CN116294837B - Control method for sub-missile head drop point based on perturbation guidance - Google Patents
Control method for sub-missile head drop point based on perturbation guidance Download PDFInfo
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- CN116294837B CN116294837B CN202310319729.4A CN202310319729A CN116294837B CN 116294837 B CN116294837 B CN 116294837B CN 202310319729 A CN202310319729 A CN 202310319729A CN 116294837 B CN116294837 B CN 116294837B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000010304 firing Methods 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 7
- 238000000926 separation method Methods 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G7/00—Direction control systems for self-propelled missiles
- F41G7/34—Direction control systems for self-propelled missiles based on predetermined target position data
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
A control method of a sub-missile head drop point based on perturbation guidance relates to a control method of an independent re-returning sub-missile head drop point. The invention solves the problem that the existing split missile head drop point control method ignores the influence of the earth rotation and the atmospheric resistance due to the adoption of two-body assumption in orbit mechanics, so that the result model error of solving the speed increment is larger. The method comprises the following steps: s1: binding longitude and latitude of an emission point and a target point; s2: adopting Newton iteration to calculate an emission azimuth angle and a first-stage maximum negative attack angle; s3: starting perturbation guidance to calculate the speed increment required by each sub missile head; s4: and storing and writing the obtained speed increment of each sub-missile head into a local file of a missile-borne computer, respectively applying the corresponding speed increment to the sub-missile head at the designated sub-guide time of each sub-missile head by a sub-guide cabin, and performing full-trajectory flight to finish the drop point control of the sub-missile head. The method has the characteristics of less iteration variable, high calculation speed and high result precision.
Description
Technical Field
The invention relates to a control method for an independent re-dividing missile head drop point.
Background
In order to improve the defending capability and the number of hit targets of an intercontinental ballistic missile, a plurality of warheads are arranged in a main cabin so that one missile can hit a plurality of different targets. The launching units bound by the missile can only guarantee aiming at one target, so that the technical requirement for solving the speed increment required by maneuvering and rail transfer of the missile head is provided for realizing high-precision and large-scale striking depth of the missile head. The existing method adopts two body assumptions in orbit mechanics, ignores the influence of earth rotation and atmospheric resistance, solves the result model error obtained by speed increment, and is relatively large and difficult to be practically applied.
Disclosure of Invention
In order to solve the problem that the existing split missile head drop point control method ignores the influence of earth rotation and atmospheric resistance due to the adoption of two-body assumption in orbit mechanics, so that the result model error of solving the speed increment is larger; the provided control method for the missile head drop point based on perturbation guidance adopts a high-precision dynamics model under a launching system.
The control method of the sub-missile head drop point based on perturbation guidance comprises the following steps:
S1: binding longitude and latitude of an emission point and a target point;
s2: adopting Newton iteration to calculate an emission azimuth angle and a first-stage maximum negative attack angle;
s3: starting perturbation guidance to calculate the speed increment required by each sub missile head;
S4: storing and writing the obtained speed increment of each sub-missile head into a local file of a missile-borne computer, respectively applying the corresponding speed increment to the sub-missile head at the designated sub-guide time of each sub-missile head by a sub-guide cabin, and performing full-trajectory flight to finish the drop point control of the sub-missile head;
wherein, the longitudinal range L and the transverse range H of the missile in S3 are written into functional of shutdown time, shutdown point position and speed parameters (t k,vxk,vyk,vzk,xk,yk,zk)
Performing Taylor series expansion on the longitudinal range and the transverse range of the missile near the standard ballistic shutdown point parameters to obtain a first-order linear expression of the range with respect to the speed increment
Taking the deviation (delta x k,Δyk,Δzk) of the spatial position of the warhead relative to the nominal position at the diversion moment (t k) appointed by each sub-missile head as a disturbance term and taking the speed increment (delta v xk,Δvyk,Δvzk) as a control quantity; the longitudinal range is controlled by adopting Deltav xk, the transverse range is controlled by adopting Deltav zk, and the formula (2) is simplified into a form facing perturbation guidance iteration
Inverting the matrix equation to obtain the speed increment to be solved by one iteration of each sub-missile head
And merging the Deltav xk and Deltav zk of each bullet dividing head into the speed of the nominal shutdown point, and continuing to perform iterative calculation until the speed increment meeting the precision requirement of the drop point is obtained.
Wherein t k is the assigned guiding time of the missile head; v xk is the x-axis direction speed of the shutdown point; v yk is the speed of the shutdown point in the y-axis direction; v zk is the speed of the shutdown point in the z-axis direction; x k,yk,zk is the shutdown point location parameter.
Further, S1: binding the longitude and latitude of a launching point of the intercontinental ballistic missile, and binding the longitude and latitude of a target point for each sub-missile head.
Further, the closest target point is selected as the calculation basis of the firing data of the intercontinental ballistic missile. Therefore, the 1 st sub-guide bullet is separated from the sub-guide cabin without the need of providing a speed increment by the sub-guide cabin; the sub-pod provides speed increments from the 2 nd sub-missile head. Wherein, according to the separation sequence of the sub-guiding warhead and the sub-guiding cabin, the 1 st sub-guiding warhead, the 2 nd sub-guiding warhead, the 3 rd sub-guiding warhead are set, and the like.
Further, S2: given the primary maximum negative angle of attack and the initial value of the azimuth of emission, perturbation is applied to the angle of attack and the azimuth of emission, respectively.
Further, in S2, the launching azimuth angle and the first-stage maximum negative attack angle are calculated through the Jacobian matrix and the longitude and latitude difference of the drop point in an iterative mode until the drop point precision meets the requirement of the first warhead target point.
The invention adopts a high-precision dynamics model under a transmitting system, expands the first-order Talter of the longitudinal range and the transverse range based on a perturbation guidance theory, and converts the first-order Talter into a perturbation expression which only needs to iterate 2 speed increments. The method has the characteristics of less iteration variable, high calculation speed and high result precision.
The invention adopts Deltav xk to control the longitudinal range and adopts Deltav zk to control the transverse range; the iteration variable is few, and the speed increment required by the independent re-striking of different target points of the sub-missile head under the maneuvering and launching conditions of the intercontinental ballistic missile can be rapidly calculated only by iteratively calculating Deltav xk and Deltav zk; the number of iteration variables is effectively reduced, and the iterative calculation speed is improved. The two-body assumption is not introduced, the calculation of the velocity increment directly depends on a high-precision ballistic dynamics model of the launching system, so that the calculated velocity increment result has higher precision and is close to an actual value.
Drawings
FIG. 1 is a flow chart of an intercontinental guided missile flight control in accordance with example 1;
FIG. 2 is a ballistic diagram of three split warheads in example 1;
FIG. 3 is a graph showing the speed of three split warheads in example 1;
FIG. 4 is a graph of the ballistic tilt of three split heads of example 1;
FIG. 5 is a graph of the ballistic deflection angle of three split heads of example 1;
FIG. 6 is a graph of the x-axis velocity of the firing train of three split warheads in example 1;
FIG. 7 is a graph of the y-axis velocity of the firing train of three split warheads in example 1;
FIG. 8 is a graph of the z-axis velocity of the firing train of three split warheads in example 1.
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, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The first embodiment is as follows: the control method of the sub-missile head drop point based on perturbation guidance in the embodiment comprises the following steps:
S1: binding longitude and latitude of an emission point and a target point;
s2: adopting Newton iteration to calculate an emission azimuth angle and a first-stage maximum negative attack angle;
s3: starting perturbation guidance to calculate the speed increment required by each sub missile head;
S4: storing and writing the obtained speed increment of each sub-missile head into a local file of a missile-borne computer, respectively applying the corresponding speed increment to the sub-missile head at the designated sub-guide time of each sub-missile head by a sub-guide cabin, and performing full-trajectory flight to finish the drop point control of the sub-missile head;
wherein, the longitudinal range L and the transverse range H of the missile in S3 are written into functional of shutdown time, shutdown point position and speed parameters (t k,vxk,vyk,vzk,xk,yk,zk)
Performing Taylor series expansion on the longitudinal range and the transverse range of the missile near the standard ballistic shutdown point parameters to obtain a first-order linear expression of the range with respect to the speed increment
Taking the deviation (delta x k,Δyk,Δzk) of the spatial position of the warhead relative to the nominal position at the diversion moment (t k) appointed by each sub-missile head as a disturbance term and taking the speed increment (delta v xk,Δvyk,Δvzk) as a control quantity; the longitudinal range is controlled by adopting Deltav xk, the transverse range is controlled by adopting Deltav zk, and the formula (2) is simplified into a form facing perturbation guidance iteration
Inverting the matrix equation to obtain the speed increment to be solved by one iteration of each sub-missile head
And then merging the Deltav xk and Deltav zk of each bullet dividing head into the speed of the nominal shutdown point for iterative calculation until the speed increment meeting the precision requirement of the drop point is obtained.
And guiding the sub-guide cabin to a space position and a motion state required by the release of the sub-missile head, immediately releasing the sub-guide missile head once the separation condition is met, and transferring the sub-guide cabin to a sub-guide program of the next sub-guide missile head. The sub-guide cabin generally needs to change the flight track once when one sub-guide warhead is released until the last warhead is released and the sub-guide process is finished.
The second embodiment is as follows: the present embodiment differs from the first embodiment in that: s1: binding the longitude and latitude of a launching point of the intercontinental ballistic missile, and binding the longitude and latitude of a target point for each sub-missile head. The other is the same as in the first embodiment.
And a third specific embodiment: the present embodiment differs from the first or second embodiment in that: according to the position characteristics of the target points, the target point closest to the target point is selected as the calculation basis of the firing data of the intercontinental ballistic missile. The other is the same as the first or second embodiment.
The specific embodiment IV is as follows: the present embodiment differs from one or more of the embodiments in that: s2: given the primary maximum negative angle of attack and the initial value of the azimuth of emission, perturbation is applied to the angle of attack and the azimuth of emission, respectively. The other is the same as in one of the first to third embodiments.
Fifth embodiment: the present embodiment differs from the first to fourth embodiments in that: and S2, iteratively calculating an emission azimuth angle and a first-stage maximum negative attack angle through the jacobian matrix and the longitude and latitude difference of the drop point until the drop point precision meets the requirement. The others are the same as in one to one fourth embodiments.
Example 1
1-8, The control method of the head drop point of the split missile based on perturbation guidance simulates launching an intercontinental ballistic missile with 3 split missiles:
step S1: binding longitude and latitude of an emission point and a target point;
binding the longitude and latitude of a launching point of the intercontinental ballistic missile, and binding the longitude and latitude of a target point for each sub-missile head.
Judging whether the target point is within the effective range according to the known performance of the ballistic missile. If the target point is within the range, according to the position characteristics of the target point, the target point closest to the target point is selected as the calculation basis of the firing data of the intercontinental ballistic missile. Therefore, the 1 st sub-guide bullet is separated from the sub-guide cabin without the need of providing a speed increment by the sub-guide cabin; in practice, the sub-pod provides speed increment from the 2 nd sub-missile head.
Step S2: adopting Newton iteration to calculate an emission azimuth angle and a first-stage maximum negative attack angle;
Taking the rotation of the earth and the perturbation influence of the non-spherical J2 term of the earth into consideration, constructing a barycenter dynamics equation of the intercontinental ballistic missile in a launching coordinate system as a ballistic calculation model; the first stage adopts a program negative attack angle for turning, the second stage adopts a given constant negative attack angle for turning, low trajectory and gravity turning during the boosting of the third stage engine. The first warhead is separated from the main cabin after the three-stage engine is shut down.
Two variable controls of the first-order program turning maximum negative attack angle alpha m and the emission azimuth angle A 0 are selected as emission data elements needing iteration. And the initial value of the attack angle is obtained according to an off-line obtained table and the range interpolation of the target point.
The initial value of the emission azimuth A 0 is solved by the following formula
Where O EON represents a vector with the centroid pointing to the north pole, O E F represents a vector with the centroid pointing to the emission point, and O E T represents a vector with the centroid pointing to the target point.
Step S3: starting perturbation guidance to calculate the speed increment required by each sub missile head;
the firing units enable the 1 st sub-missile head to be separated from the sub-missile cabin without providing speed increment by the sub-missile cabin; the split guide is actually started from the split guide 2 bullet. And guiding the sub-guide cabin to a space position and a motion state required by the release of the sub-missile head, immediately releasing the sub-guide missile head once the separation condition is met, and transferring the sub-guide cabin to a sub-guide program of the next sub-guide missile head. The sub-guide cabin generally needs to change the flight track once when one sub-guide warhead is released until the last warhead is released and the sub-guide process is finished.
Writing the longitudinal range L and the transverse range H of the missile in the S3 into functional functions of shutdown time, shutdown point position and speed parameters (t k,vxk,vyk,vzk,xk,yk,zk)
Performing Taylor series expansion on the longitudinal range and the transverse range of the missile near the standard ballistic shutdown point parameters to obtain a first-order linear expression of the range with respect to the speed increment
Taking the deviation (delta x k,Δyk,Δzk) of the spatial position of the warhead relative to the nominal position at the diversion moment (t k) appointed by each sub-missile head as a disturbance term and taking the speed increment (delta v xk,Δvyk,Δvzk) as a control quantity; the longitudinal range is controlled by adopting the Deltav xk, the transverse range is controlled by adopting the Deltav zk, and the formula 2 is simplified into a form facing perturbation guidance iteration
Inverting the matrix equation to obtain the speed increment to be solved by one iteration of each sub-missile head
And then merging the Deltav xk and Deltav zk of each bullet dividing head into the speed of the nominal shutdown point for iterative calculation until the speed increment meeting the precision requirement of the drop point is obtained.
S4: and storing and writing the obtained speed increment of each sub-missile head into a local file of a missile-borne computer, respectively applying the corresponding speed increment to the sub-missile head at the designated sub-guide time of each sub-missile head by a sub-guide cabin, and performing full-trajectory flight to finish the drop point control of the sub-missile head.
Claims (5)
1. A control method of a sub-missile head drop point based on perturbation guidance is characterized by comprising the following steps:
S1: binding longitude and latitude of an emission point and a target point;
s2: adopting Newton iteration to calculate an emission azimuth angle and a first-stage maximum negative attack angle;
s3: starting perturbation guidance to calculate the speed increment required by each sub missile head;
S4: storing and writing the obtained speed increment of each sub-missile head into a local file of a missile-borne computer, respectively applying the corresponding speed increment to the sub-missile head at the designated sub-guide time of each sub-missile head by a sub-guide cabin, and performing full-trajectory flight to finish the drop point control of the sub-missile head;
wherein, the longitudinal range L and the transverse range H of the missile in S3 are written into functional of shutdown time, shutdown point position and speed parameters (t k,vxk,vyk,vzk,xk,yk,zk)
Performing Taylor series expansion on the longitudinal range and the transverse range of the missile near the standard ballistic shutdown point parameters to obtain a first-order linear expression of the range with respect to the speed increment
Taking the deviation (delta x k,Δyk,Δzk) of the space position of the warhead relative to the standard trajectory shutdown point at the diversion time (t k) appointed by each sub-missile head as a disturbance item and taking the speed increment (delta v xk,Δvyk,Δvzk) as a control quantity; the longitudinal range is controlled by adopting Deltav xk, the transverse range is controlled by adopting Deltav zk, and the formula (2) is simplified into a form facing perturbation guidance iteration
Inverting the matrix equation to obtain the speed increment to be solved by one iteration of each sub-missile head
And then merging the Deltav xk and Deltav zk of each bullet dividing head into the speed of the standard ballistic shutdown point for iterative calculation until the speed increment meeting the precision requirement of the drop point is obtained.
2. The method for controlling a missile head drop point based on perturbation guidance according to claim 1, wherein the following steps are S1: binding the longitude and latitude of a launching point of the intercontinental ballistic missile, and binding the longitude and latitude of a target point for each sub-missile head.
3. The method for controlling the head drop point of the split missile based on perturbation guidance according to claim 2, wherein the closest target point is selected as the calculation basis of the firing data of the intercontinental ballistic missile according to the position characteristics of the target point.
4. A method of controlling a missile head landing point based on perturbation guidance according to claim 1 or 3, characterized by S2: given the primary maximum negative angle of attack and the initial value of the azimuth of emission, perturbation is applied to the maximum negative angle of attack and the azimuth of emission, respectively.
5. A method for controlling a missile head drop point based on perturbation guidance according to claim 1 or 3, wherein in S2, the emission azimuth and the first-order maximum negative attack angle are calculated iteratively by jacobian matrix and the drop point longitude and latitude difference until the drop point precision meets the requirement.
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| US7566026B2 (en) * | 2006-03-29 | 2009-07-28 | Raytheon Company | Onboard guidance method for ballistic missiles |
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| CN110044210A (en) * | 2019-04-22 | 2019-07-23 | 中国人民解放军国防科技大学 | Closed-circuit guidance on-line compensation method considering arbitrary-order earth non-spherical gravitational perturbation |
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