KR101862715B1

KR101862715B1 - Guide and Control Method for Guided Projectile

Info

Publication number: KR101862715B1
Application number: KR1020170153940A
Authority: KR
Inventors: 이동희; 박상혁; 김성운
Original assignee: 엘아이지넥스원 주식회사
Priority date: 2017-11-17
Filing date: 2017-11-17
Publication date: 2018-07-04

Abstract

According to the present invention, an object of the present invention is to provide a method of induction control of an inductive projectile. In the present invention, an approximate curve using a table value calculated through optimization in advance is determined by an altitude elevation method for extending a slope distance, and a command value varying for a predetermined time is applied. Accordingly, the present invention can increase a target interception rate, increase an accuracy rate, and further extend a range.

Description

[0001] The present invention relates to a guide control method for guided projectiles,

The present invention relates to an induction control method for an induction launch vehicle for extending a range of an induction launch vehicle and maximizing a speed of a terminus.

Of the existing elevation elevation methods, the method of using the pitch angular velocity command is generally known to be weak in disturbance, so that it can not make an accurate elevation angle or elevation trajectory and is not used much. On the other hand, the method of using the pitch attitude angle command is preferred because it can make the ascending trajectory relatively intentionally, but the attitude angle command given at this time is given a specific value for the predicted intercept point (PIP) The speed of the inductive projectile upon reaching the PIP may not be the maximized speed and may reduce the launchable area.

The present invention can increase an accuracy rate by raising a target intercept rate by determining an approximate curve using a table value calculated in advance by preliminarily determining an altitude increase method for extending a range of an inductive projectile and varying a predetermined time The goal is to further extend the range.

Other and further objects, which are not to be described, may be further considered within the scope of the following detailed description and easily deduced from the effects thereof.

According to one aspect of the present invention, there is provided an inductive control method for an inductively launch vehicle according to one type of the present invention, comprising the steps of: calculating ranges of distances up to different kinds of training targets from an inductive projectile; Calculating an angle of attack pattern of the inductive projectile to fly the inductive projectile with the determined flight path, calculating a flight control command value for controlling the flight of the inductive projectile, And determining an approximate curve approximating the calculated angle of attack angle pattern.

Here, deriving the flight trajectory of the inductive projectile in accordance with a predetermined algorithm is performed by calculating the flight trajectory of the inductive projectile using the elapsed time after the inductive projectile is fired and the speed of the flight vehicle calculated by the control variable for the flight control of the inductive projectile And derives the derivative control value.

Wherein calculating the angle of attack pattern of the inductive projectile comprises determining an angle of attack command relationship that satisfies the flight path and determining an initial angle of attack according to the range of travel from the angle of attack command relationship to the training targets, &Lt; / RTI >

Here, the step of determining an approximate curve approximating to the calculated angle of attack pattern is a step of tabulating the initial angle of attack determined according to the distance to the training targets.

Here, the command control value is determined by varying the command value according to the flight time by applying the determined initial angle of attack to an approximate curve approximating the angle of attack pattern.

The method of claim 1, further comprising calculating an actual slip distance to a target to be intercepted, the method comprising: calculating slip ranges up to different types of training targets and an inductive projectile performing a parabolic motion; Calculating an angle of attack pattern of the inductive projectile to fly the inductive projectile with the determined flight path, calculating a flight control command value for controlling the flight of the inductive projectile, Determining an approximate curve approximating the calculated angle of attack pattern, determining an initial angle of attack of the inducted projectile according to the calculated actual range, using the determined approximate curve, determining an initial angle of attack of the inductive projectile based on the determined initial angle of attack Controlling the flight, wherein the induction projectile and the rider And determining a real-time angle of attack of the inductive projectile in consideration of the remaining distance to the getter.

Here, the step of calculating the actual slip distance to the target to be intercepted calculates the remaining slip distance from the inductive projectile to the target in real time when the inductive projectile is actually operated.

Wherein the step of determining the initial angle of attack of the inductive projectile according to the calculated actual range includes deriving the initial angle of attack according to the calculated actual range of distance from the table value calculated through optimization in advance to provide.

According to another aspect of the present invention there is provided a computer program for performing an inductive control method of an inductive vehicle, recorded in a non-transitory computer readable medium comprising computer program instructions executable by a processor, Calculating arcs of distances up to different types of training targets from an inductive projectile that performs a parabolic motion, when the instructions are executed, calculating a flight path of the inductive projectile according to each of the slopes according to a predetermined algorithm Calculating an angle of attack pattern of the inductive projectile to fly the inductive projectile with the determined flight path, and determining an approximate curve approximating the calculated angle of attack pattern as a flight control command value for controlling the flight of the inductive projectile Operations including steps And a computer program for executing the program.

As described above, according to the embodiments of the present invention, it is possible to determine an approximate curve using a table value calculated in advance by preliminarily optimizing an elevation elevation method for extending a range of an inductive projectile, By increasing the target interception speed, the accuracy rate can be increased and the range can be further extended.

When the predicted intercept point of the guided projectile is reached, optimization is performed to maximize the speed of the guided projectile to derive the shape of the trajectory and the guided command, so that the speed of the guided projectile can be made the maximum speed when the predicted intercept point is reached.

The angle of attack command type can increase the accuracy rate by increasing the target intercept rate as much as possible by increasing the range of attack angle by applying the angle of attack command value that varies in inverse proportion to not one specific value during flight time.

Even if the effects are not expressly mentioned here, the effects described in the following specification which are expected by the technical characteristics of the present invention and their potential effects are handled as described in the specification of the present invention.

FIG. 1 is a block diagram showing a control parameter determination apparatus according to an embodiment of the present invention. Referring to FIG.
2 is a block diagram showing an induction control apparatus according to another embodiment of the present invention.
3 is a flowchart illustrating a method for controlling an induced projectile according to an embodiment of the present invention.
FIG. 4 is a flowchart illustrating an inductive control method of an inductive projectile in operation according to an embodiment of the present invention.
5 is a flowchart illustrating a configuration of an operation mode according to a target position according to an embodiment of the present invention.
6 is a diagram illustrating the progress of an inductive projectile according to an exemplary embodiment of the present invention.
FIG. 7A is a diagram showing a flight path shape derived by performing optimization according to a range of a predicted intercept point. FIG.
FIG. 7B is a diagram showing an angle of attack pattern derived by performing optimization according to a slope distance of a predicted intercept point.
8 is a view showing an approximate curve according to an embodiment of the present invention.

Hereinafter, an inductive control method of an inductive projectile according to the present invention will be described in detail with reference to the drawings. However, the present invention can be implemented in various different forms, and is not limited to the embodiments described. In order to clearly describe the present invention, parts that are not related to the description are omitted, and the same reference numerals in the drawings denote the same members.

The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

The present invention relates to a method for induction control of an inductive launch vehicle.

The basic purpose of an inductive projectile is to make the relative distance to the target zero, that is, hit the target precisely. Among various induction projectiles, there is a method of maximizing the energy of the induction projectile during the intercept to increase the effect thereof, thereby maximizing the end speed of the induction projectile.

In order to extend the range of the induction projectile, the principle of changing the kinetic energy to the position energy through the elevation in the initial propulsion section is applied, and the range can be extended by minimizing the drag increment and velocity loss due to the elevation rise.

After ascending the altitude, use a navigator to draw a parabolic trajectory or fly at a certain altitude until before the end of induction.

FIG. 1 is a block diagram showing a control variable determining apparatus 20 according to an embodiment of the present invention.

1, the control variable determining apparatus 20 includes a target position tracing unit 210, a slip distance calculating unit 220, a flight trajectory deriving unit 230, an angle of attack pattern calculating unit 240, an approximate curve determining unit 250).

The target position tracking unit 210 tracks the positions of different types of training targets. A radar of the inductive projectile searcher detects and tracks the target in the target position tracking section. If the position of the target is located outside the view of the explorer, the target is positioned in the view of the explorer by the LOAL (Lock-On After Launch) method. do.

The slip distance calculation unit 220 calculates the slip distance to the induction projectiles and the different types of training targets. Here, the range is the distance to where the inductive projectile can be launched and reached. In the present invention, it is the distance between the inductive projectile and the intercept point.

The flight trajectory deriving unit 230 derives the flight trajectory of the inductive projectile according to each of the above-mentioned ranges according to a predetermined algorithm. Deriving the flight trajectory of the inductive projectile according to a predetermined algorithm is based on the elapsed time after the inductive projectile is fired and the flight trajectory of the inductive projectile using the speed of the flight vehicle calculated by the control variable for the flight control of the inductive projectile .

The control variable includes at least one information selected from the group consisting of arbitrary angle of attack, elevation speed, mass change amount, and thrust information for the inductive projectile.

The flight trajectory deriving unit 230 may perform optimization to maximize the target intercept speed using an equation applied to the optimization problem. The optimizer derives the optimal graph to arrive at the constraints while satisfying the formulas of the dynamic model by assigning arbitrary angles of attack.

The trajectory deriving unit 230 can maximize the target intercepting speed through the looping trajectory and can be realized through an inverse command form of an inverse proportional form in which the angle of attack is 0 degrees at the initial specific angle of attack .

The angle of attack is the angle between the direction of air flow and the angle of inclination of the blade. Generally, the larger the angle of attack, the greater the lift. The lift is the force that powers the aircraft, that is, the force that floats the aircraft when it flies horizontally. The angle of attack changes whenever the attitude of a flying body changes, for example, to steering or weight changes.

The angle of attack pattern calculation unit 240 calculates the angle of attack pattern of the inductive projectile for flying the inductive projectile with the determined flight path. Specifically, an angle of attack command relation satisfying the flight trajectory is determined, and an initial angle of attack according to the range of travel from the angle of attack command relation to the training targets is determined.

The approximate curve determining unit 250 determines an approximate curve approximating the calculated intake angle pattern as a flight control command value for controlling the flight of the inductive projectile. Also, the initial angle of attack determined according to the distance to the training targets is tabulated.

The flight control command value changes with the flight time by applying the initial angle of attack determined from the approximate curve approximating the angle of attack pattern.

2 is a block diagram showing an induction control apparatus according to another embodiment of the present invention.

Referring to FIG. 2, an induction control device 10 of an inductive projectile includes an input unit 100, a control variable determining unit 200, and a control unit 300.

The input unit 100 receives a position to an actual target to be intercepted.

The control variable determiner 200 receives the position of the inductive projectile in actual operation from the target to the actual target that varies with time,

The control parameter determiner 200 calculates the slip ranges for the training targets at different positions, determines the flight trajectory according to the slip distance, and manages information about the approximate curve. The control variable determining unit 200 calculates the remaining range of the inductive projectile and the target in real time when the inductive projectile is actually operated.

The control parameter determination unit 200 includes a target position tracking unit for tracking the positions of different types of training targets, a slip distance calculation unit for calculating the slip distance to the different types of training targets, An angle of attack pattern calculation unit for calculating an angle of attack pattern of the induction projectile to fly the induction projectile with the determined flight trajectory, And an approximate curve determining unit for determining an approximate curve approximating the calculated intake angle pattern as a flight control command value for controlling the flight of the inductive projectile.

The control unit 300 controls the angle of attack using an approximate curve for the flight path set in the setting unit.

The control unit 300 derives the initial angle of attack according to the calculated actual range. Also, a command value that changes for a predetermined time is applied by using an approximate curve approximating the calculated angle of attack angle pattern.

The induction command calculation step for drawing the rising section for extending the range of the induction projectile, that is, the lofting trajectory will be described with reference to FIG.

3 is a flowchart illustrating a method for controlling an induced projectile according to an embodiment of the present invention.

Referring to FIG. 3, the induction control method of an inductive projectile starts at a step S110 in which the slip distance calculation unit 220 calculates slopes of up to different types of training targets from an inductive projectile.

In step S120, the flight trajectory deriving unit 230 derives the flight trajectory of the inductive projectile according to each of the ranges according to a predetermined algorithm. Here, the range is the distance to where the inductive projectile can be launched and reached. In the present invention, it is the distance between the inductive projectile and the intercept point.

Deriving the flight trajectory of the inductive projectile according to a predetermined algorithm may include deriving the flight trajectory of the inductive projectile using the elapsed time after the inductive projectile is fired and the speed of the flight vehicle calculated by the control variable for the flight control of the inductive projectile do. The predetermined algorithm is optimized to arrive at a condition that maximizes the target intercept rate by substituting an arbitrary angle of attack. In addition, the optimization setting is performed according to each of the ranges to determine the flight state information of the inductive projectile and the shape of the guidance command.

In step S120, the flight trajectory derivation unit 230 may perform optimization to maximize the target intercept speed using an equation applied to the optimization problem. The optimizer derives the optimal graph to arrive at the constraints while satisfying the formulas of the dynamic model by assigning arbitrary angles of attack.

A dynamic model including a variable of time is calculated according to the following equation (1).

here

Is the inductive projectile velocity magnitude,

The magnitude of the thrust with time,

The Mahayu,

The flight path angle,

Is the magnitude of mass over time,

The distance of the inductive projectile,

The altitude,

Is the angle of attack,

here

Is an expression for differentiating the above condition according to the change of time so that the tilt can be recognized.

The thrust model and the time-dependent thrust model of the mass are implemented according to the following equation (2).

here

Thrust,

Is the mass.

Constraints are implemented according to Equation (3) below.

here

Is the inductive projectile velocity magnitude,

The flight path angle,

The distance of the inductive projectile,

Is an altitude.

Target Intercept Speed

In order to improve the optimization convergence speed and model simplification in the above equations, the two-dimensional mass point model is modeled considering aerodynamic force, thrust and mass change, and the side slip angle and the steering displacement angle are set to 0 Also, the thrust model assumes a constant model and performs optimization. Here, when mechanically examining the motion of an object, the object is referred to as a material point when the shape or size thereof can be ignored. Ignoring type or size means that I do not consider things like changes in shape or direction or size.

In step S120, the flight trajectory deriving unit 230 realizes the maximization of the target intercepting speed through the looping trajectory. The trajectory is an inverse command type in which the angle of attack is 0 degrees at the initial specific angle of attack, Can be implemented.

In step S130, the angle of attack pattern calculation unit 240 calculates the angle of attack pattern of the inductive projectile to fly the inductive projectile with the determined flight path.

In step S130, the angle of attack pattern calculation unit 240 determines an angle of attack command relation satisfying the flight path, and determines an initial angle of attack according to the range from the angle of attack command relation to the training targets.

In step S140, the approximate curve determining unit 240 determines an approximate curve approximating the calculated angle of attack pattern as a flight control command value for controlling the flight of the inductive projectile. In the step of determining the approximate curve, the initial angle of attack determined according to the distance to the training targets is tabulated. The angle of attack pattern is a pattern according to the angle of attack that maximizes the speed of the air vehicle when the inductive projectile collides with the target.

The flight control command value changes the command value according to the flight time by applying the initial angle of attack determined from the approximate curve approximating the angle of attack pattern.

FIG. 4 is a flowchart illustrating a method of controlling the induction projectile from an in-service charcoal according to an embodiment of the present invention.

Referring to FIG. 4, the inductive control method of the inductive projectile in operation by the control variable determiner 200 starts in step S210 of calculating the actual range from the inductive projectile to the target to be intercepted. When the inductive projectile is actually operated, the range of the predicted intercept point changes with the flight time, so that the remaining range of the inducted projectile and the target can be calculated in real time.

In step S220, the slip distance calculating unit 220 calculates slip ranges up to different types of training targets from the induction projectile in which the parabolic motion is performed.

In step S230, the flight trajectory deriving unit 230 derives the flight trajectory of the inductive projectile according to each of the above-mentioned ranges in accordance with a predetermined algorithm.

In step S240, the angle of attack pattern calculation unit 240 calculates the angle of attack pattern of the inductive projectile to fly the inductive projectile with the determined flight path.

In step S250, the approximate curve determining unit 250 determines an approximate curve approximating the calculated angle of attack pattern as a flight control command value for controlling the flight of the inductive projectile.

In step S260, the control unit 300 determines the initial angle of attack of the inductive projectile according to the actual range calculated using the determined approximate curve. In the step of determining the initial angle of attack, an initial angle of attack according to the actual range calculated in the table is derived.

In step S270, the control unit 300 controls the flight of the inductive projectile according to the determined initial angle of attack, and determines the real-time angle of attack of the inductive projectile in consideration of the residual distance to the target and the target. In the step of determining the real-time angle of attack of the inductive projectile, a command value varying for a predetermined time is applied using an approximate curve approximating to the calculated angle-of-attack pattern.

5 is a flowchart illustrating a configuration of an operation mode according to a target position according to an embodiment of the present invention.

Referring to FIG. 5, an inductive projectile is fired in a different operation mode according to the position of the target tracked by the radar. For a target in the field of view of the navigator (FOV), LOBL, Lock-On Before Launch method, and targets other than the sight of the navigator are classified into a LOAL (Lock-On After Launch) method.

The induction control method of an inductive projectile according to an embodiment of the present invention is mainly aimed at an enemy airplane interception in an air-to-air engaging situation, and is classified into a short distance, a medium distance and a long distance depending on a range. Among them, the short-range induction projectiles have high performance for the main purpose of dog-fight engaging in tail-to-tail tail. However, if you look at the latest short-range induction projectiles, it is becoming more favorable to shoot first, according to the technological development of the radar and other surveillance assets of the fighter along with the explorer and the propulsion agency. Therefore, the concept of LOAL (Lock-On After Launch) mode for tracking the target after launching the inductive projectile on the platform is added to the target in the field of view (FOV). Loft mode is added to the operating concept to extend the range. Loft mode is intended to increase the altitude of the inducted launch vehicle to extend the range, and it is advantageous to maximize the speed at the target intercept point. In the present invention, by introducing the induction command control method for the Loft mode, it can be applied to the design of the induction technique of the latest short-range air-to-air induction vehicle in which the concept of the range extension is essential.

Specifically, in the present invention, an angle-of-attack command is applied to an induction command for extending a range in the LOAL-Loft method.

In the LOAL (Lock-On After Launch) method, the target is not aimed and fired at an arbitrary point, then the intermediate guidance is induced through the data link of the induction projectile, Loft is to fire an inductive projectile to draw a high arc.

In step S310, the radar of the inductive projectile detects and tracks the target.

In step S320, the inductive projectile can select an operation mode according to the position of the target.

In step S330, the inductive projectile confirms the position of the target using a searcher. If the target is within the field of view of the explorer (FOV), it is fired in the LOBL method (S342). If the target is outside the field of view of the searcher, , And Lock-On After Launch (S340). In the present invention, the case where the target is outside the field of view of the searcher is taken as an example.

The inductive projectile launched in step S350 identifies the area of the predicted intercept point. If the region of the predicted intercept point is the front region of the induced projectiles, the Loft method is applied (S360), and if it is the rear region of the induced projectiles, the Rear Attack method is applied (S362).

The Rear Attack method is a method of aiming the navigator after turning backward in the same manner as the LOBL (Lock-On Before Launch) method.

In step S370, the inductive projectile is homed to the target by using the gaze angular velocity (LOS rate) information of the searcher. Homing induction is a method that uses energy reflected or emitted from a target to acquire tracking information based on it, and induces the target to be hit. The homing method is divided into active, semiactive and manual depending on the position of the energy source.

The homing projectile has a searcher (Seeker), so that the guided projectiles can fly directly to the target, and the more accurately the guided projectile approaches the target, the more accurate the position of the target is.

In addition, according to another embodiment of the present invention, the controller 300 calculates the actual range of change in real time when the inductive projectile approaches the target, determines the angle of attack, thereby extending the range and accurately shooting the target .

In step S380, the inductive projectile shoots the target, and the intercepting process ends.

6 is a diagram illustrating the progress of an inductive projectile according to an exemplary embodiment of the present invention.

The progress of the inductive projectile in the LOAL-Loft system according to the present invention is shown.

Referring to FIG. 6, the flight stage of the inductive projectile is divided into three phases: an initial flight phase (T1), a middle flight phase (T2), and a final flight phase (T3).

The first initial flight phase (T1) is divided into a safe separation section that straightly flies a certain distance to prevent collision with the platform when the inducted projectile is fired, and a rising section that raises the altitude to extend the range of the inductive projectile. Apply the command.

The induction projectile 420 is separated from the air vehicle 410 in the T1 section and the kinetic energy is converted into the position energy through the elevation of the altitude. The range of the range can be extended by minimizing the drag increment and speed loss due to the elevation have. In addition, the target interception rate can be maximized by applying the angle of attack induction command according to the present invention.

The second midterm flight phase (T2) uses the energy obtained in the initial flight phase (T1) to induce inertia just before the end.

In the T2 section, the induction projectile 420 draws a parabolic trajectory or fly at a certain altitude by using a navigator after the elevation of the altitude. Since the level of altitude rise usually depends on the range, it is necessary to predict the intercept point (IP) before the launch. The IP prediction method includes the method using the triangle using the target and the speed vector of the inductive launch vehicle, And a method of finding an intercept point by selecting a specific point on the movement path and comparing the time that the target and the inductive projectile arrive to the point.

The third flight phase (T3) is homing to the target using the navigator gaze velocity (LOS rate) information.

6, the inductive projectile 420 is guided to the predicted intercept point 430 and determines the predicted intercept point in consideration of the traveling direction of the object 440 to be collided.

In order to precisely intercept the target, it is necessary to secure sufficient information of the target at the end of flight phase. An explorer is widely used to obtain such information. The gaze angular velocity is the rate of change of the angle viewed from the target on the gaze axis of the inductive projectile. Since the navigator measures only the gaze angle of the induction projectile and the target, it is necessary to estimate the gaze velocity in order to perform the guidance.

In the present invention, the target motion information is obtained from the searcher, the gaze angular velocity is estimated using the motion information of the inductive projectile and the target motion information, the guidance command is calculated based on the estimated gaze angular velocity, and the guidance command of the guided projectile is calculated . Then, the inductive projectile can be driven according to the generated control command information.

7 is a diagram illustrating a result of maximizing the termination speed according to an embodiment of the present invention.

Using the inductive projectile model designed in accordance with FIG. 6 and the mathematical expressions, an angle of attack which maximizes the terminal velocity in the flight path form and the flight path form is derived.

FIG. 7A is a diagram showing a flight path shape derived by performing optimization according to a range of a predicted intercept point. FIG.

In the graph of Fig. 7A, the abscissa represents the moving distance of the inductive projectile

, And the vertical axis represents the elevation height of the inductive projectile

to be.

Referring to FIG. 7A, the range of the predicted intercept point represents three cases of range 1 to range 3. In order to maximize the target intercept rate, we have a looping trajectory, and in all three cases we have a trajectory of lofting. Also, the longer the range, the higher the elevation.

FIG. 7B is a diagram showing an angle of attack pattern derived by performing optimization according to a slope distance of a predicted intercept point.

In the graph of Fig. 7B, the abscissa represents the flight time of the inductive projectile

And the vertical axis represents the angle of attack of the inductive projectile

to be.

Referring to FIG. 7B, the range of the predicted intercept point represents three cases of range 1 to range 3. In order to maximize the target intercept rate, the command angle is shaped in the approximate inverse proportion to the magnitude of the angle of attack according to the flight time.

In FIG. 7B, the shape of bouncing around 0.03 seconds is a shape which is represented by the time interval and the degree of convergence in the optimization process, and does not affect the contents of the present invention.

The basic purpose of an inductive projectile is to make the relative distance to the target zero, that is, hit the target precisely. There is a way to maximize the energy of the induction projectile during interception, and to maximize its effect, it is necessary to maximize the end speed.

In the present invention, the optimization of the target intercepting speed is maximized to derive the flight trajectory and the induction command form, thereby minimizing the energy consumption at the point when the specific point is reached, and maximizing the speed.

8 is a view showing an approximate curve according to an embodiment of the present invention.

Referring to FIG. 8, an inductive projectile calculates an angle of attack pattern of an inductive projectile for flying an inductive projectile with a determined flight path, and then calculates an approximate curve approximating an angle of attack pattern calculated as a flight control command value for controlling the flight of the inductive projectile. .

In the approximate curve of Fig. 8, the horizontal axis represents the flight time of the inductive projectile

to be. An intake angle command relation having an initial specific angle of attack and inversely proportional to the flight time is derived to satisfy the result of the induction command form of FIG.

The derived angle of attack angle command is implemented according to Equation (4) below.

here,

Is the final angle of attack,

Is the initial angle of attack,

Is a variable called a time constant, which means a rate of change over time,

Is the Laplace transformed equation of the frequency domain.

The approximate curve of FIG. 8 is a curve that is drawn from when the angle of attack is maximum, and excludes the time from the initial launch to the time when the command value is reached. In the initial flight stage of the present invention, there is a safety separation section that travels a certain distance to prevent collision between the induction projectile and the platform. In addition, since the angle of attack starts at 0 degree at the initial launch of the induction projectile, the curve of the angle of attack increases vertically until the command value is reached, and after the maximum angle of attack, the curve is inversely proportional to the flight time.

In the present invention, the angle of attack inducing command type can increase the accuracy rate of the target intercepting speed as much as possible by increasing the angle of attack by applying an angle of attack command value that varies in inverse proportion to a specific one value during the flight time.

The present invention is a computer program for performing an inductive control method of an inductive launch vehicle recorded in a non-transitory computer readable medium including computer program instructions executable by a processor, Calculating a range of trajectory up to different types of training targets with an inductive projectile performing a parabolic motion, calculating a flight trajectory of the inductive projectile according to the predetermined range according to a predetermined algorithm, Calculating an angle of attack pattern of the inductive projectile to fly the inductive projectile, and determining an approximate curve approximating the calculated angle of attack pattern as a flight control command value for controlling the flight of the inductive projectile Perform actions A computer program can be executed.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Therefore, the scope of the present invention is not limited to the above-described embodiments, but should be construed to include various embodiments within the scope of the claims.

10: Induction control device
20: Control variable determining device
100: Input unit
200: Control variable determining unit
300:
210: Target position tracking unit
220:
230: flight trajectory deriving part
240: angle of attack pattern calculation unit
250: approximate curve determining unit

Claims

Calculating the slopes of the induction projectiles to different types of training targets;
Deriving a flight trajectory of the inductive projectile according to a predetermined range in accordance with a predetermined algorithm;
Calculating an angle of attack pattern of the inducted launch vehicle for flying the inductive projectile with the determined flight trajectory; And
Determining an approximate curve approximating the calculated angle of attack pattern as a flight control command value for controlling the flight of the inductive projectile,
Deriving the flight path of the inductive projectile according to the predetermined algorithm,
Wherein the flight trajectory of the inductive projectile is derived using the elapsed time after the inductive projectile is fired and the speed of the flight vehicle calculated by the control variable for the flight control of the inductive projectile.

delete

The method according to claim 1,
The step of calculating the angle of attack pattern of the inductive projectile may include:
Determining an angle of attack command relation satisfying the flight path; And
And determining an initial angle of attack according to a range of distance from the angle of attack command relation to the training targets.

The method according to claim 1,
Wherein the step of determining an approximate curve approximating the calculated angle of attack pattern comprises:
And the initial angle of attack determined according to the distance to the training targets is tabulated.

The method according to claim 1,
The flight control command value may include:
Wherein the command value is a command value that varies with the flight time by applying the determined initial angle of attack in an approximate curve approximating the angle of attack pattern.

The method according to claim 1,
Wherein the control variable is a control variable including at least one information selected from the group consisting of arbitrary angle of attack, elevation speed, mass change amount, and thrust information for the inductive projectile.

The method of claim 3,
The angle-
Wherein the induction projectile is a pattern corresponding to an angle of attack which maximizes a speed of the induction projectile when the induction projectile collides with the target.

Further comprising calculating an actual slip distance to a target to be intercepted,
Calculating a range of an induction projectile that performs a parabolic motion and ranges of different types of training targets;
Calculating flight trajectories of the inductive projectile according to a predetermined range of angles;
Calculating an angle of attack pattern of the inducted launch vehicle for flying the inductive projectile with the determined flight trajectory;
Determining an approximate curve approximating the calculated angle of attack pattern as a flight control command value for controlling flight of the inductive projectile; And
And determining an initial angle of attack of the inductive projectile according to the calculated actual range using the determined approximate curve.

9. The method of claim 8, further comprising the step of determining the initial angle of attack,
Controlling the flight of the inductive projectile according to the determined initial angle of attack, and determining the real-time angle of attack of the inductive projectile in consideration of the remaining distance to the target and the target.

9. The method of claim 8,
Calculating an actual slip distance to the target to be intercepted,
Wherein when the inductive projectile is actually operated, the remaining in-range distance from the inductive projectile to the target is calculated in real time.

9. The method of claim 8,
Wherein determining the initial angle of attack of the inductive projectile comprises:
And derives the initial angle of attack according to the calculated actual range.

9. The method of claim 8,
Wherein the step of determining the real-
And a command value varying for a predetermined time is applied using an approximate curve approximating the calculated angle of attack angle pattern.

A computer program for performing a method of induction control of an inductive vehicle, recorded in a non-transitory computer readable medium including computer program instructions executable by a processor,
Calculating the slopes of the induction projectiles to different types of training targets;
Calculating flight trajectories of the inductive projectile according to a predetermined range of angles;
Calculating an angle of attack pattern of the inducted launch vehicle for flying the inductive projectile with the determined flight trajectory; And
Determining an approximate curve approximating the calculated angle of attack pattern as a flight control command value for controlling flight of the inductive projectile.