repeated experiment times as n, and recording the azimuth angle beta of the release time of all the experiments ik (i=1, 2,3,4; k=1, 2, …, n) and speed V jk (j=1, 2; k=1, 2, …, n), the calibrated error value of the release azimuth and velocity is obtained as follows:
calibrating the error value:
in delta i0 (i=1, 2,3, 4) and v j0 (j=1, 2) are the release azimuth and velocity, Δδ, of the simulated target calculated before each experiment, respectively ic To release the calibration error value of azimuth angle, deltav jc Is the calibrated error value of the release rate.
Further, the delivery release azimuth delta facing the set target point is solved i (i=1, 2,3, 4) and velocity value v j (j=1, 2), the azimuth and speed separation correction values of the delivery release taken in the actual experiment are updated as follows:
separating and correcting value:
in the method, in the process of the invention,
a split correction value for the azimuth angle of delivery release, +.>
To deliver a release rate separation correction value.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a system and a method for separating ultra-high-speed fine sighting controlled release, which are mainly characterized in that:
1) Compared with the ground verification of obtaining the ultra-high linear speed by the accelerated rotation of the authorized patent, the system and the control method provided by the invention can further realize the dynamic and instant high-response delivery release control of the delivery target, and are used for the ground experiment verification.
2) The fine aiming control system and the control method provided by the invention can be used for fine aiming delivery release separation control of a simulated target object in the ground verification process of the order of tens of meters per second to hundreds of meters per second required by space orbit transfer, and the method can be used for fine aiming delivery release separation control of a low orbit in the actual in-orbit flight process through simple perfection.
3) The accurate aiming control system and the accurate aiming control method provided by the invention not only can be used for accurately delivering a single target, but also can be used for accurately delivering a plurality of targets aiming at the same target point, and have universality.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those skilled in the art from this disclosure that the drawings described below are merely exemplary and that other embodiments may be derived from the drawings provided without undue effort.
FIG. 1 is a schematic block diagram of a super high speed fine sighting control release separation system in an embodiment of the present invention;
FIG. 2 is a schematic view of the installation of a delivery release at the end of a delivery assembly, with the left view being at an installation angle, in accordance with an embodiment of the present invention; the right graph is the flight direction (both are arrow directions in the graph) of the simulation target after being released, the circular dotted line in the graph is the track formed by the rotation of the tail end simulation target, and the transverse line in the dotted line refers to the delivery component;
FIG. 3 is a schematic view of a zero angle definition of a motor according to an embodiment of the present invention, wherein the right end of the cross bar is the left end of the first/second delivery assembly;
FIG. 4 is a schematic diagram of the definition of the delivery release coordinate system Oxyz (yellow areas represent delivery reachable areas) according to the embodiment of the invention;
FIG. 5 is a top view of FIG. 4 illustrating simulated release of a target from the left end of a delivery rod in accordance with an embodiment of the present invention;
FIG. 6 is a schematic view of the direction of flight of the second delivery assembly (here, counter-clockwise rotation is taken as an example) after the simulated target is released in accordance with the embodiment of the present invention;
FIG. 7 is a schematic illustration of a release delivery of a second delivery component (here, counter-clockwise rotation is taken as an example) with a target point on the left side of point D according to an embodiment of the present invention;
FIG. 8 is a schematic illustration of a release delivery of a second delivery component (here, counter-clockwise rotation is taken as an example) with a target point on the right side of point D according to an embodiment of the present invention;
reference numerals in the drawings:
1-delivery rod, 2-rotation axis, 3-delivery reach, 4-electrode 0-bit.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, in the present invention, the up, down, left, and right are merely relative positions of structures in the embodiments of the present invention, and are not specific technical meanings, and are not specific to the specific structures.
As shown in fig. 1, the invention discloses a super-high-speed fine sighting control release separation system, which comprises a delivery target point setting unit, a delivery release coordinate system defining unit, a release azimuth angle and speed resolving unit and a release azimuth angle and speed correcting unit.
A delivery target point setting unit that sets a delivery target point of the simulation target;
defining a delivery release coordinate system unit, which is used for establishing a delivery release coordinate system so as to simulate the delivery release separation flight track of the simulated target and set parameters in the delivery release separation flight track simulation;
a release azimuth and speed resolving unit for resolving delivery release azimuth and speed of the simulation target at the end of the first delivery component and the second delivery component according to the established delivery release coordinate system;
and the release azimuth and speed correction unit corrects the delivery release azimuth and speed of the simulation target calculated by the release azimuth and speed calculation unit, and performs ultra-high speed delivery release separation according to the corrected delivery release azimuth and speed.
And the release azimuth and speed correcting unit is used for correcting the delivery release azimuth and speed of the simulated target calculated by the release azimuth and speed calculating unit so as to determine the delivery release azimuth and speed of the end simulated target at the release separation moment in the ultra-high-speed fine aiming control release separation system.
In one possible embodiment, the system further comprises a release azimuth and speed calibration unit, which is used for calibrating azimuth and speed of release time of multiple groups of experiments to obtain calibration error values of delivery release azimuth and speed of the simulation targets positioned at the ends of the first delivery component and the second delivery component, and the release azimuth and speed correction unit corrects according to the calibration error values of the release azimuth and speed. The release azimuth and speed calibration unit can calibrate and obtain calibration error values of the delivery release azimuth and speed of the simulation target positioned at the end parts of the first delivery component and the second delivery component by comparing the delivery release azimuth and speed of the simulation target recorded in the release separation experiment with the delivery release azimuth and speed of the calculated simulation target.
In the invention, after a delivery target point is set in a certain fixed experimental place, the ground device corrects the delivery release azimuth angle and speed obtained by resolving by means of the units so as to improve the delivery release precision, realize the dynamic and instant high-response delivery release control of the delivery target and be used for ground experimental verification.
Wherein the directions of rotation of the first delivery assembly and the second delivery assembly are opposite, one rotating clockwise and the other rotating counter-clockwise. In the process of accelerating rotation, the two delivery assemblies form two independent and non-interfering parallel delivery rotating surfaces, and a fixed distance is arranged between the two delivery rotating surfaces, so that the ultra-high-speed fine aiming control release separation system can release and deliver 1 to 4 simulation targets simultaneously/in a time-sharing manner.
In a second aspect of the present invention, there is also provided a control method of the above-mentioned ultra-high-speed fine sight control release separation system, to achieve simultaneous/time-division controllable ultra-high-speed fine sight delivery release separation of multiple delivery targets, including the steps of:
step 1: setting a delivery target point.
After the experimental field is selected, a delivery target point is selected in the range of the current rotating field according to the target range which can be reached by the delivery component, the setting range of the target point is carried out according to the following formula, and then the delivery release angle beta facing the target point is solved by a resolver 0 And angular velocity value omega 0 ；
Setting a target point:
wherein L and H are the horizontal distance and height of the target point from the rotational delivery release point, respectively, max { L, W } is a maximum function of the laboratory length L and width W, H is the height of the delivery release point, g is the gravitational acceleration, v max The maximum linear speed which can be achieved by driving a simulation target for the rotary accelerating motor is shown as alpha, and the angle between a rotating surface and a horizontal plane is shown as alpha;
step 2: a delivery release coordinate system and parameter definitions thereof are defined.
And (3) according to the delivery target point selected in the step one, and simultaneously, based on the high-speed rotating device platform with fixed ground position, defining a delivery release coordinate system and parameters thereof, wherein the specific definition is as follows.
Taking the implementation of simultaneous/time-sharing release delivery of one to 4 simulation targets as an example, the definition of a coordinate system and related parameters thereof is performed by way of example. When there are more simulation targets or the spinning directions are not consistent, the method can be equally referred to for definition, and the following release azimuth and speed calibration, solution and determination are also presented in this example.
Step 2-1: delivery release related parameters are defined.
In the same way, the two delivery rotating surfaces are formed in the acceleration rotating process aiming at the condition of releasing and delivering 1 to 4 simulation targets at the same time/time sharing, and are parallel, independent and do not interfere with each other, and have a certain distance. The rotary delivery assembly was leveled prior to testing so that both surfaces of rotation were parallel to the horizontal.
On this basis, delivery release related parameters are defined as follows:
·v j (j=1, 2) - - - -linear velocity in m/s at the moment when the simulation target at the end of the first delivery component, the second delivery component is delivered and released;
h- -the rotational face-to-ground height of the first delivery assembly, in m;
h—height between the second delivery assembly rotation face and the first delivery assembly rotation face, in m;
r- - - -the radius of rotation, unit m;
·θ i (i＝1,2,3,4；0<θ i <90 °) - -delivery release mounting angles of the first delivery assembly left end, first delivery assembly right end, second delivery assembly left end, second delivery assembly right end, in degrees.
The installation angle of the end delivery releaser (the installation angle of the simulated object can be understood as the installation angle of the simulated object since the simulated object is installed on the delivery releaser) is defined as the left graph in fig. 2, the left graph in fig. 2 is the installation direction angle of the releaser, but after the end simulated object is delivered in actual test, the right graph in fig. 2 is the flying direction after the simulated object is released.
·
-zero potential angle of motor of first delivery assembly, second delivery assembly, unit deg..
Definition of the definition
The anticlockwise rotation is positive. The definition of the zero angle of the motor is shown in fig. 3, the horizontal line (i.e. the Oy direction of the coordinate axis) is 0 degree angle of the delivery release azimuth, so that the actual delivery release azimuth is relative to the zero angle of the motor, and the left end of the first delivery component is +.>
The right end is +.>
Similarly, the left end of the second delivery component is +.>
The right end is +.>
In fig. 3, the above-mentioned coordinate system Oxy of the Oy axis and appearing in fig. 3 is a delivery release coordinate system, and the definition will be given in detail in step 2-2.
●δ i (i = 1,2,3, 4) - — delivery release azimuth angles in ° for the first delivery component left end, first delivery component right end, second delivery component left end, second delivery component right end. Definition delta i Is a relative angle to the zero position angle of the motor and is a positive angle counterclockwise.
Step 2-2: a delivery release coordinate system is defined.
As can be seen from the above definition, accurate delivery release separation is pre-achieved when facing a specific delivery target point, a demand releaser (or dieQuasi-target) delivery release azimuth
And a projection speed v.
Since it is necessary to target points oriented in different directions and different deliverable distances, different delivery release coordinate systems are defined to address the releaser delivery release azimuth
And the accurate solution of the projection velocity v.
The method for defining the delivery release coordinate system comprises the following steps: and combining an origin with a plane formed by two optional coordinate axes and parallel to the delivery rotating plane as a reference plane, establishing a three-dimensional delivery release coordinate system by setting a line where a zero angle of a motor is positioned to be parallel to one of the coordinate axes in the reference plane, and defining a plane formed by the coordinate axis parallel to the line where the zero angle of the motor is positioned and a third coordinate axis as a delivery reachable area for simulating a delivery release separation flight track of a target.
In one particular embodiment, a delivery release coordinate system Oxyz is defined as shown in FIG. 4.
First, a few points are specified and a letter representation statement is made as follows:
● Target point: the coordinate value is (0, y) 0 ,z 0 ) Is a known quantity.
● Center of rotation of the first delivery assembly: the coordinate values are (X, Y, H) and are known.
● Center of rotation of the second delivery assembly: the coordinate values are (X, Y, H+h) and are known.
As shown in fig. 4, the origin O is located on the horizontal plane and is coplanar with the plane where the base of the delivery rotating device is located, the Oxy plane is parallel to the delivery rotating plane, the Oy axis is parallel to the line where the zero angle of the motor is located, the directions are consistent, and the coordinate system meets the right-hand rule; the origin O is selected according to the actual laboratory size and the position of the target point, in particular, i.e. the target point (0, y 0 ,z 0 ) After that, the face Oyz is redefined so that the target points (0, y 0 ,z 0 ) On face Oyz, concrete of origin OThe position can be flexibly selected according to laboratory dimensions, for example, it can be defined directly on the target point, where the subsequent delivery release azimuth and velocity solutions are performed, taking the example of defining the origin on the most extreme visible border (heel) of the laboratory.
In addition, a plan view of the defined coordinate system Oxyz is shown in fig. 5, and description of the related letters and lines is made. In the figure, E is the rotation center of the delivery rod, the target point is set as point A, point C is the release separation point of the simulation target, the solid line from point C to point A is the release separation flight track of the simulation target, point D is the projection point of point C on the Oy axis, and the AB line and the BC line are respectively parallel to the Ox axis and the Oy axis.
Step 3: the delivery release azimuth and speed are resolved.
Taking the clockwise rotation of the first delivery component and the counterclockwise selection of the second delivery component as examples, the corresponding delivery release azimuth and speed are resolved. When the direction of rotation is different from the examples herein, there is only a negative difference.
Step 3-1: a delivery release azimuth of the first delivery component is resolved.
First, calculate angle +.acd:
∠ACD＝π-δ-θ
the lengths a and b in fig. 5 are calculated as follows:
a＝X+R sinδ
then, calculate tan ++acd based on a and b, can obtain:
namely:
further, a delivery release azimuth delta is calculated. Let tan δ=sin δ/cos δ, bring into the above formula, it is possible to obtain:
the existence of (pi-delta) is more than or equal to theta (identical to Y-Y) 0 ) R, and thus, formula (2) may be changed to formula (3) as follows:
for formula (2) (or formula (3)), when (Y-Y) 0 ) When R is not less than (or pi-delta is not less than theta), the following formula (4) can be obtained:
[(Y-y 0 )tanθ-X]sinδ-[(Y-y 0 )+Xtanθ]cosδ＝R (4)
solving for δ in equation (4) above, let:
[(Y-y 0 )tanθ-X]＝A；(5)
[(Y-y 0 )+Xtanθ]＝B (6)
the two simplified formulas are shown as formula (4-1):
Asinδ-B cosδ＝R (4-1)
further converting to solve for delta in the above formula (4-1), let
Then:
the above two formulas are brought into formula (4-1), and formula (7) can be obtained:
considering the angle θ >0 and smaller (typically 0-10 °) and δ+θ > pi/2, it is possible to obtain:
namely:
in the above formula, in particular, when θ=0, i.e., δ=0, δ=pi.
Similarly, with reference to the above procedure, the process is repeated for (Y-Y 0 )<R (or pi-delta)<θ), can be obtained:
in summary, considering the programmability of the algorithm, the equivalent conversion of the determination condition into the relationship determination of the angles δ and θ (or the length B and the rotation radius R) can be obtained:
step 3-2: the resolution determines a delivery release azimuth of the first delivery component.
Because the calculated values of the delivery release azimuth angles of the simulation targets located at both ends of the same delivery component are complementary, according to equation (8), it can be known that the calculated values of the delivery release azimuth angles of the simulation targets at the left end and the right end of the first delivery component are respectively:
step 3-3: the delivery release azimuth of the second delivery component is resolved.
With reference to the above described relative resolution process of the first delivery component, a delivery release azimuth expression of the second delivery component may be obtained.
However, it is first clear that the second delivery assembly rotates in the opposite direction to the first delivery assembly, and therefore the second delivery assembly rotates in a counter-clockwise direction, as shown in fig. 6.
Similarly, the motor zero angle definition schematic diagrams of the second delivery assembly are shown in fig. 7 and 8, and the anticlockwise direction is defined as a positive angle, and the horizontal Oy axis direction in fig. 7 is used as the motor zero angle, which is consistent with the motor zero angle definition direction of the first delivery assembly. Likewise, the delivery release azimuth angle is an angle relative to the motor zero azimuth angle, and counterclockwise is positive, and vice versa.
While the delivery component moving counter-clockwise, in the case of a defined target point (0, y) located on the Oyz plane 0 ,z 0 ) In order to consider all possible areas, the rotation of the delivery assembly must have the condition of passing through the motor zero angle, and at this time, the motor zero angle is caused to jump from 0 degrees to +/-180 degrees or +/-180 degrees to 0 degrees, and the target points corresponding to the jump points are located on two sides of the projection point D.
I.e. the trajectory simulation of the delivery assembly moving anticlockwise, the projection point of the simulation target in the plane of the delivery reachable area is marked as point D, and the set delivery target point a is located on two sides of the projection point, as shown in fig. 7 and 8.
Therefore, the solution formula (8) cannot accurately calculate the different situations at two sides at the same time, and the two sides must be considered respectively, and the process is as follows:
referring to the first delivery component resolution process, equation (10) is similarly available:
[X+(Y-y 0 )tanθ]sinδ-[(Y-y 0 )-Xtanθ]cosδ＝R (10)
solving for δ in equation (10), let:
[X+(Y-y 0 )tanθ]＝A 2 ；(10-1)
[(Y-y 0 )-Xtanθ]＝B 2 ；(10-2)
the above two formulas (10-1) and (10-2) are simplified to formula (10-3):
A 2 sinδ-B 2 cosδ＝R (10-3)
then, the calculation process conclusion (equation (8)) of the first delivery component is directly utilized, and the same is considered
It can be seen that A 2 >0 is constant and the molecular terms (i.e.::>
and denominator term (i.e. R-B 2 ) Same number. />
So that the release azimuth delta for the second delivery component can be obtained * The method comprises the following steps:
in particular, special cases are considered here, i.e. r=b 2 When the denominator term (i.e., R-B 2 ) Equal to 0, at this time there is:
in summary, the delivery azimuth for the second delivery element is given by the following formula (11):
step 3-4: the resolution determines a delivery release azimuth of the second delivery component.
As can be seen from equation (11), the solution values of the delivery release azimuth angles of the simulation targets at the left end and the right end of the second delivery component are respectively:
step 3-5: the delivery release rates of the first and second delivery components are resolved.
According to the target point (0, y 0 ,z 0 ) Height z of (2) 0 To solve for delivery release rate v j (j=1, 2) due to simulation objectives at both ends of the same delivery assemblyThe target delivery release rate has equal resolution, so j=1, 2.
First, the flight distance of the simulation target is defined as the length of the projection line on the plane Oxy of the flight trajectory between the delivery release separation point and the target point, and the flight distance Δl of the simulation target is represented by formula (12-1):
then, the flight head of the simulation target is defined as the length of the projection line of the flight trajectory on the plane Oxz (or Oyz) between the delivery release separation point and the target point, and the flight head Δh of the simulation target is represented by formula (12-2):
finally, based on the formulas (12-1) and (12-2), the delivery release rate v can be obtained j (j=1, 2) is formula (12):
step 4: calibrating delivery release azimuth and speed.
The calibration in the invention is specifically to obtain errors of the release azimuth and the speed by comparing the recorded value of the calibration experiment with the corresponding solution value so as to obtain a calibration error value.
Step 4-1: the delivery release azimuth and speed at the release time are recorded.
After the completion of the solution, the delivery release experiment is started, assuming that the azimuth angle and the velocity calculated before each experiment are respectively delta i0 (i=1, 2,3, 4) and v j0 (j=1, 2). The azimuth angle and the speed of the rotation process and the delivery release moment are recorded in real time through angular displacement and rotation speed sensors of the device, and the delivery release azimuth angle and the speed of the four tail end simulation targets at the current moment are recorded at the moment of completing delivery release separation.
Step 4-2: calibrating the release azimuth and speed.
Repeating at least 3 times or more according to the steps 1-2 and 3, defining the repeated experiment times as n, and recording the azimuth angle beta of the release time of all the experiments ik (i=1, 2,3,4; k=1, 2, …, n) and speed V jk (j=1, 2; k=1, 2, …, n), the calibrated error values of the release azimuth and the velocity are obtained as follows.
In the formula, delta ic To release the calibration error value of azimuth angle, deltav jc Is the calibrated error value of the release rate.
Step 5: the delivery release azimuth and speed for a particular experiment are modified.
Step 5-1: the delivery release azimuth and speed are resolved. And (3) performing experimental preparation according to the steps 1-2 and the step 3.
Step 5-2: the delivery release azimuth and speed are corrected.
In step 3, the delivery release azimuth delta for the set target point is solved i (i=1, 2,3, 4) and velocity value v j (j=1, 2), the actual delivery release angle correction value adopted in the actual experiment
Sum speed correction value
The updating is as follows:
in the method, in the process of the invention,
a split correction value for the azimuth angle of delivery release, +.>
To deliver a release rate separation correction value.
In the release separation experiment, once the simulation target is released, the simulation target does not have self-correction capability, the simulation target flies down according to the direction and speed when released after being released, and in the practical operation experiment, due to a series of reasons such as an instrument, the release azimuth angle and speed when the end simulation target is separated are not the calculated basic contrast value, namely the azimuth angle and speed at the moment of release separation and the calculated basic contrast value may have errors. The probability error caused by higher speed is larger, so the invention corrects at the moment of releasing and separating, provides a correction value for the moment of delivering and separating the end simulation target, and can ensure the fine aiming control under the ultra-high speed operation.
Step 6: and acquiring and post-processing data in real time.
Carrying out ultra-high-speed delivery release separation experiments by using a separation correction value of a delivery release azimuth angle and a speed, and continuously recording the rotation acceleration angle position and the rotation speed of the experiment in real time in the process of each delivery release experiment; and simultaneously, at the moment of completing delivery release separation, the angular position and the rotation speed at the current moment are recorded for user experimental data analysis.
Step 7: the test is completed or a new round of delivery release verification test is performed.
And (3) ending the experiment in the round or returning to the step (1) to perform a new verification experiment.
The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application, the scope of which is defined by the claims. Various modifications and equivalent arrangements may be made to the present application by those skilled in the art, which modifications and equivalents are also considered to be within the scope of the present application.
Claims (10)
1. A superhigh speed fine sight control release separation system, comprising:
a delivery target point setting unit that sets a delivery target point of the simulation target;
defining a delivery release coordinate system unit, which is used for establishing a delivery release coordinate system so as to simulate the delivery release separation flight track of the simulated target and set parameters in the delivery release separation flight track simulation;
a release azimuth and speed resolving unit for resolving delivery release azimuth and speed of the simulation target at the end of the first delivery component and the second delivery component according to the established delivery release coordinate system; and the release azimuth and speed correction unit corrects the delivery release azimuth and speed of the simulation target calculated by the release azimuth and speed calculation unit, and performs ultra-high speed delivery release separation according to the corrected delivery release azimuth and speed.
2. The ultra-high speed fine sight controlled release separation system according to claim 1, wherein,
the ultra-high-speed fine sighting control release separation system further comprises a release azimuth and speed calibration unit, wherein the release azimuth and speed calibration unit is used for calibrating according to azimuth and speed of release moments of a plurality of groups of experiments to obtain calibration error values of delivery release azimuth and speed of simulation targets positioned at the ends of the first delivery assembly and the second delivery assembly;
and the release azimuth angle and speed correction unit corrects according to the calibration error value of the release azimuth angle and speed.
3. The ultra-high speed fine sight controlled release separation system according to claim 1, wherein,
in the acceleration rotation process of the first delivery component and the second delivery component, two independent and non-interfering parallel delivery rotation surfaces are formed, and a fixed distance is arranged between the two delivery rotation surfaces, so that the ultra-high-speed fine aiming control release separation system can release and deliver 1 to 4 simulation targets simultaneously/in a time-sharing manner.
4. A control method of an ultra-high speed fine sight controlled release separation system according to any one of claims 1 to 3, comprising:
step 1, setting a delivery target point;
step 2, defining a delivery release coordinate system and parameters thereof according to the set delivery target point and based on an ultra-high-speed fine sighting control release separation system with fixed ground position;
step 3, based on the delivery release coordinate system, combining the relative motion rules of the first delivery component and the second delivery component, and based on the set delivery target points, respectively calculating the delivery release azimuth angle and the delivery release speed of the simulation targets positioned at the end parts of the first delivery component and the second delivery component as calibrated basic contrast values;
step 4, carrying out the release separation calibration experiment for a plurality of times, recording the azimuth angle and the speed at the delivery release moment in real time, and comparing the real-time recorded value with the basic comparison value to obtain a calibration error value of the release azimuth angle and the release speed;
and 5, calculating a delivery release azimuth angle and a speed value required by a set delivery target point, correcting according to the calibration error value to obtain a delivery release separation correction value, and setting the delivery release separation correction value to perform an ultra-high speed delivery release separation experiment.
5. The control method according to claim 4, wherein,
and 2, defining a delivery release coordinate system and parameters thereof, wherein a plane which is formed by combining an original point and optionally two coordinate axes and is parallel to a delivery rotation plane is taken as a reference plane, a three-dimensional delivery release coordinate system is established by setting a line where a zero angle of a motor is positioned to be parallel to one of the coordinate axes in the reference plane, and a plane which is formed by a coordinate axis parallel to the line where the zero angle of the motor is positioned and a third coordinate axis is defined as a delivery reachable area and is used for simulating delivery release separation flight tracks of a simulation target.
6. The control method according to claim 4, wherein,
in step 3The calculated values of delivery release azimuth angles of simulation targets positioned at both ends of the same delivery module are complementary, the calculated values of delivery release speeds are equal, and the delivery release speed v can be calculated according to the delivery height of the delivery target point j Where j=1, 2.
7. The control method according to claim 6, wherein,
the method for solving the delivery release azimuth angle is also included as follows:
taking the clockwise rotation of the first delivery component and the anticlockwise selection of the second delivery component as examples, when the rotation direction is different from the clockwise rotation, only the difference of the negative sign exists, and the delivery release azimuth of the first delivery component is calculated:
calculating angle ACD:
∠ACD＝π-δ-θ
wherein, the point A is a delivery target point, the point C is a release separation point of the simulation target, the solid line from the point C to the point A is a projection line of a flight track of the simulation target which is released and separated on an Oxy plane, the point D is a projection point of the point C on an Oy axis, the length distribution of the line AB and the line BC is a and b, delta is a delivery release azimuth angle of the simulation target, and theta is an installation angle of a delivery assembly at the end part of the delivery assembly;
the calculated lengths a and b are calculated according to the following formulas:
a＝X+Rsinδ
wherein c is the length of a projection line of the flight trajectory in the xy plane of the coordinate system; a and b are the projected lengths of c on the coordinate axes Ox and Oy, respectively; x and Y are horizontal and vertical coordinate values in the rotation center coordinate system Oxyz; r is the radius of rotation;
then, calculate tan ++acd based on a and b, can obtain:
namely:
further, the delivery release azimuth delta is calculated, and tan delta=sin delta/cos delta is brought into the above formula, so that it is obtained:
the existence of (pi-delta) is more than or equal to theta (identical to Y-Y) 0 ) R, and hence, formula (2) becomes formula (3) below:
for formula (2), when (Y-Y 0 ) When R is not less than (or pi-delta is not less than theta), the following formula (4) can be obtained:
[(Y-y 0 )tanθ-X]sinδ-[(Y-y 0 )+Xtanθ]cosδ＝R(4)
solving for δ in equation (4) above, let:
[(Y-y 0 )tanθ-X]＝A；(5)
[(Y-y 0 )+Xtanθ]＝B(6)
the above two formulas are simplified to the following formulas:
Asinδ-Bcosδ＝R(4-1)
further converting to solve for delta in the above formula (4-1), let
Then:
the above two formulas are brought into formula (4-1), and the following formula (7) can be obtained:
considering that the angle θ >0 and smaller, and δ+θ > pi/2, we get:
namely:
In the above formula, in particular, when θ=0, i.e., δ=0, δ=pi;
similarly, with reference to the above procedure, the process is repeated for (Y-Y 0 )<R (or pi-delta)<θ), obtain:
(Y-y 0 )<r (or pi-delta)<θ)
In summary, the programmability of the algorithm is considered, and the judgment condition is equivalently converted into the relation judgment of the angles delta and theta, so that the relation judgment of the angles delta and theta is obtained:
the delivery release azimuth of the simulation target located at one end of the first delivery module can be obtained by the above equation (8).
8. The control method according to claim 7, wherein,
in step 3, when resolving the delivery release azimuth and speed of the simulation target positioned at the end of the first delivery component by using the clockwise motion of the first delivery component, the second delivery component moves anticlockwise;
in the track simulation of the counterclockwise moving delivery assembly, the projection point of the simulation target in the plane of the delivery reachable area is marked as a D point, the set delivery target point A is positioned at two sides of the projection point, and then the expression of the delivery release azimuth angle of the simulation target positioned at the end part of the second delivery assembly is as follows:
in delta * The azimuth is released for delivery of the simulated target at the end of the counter-clockwise rotating assembly.
9. The control method according to claim 4, wherein,
the method also comprises the steps of:
repeating at least 3 times according to the steps 1-2 and 3, defining the repeated experiment times as n, and recording the azimuth angle beta of the release time of all the experiments ik (i=1, 2,3,4; k=1, 2, …, n) and speed V jk (j=1, 2; k=1, 2, …, n), the calibrated error value of the release azimuth and velocity is obtained as follows:
calibrating the error value:
in delta i0 (i=1, 2,3, 4) and v j0 (j=1, 2) are the release azimuth and velocity, Δδ, of the simulated target calculated before each experiment, respectively ic To release the calibration error value of azimuth angle, deltav jc Is the calibrated error value of the release rate.
10. The control method according to claim 9, wherein,
solving the delivery release azimuth delta facing the set target point i (i=1, 2,3, 4) and velocity value v j (j=1, 2), the azimuth and speed separation correction values of the delivery release taken in the actual experiment are updated as follows:
separating and correcting value:
in the method, in the process of the invention,
a split correction value for the azimuth angle of delivery release, +.>
To deliver a release rate separation correction value.
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