CN108279693A - A kind of projecting rolling control method of Air-to-Surface Guided Weapon - Google Patents
A kind of projecting rolling control method of Air-to-Surface Guided Weapon Download PDFInfo
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- CN108279693A CN108279693A CN201711481938.XA CN201711481938A CN108279693A CN 108279693 A CN108279693 A CN 108279693A CN 201711481938 A CN201711481938 A CN 201711481938A CN 108279693 A CN108279693 A CN 108279693A
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- 238000005096 rolling process Methods 0.000 title claims abstract description 77
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000013016 damping Methods 0.000 claims abstract description 26
- 238000006073 displacement reaction Methods 0.000 claims abstract description 12
- 238000000926 separation method Methods 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims 1
- 238000004088 simulation Methods 0.000 description 6
- 238000012795 verification Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 4
- CHIFOSRWCNZCFN-UHFFFAOYSA-N pendimethalin Chemical group CCC(CC)NC1=C([N+]([O-])=O)C=C(C)C(C)=C1[N+]([O-])=O CHIFOSRWCNZCFN-UHFFFAOYSA-N 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
A kind of projecting rolling control method of Air-to-Surface Guided Weapon, program instruction γcWith body roll angle γ in the first comparison point (4) after obtain body rolling angular displacement e；Body rolling angular displacement e enters limiter (6) after PI controllers (5), by limiter (6) output first control signal UPI；First control signal UPIWith the second control signal U after damping feedback element (7)KwSummation in the second comparison point of common input (8)；Second comparison point (8) the summation i.e. input instruction of executing agency (9) in order to control；Executing agency (9) generates angular velocity in roll ω for controlling body around longitudinal axis rollingx；The angular velocity in roll ω of bodyxOn the one hand the output second control signal U after damping feedback element (7)KwGive the second comparison point (8), the angular velocity in roll ω of another aspect bodyxBody roll angle γ is obtained after integrated device (11) to the first comparison point (4).
Description
Technical field
The present invention relates to a kind of projecting rolling control methods of Air-to-Surface Guided Weapon, belong to guided weapon gesture stability neck
Domain.
Background technology
Usual Air-to-Surface Guided Weapon body is just being hung under hanger, after guided weapon body is detached from carrier aircraft, you can is carried out
Normal triple channel Guidance and control.But in some cases, guided weapon body be only capable of selection it is projecting drop a bomb mode when, guidance is military
Device body be detached from carrier aircraft after can not be controlled according to normal Guidance and control program, it is necessary to first solve guided weapon from hang upside down to
The body rolling problem faced during its normal flight (body normal direction is upward) this section；Above-mentioned guided weapon is solved simultaneously from
It is suspended to during the body rolling problem that its normal flight (body normal direction is upward) is faced, on the one hand needs to shorten roll procedure
Time, for the follow-up Guidance and control of guided weapon reserve time enough, on the other hand need keep guided weapon rolling
Stability in journey avoids causing attitude instability.Currently, the technical problem is situated between in correlative technology field without open control program
It continues.
Invention content
The technical problem to be solved by the present invention is to：A kind of Air-to-Surface Guided Weapon is overcome the deficiencies of the prior art and provide
Projecting rolling control method keeps rolling control more smooth, reliable, quick, using present invention side using secondary circuit feedback control
Method can be such that aerial-to-ground guidance weapon hangs upside down under carrier aircraft hanger, solve the problems, such as just hang in some cases.
The object of the invention is achieved by the following technical programs：
A kind of projecting rolling control method of Air-to-Surface Guided Weapon, program instruction γcWith body roll angle γ in the first ratio
Compared with obtaining body rolling angular displacement e after in point；Body rolling angular displacement e enters limiter after PI controllers, passes through
Limiter amplitude limit exports first control signal UPI；First control signal UPIWith the second control signal after damping feedback element
UKwIt sums in the second comparison point of common input；The summation of second comparison point is the input instruction of executing agency；Executing agency is used for
Body is controlled around longitudinal axis rolling, generates angular velocity in roll ωx；The angular velocity in roll ω of bodyxOn the one hand after damping feedback element
Export second control signal UKwTo the second comparison point, the angular velocity in roll ω of another aspect bodyxBody is obtained after integrated device
Roll angle γ gives the first comparison point.
The projecting rolling control method of above-mentioned Air-to-Surface Guided Weapon, the damped coefficient K of the damping feedback elementωFor
T in formulamFor controlled device time constant, KmFor controlled device gain.
The projecting rolling control method of above-mentioned Air-to-Surface Guided Weapon, the limiter UmaxAmplitude limit amplitude is
Umax=-Kωωxmax
ω in formulaxmaxFor the amplitude limit value of rolling maximum angular speed.
The projecting rolling control method of above-mentioned Air-to-Surface Guided Weapon, it is described after overdamp feedback element, damping circuit
Closed loop transfer function,For
S=σ+j ω are plural (Laplace operator) in formula.
The projecting rolling control method of above-mentioned Air-to-Surface Guided Weapon, second comparison point, executing agency, controlled device and
Damp the inner looping of the projecting rolling control method of feedback element composition Air-to-Surface Guided Weapon.
The projecting rolling control method of above-mentioned Air-to-Surface Guided Weapon, first comparison point, PI controllers, limiter, resistance
Buddhist nun's feedback element, the second comparison point, executing agency, controlled device and the projecting rolling control of integrator composition Air-to-Surface Guided Weapon
The external loop of method.
The projecting rolling control method of above-mentioned Air-to-Surface Guided Weapon, includes the following steps：
Step 1: Air-to-Surface Guided Weapon is hung upside down under carrier aircraft hanger, body normal direction is downward；
Step 2: after the separation of the machine of bullet, rolling control section is entered after without control section, no control section rolling rudder is zero partially；
Step 3: program instruction γcWith body roll angle γ in the first comparison point after to obtain body roll angle inclined
Poor e；Body rolling angular displacement e enters limiter after PI controllers, by limiter amplitude limit output first control signal UPI；
First control signal UPIWith the second control signal U after damping feedback elementKwIt sums in the second comparison point of common input；The
Output third control signal controls executing agency after the summation of two comparison points；Executing agency is for controlling body around longitudinal axis rolling, production
Raw angular velocity in roll ωx；The angular velocity in roll ω of bodyxOn the one hand second control signal U is exported after damping feedback elementKwIt gives
Second comparison point, the angular velocity in roll ω of another aspect bodyxBody roll angle γ is obtained after integrated device to the first comparison point.
The present invention has the advantages that compared with the prior art：
(1) present invention uses secondary circuit feedback control, can effectively control the body rolling that guided weapon is detached from after carrier aircraft,
The time of roll procedure is shorter, and the stability in roll procedure is strong, and this aspect passes through theory analysis, Hardware-in-loop Simulation Experimentation
With the verification experimental verification that drops a bomb；
(2) feedback factor determines theoretical method according to fully in damping circuit in the present invention, and method is simple and reliable, and passes through
Adequately theory and its feasibility of verification experimental verification；
(3) the determination method of amplitude limit value simplifies reasoning by rational in the present invention, and by sufficient verification experimental verification its
Feasibility.
Description of the drawings
When Fig. 1 is that Air-to-Surface Guided Weapon is just hung and hang upside down under carrier aircraft hanger in the present invention and its bullet machine detaches latter section
Interior flight course schematic diagram；
Fig. 2 is that Air-to-Surface Guided Weapon rolling control method program runs sequence diagram in the present invention；
Fig. 3 is the rolling control principle block diagram of present invention rolling control section；
Fig. 4 is that rolling instruction and body roll angle change over time situation map in l-G simulation test of the present invention；
Fig. 5 is that body angular velocity in roll changes over time situation map in l-G simulation test of the present invention；
Fig. 6 be the present invention drop a bomb experiment in rolling instruction and body roll angle change over time situation map；
Fig. 7 be the present invention drop a bomb experiment body angular velocity in roll change over time situation map.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, the implementation below in conjunction with attached drawing to the present invention
Mode is described in further detail.
When Fig. 1 is that Air-to-Surface Guided Weapon is just hung and hang upside down under carrier aircraft hanger in the present invention and its bullet machine detaches latter section
Interior flight course schematic diagram；I.e. Air-to-Surface Guided Weapon, which is hung under carrier aircraft hanger, has the following two kinds may situation：
The first situation：Body 1 is just being hung under carrier aircraft hanger, and after playing machine separation, body enters right way-up position；
The second situation：Body 1 is hung upside down under carrier aircraft hanger, and after playing machine separation, body is just flying by rolling control entrance
State.
The projecting rolling control method of Air-to-Surface Guided Weapon of the present invention is directed to feelings the second situation.Fig. 2 is this hair
Bright middle Air-to-Surface Guided Weapon rolling control method program runs sequence diagram, after playing machine timesharing and carving, the flight shape of guided weapon
State is first in without control section, and rolling rudder instruction partially at this time is zero；Then it reaches after opening control point, body enters rolling control section；It is logical
After crossing rolling control terminal, body enters other stages until guided weapon hits the mark.
Fig. 3 is the rolling control principle drawing of present invention rolling control section, program instruction γcWith body roll angle γ first
Body rolling angular displacement e is obtained after in comparison point 4；Body rolling angular displacement e enters limiter 6 after PI controllers 5,
6 amplitude limit of limiter exports first control signal UPI；First control signal UPIWith the second control letter after damping feedback element 7
Number UKwIt sums in the second comparison point 8 of common input；The summation of second comparison point 8 is the input instruction of executing agency 9；Executing agency
9 deflect for controlling the roll attitude angle of body, generate angular velocity in roll ωx；Body is by angular velocity in roll ωxOn the one hand
Second control signal U is exported after damping feedback element 7KwTo the second comparison point 8, another aspect body is by angular velocity in roll ωx
Body roll angle γ is obtained after integrated device 11 to the first comparison point 4.By above-mentioned rolling control principle control body from open control
The roll angle of point moment rolls to 0 °, that is, plays process of the completion from projecting state to right way-up position after machine separation.
The effect of damping feedback element 7 is on the one hand to improve the characteristic of controlled device 10, improves the anti-dry of controlled device 10
Disturb ability；On the other hand the maximum value of limitation angular velocity in roll is no more than ωxmaxDesign value, rolling maximum angular in the present embodiment
The amplitude limit value ω of ratexmaxDesign value value be 120 °/s.Damp the roll-damping ratio K of feedback element 7ωFor
T in formulamFor controlled device time constant, KmFor controlled device gain.
For easy analysis, each link mathematical model is provided, the transmission function of executing agency 9 isControlled pair
As 10 transmission function isAfter overdamp feedback element 7, the closed loop transfer function, of damping circuit is：
In formulaForLaplace transform, s=σ+j ω are plural (Laplace operator).
Wherein, the time constant of the generalized controlled object after inner looping is fed back isIn order to improve quilt
The characteristic for controlling object 10, in the present embodimentValue is 0.1 or so, so far can seek damping feedback factor Kω。
The value of limiter 6 depends on the value of the value and damping circuit feedback factor of maximum rolling angular speed, the amount and resistance
Buddhist nun circuit common guarantee body rolling angular speed is less than design value, and the value of limiter 6 is：
Umax=-Kωωxmax
K in formula (1)m·Kω>>1, Km>>Tm, then formula (1) can be reduced to：
Above formula can obtain the relationship between three amounts, if the rolling angular speed of body is required to be no more than rolling maximum angular speed
Amplitude limit value ωxmax, U can be soughtmaxValue.
Body can be controlled using the projecting rolling control method of above-mentioned Air-to-Surface Guided Weapon steadily to roll from projecting state
To the position that roll attitude angle is zero.
The present invention includes two backfeed loops：Inner looping (also known as damping circuit)：Including the second comparison point 8, executing agency
9, controlled device 10 and damping feedback element 7, inner looping effect：On the one hand the characteristic for improving controlled device 10, makes through overdamp
The generalized controlled object after circuit feedback has preferable characteristic, improves its anti-interference ability；On the other hand maximum roll angle is limited
Speed is no more than design value.External loop：Including the first comparison point 4, PI controllers 5, limiter 6, inner looping, integrator 11, outside
Circuit acts on：Make rolling control instruction in roll attitude angle tracking by the effect of PI controllers 5.
A kind of projecting rolling control method of Air-to-Surface Guided Weapon, includes the following steps：
Step 1: Air-to-Surface Guided Weapon projecting 3 is under carrier aircraft hanger 2, body normal direction is downward；
Step 2: after the separation of the machine of bullet, rolling control section is entered after without control section, no control section rolling rudder is zero partially；
Step 3: program instruction γcWith body roll angle γ in the first comparison point 4 after to obtain body roll angle inclined
Poor e；Body rolling angular displacement e enters limiter 6 after PI controllers 5, and 6 amplitude limit of limiter exports first control signal UPI；
First control signal UPIWith the second control signal U after damping feedback element 7KwIt sums in the second comparison point 8 of common input；
The summation of second comparison point 8 is the input instruction of executing agency 9；The roll attitude angle that executing agency 9 is used to control body occurs
Deflection generates angular velocity in roll ωx；Body is by angular velocity in roll ωxOn the one hand the second control of output after damping feedback element 7
Signal UKwTo the second comparison point 8, another aspect body is by angular velocity in roll ωxObtained after integrated device 11 body roll angle γ to
First comparison point 4.Body is controlled by above-mentioned rolling control principle to roll to 0 ° from the roll angle for opening control point moment, that is, plays machine point
Process from rear completion from projecting state to right way-up position.
The first embodiment of the present invention is：
If the transmission function of controlled device 10ForWherein Km=-1900, Tm=11.5；
Umax=-Kωωxmax=-7.2；
Emulating initial value, setting completed.
Body roll angle and angular velocity in roll control result are as shown in Figure 4, Figure 5, and Fig. 4 is rolled in l-G simulation test of the present invention
Instruction and body roll angle change over time situation map；Fig. 5 is that body angular velocity in roll becomes at any time in l-G simulation test of the present invention
Change situation map；Simulation result shows that the method for the present invention has preferable control effect.
Fig. 6 be the present invention drop a bomb experiment in rolling instruction and body roll angle change over time situation map；Fig. 7 is the present invention
The experiment body angular velocity in roll that drops a bomb changes over time situation map.By Fig. 6 and Fig. 7 it is found that being fallen for Air-to-Surface Guided Weapon
Extension drops a bomb situation, and the present invention can effectively solve the problems, such as body rolling of the body from dropping a bomb to right way-up position, and this method is simple, can
It leans on, effectively, and is verified by live shell.
The content that description in the present invention is not described in detail belongs to the known technology of those skilled in the art.
Claims (7)
1. a kind of projecting rolling control method of Air-to-Surface Guided Weapon, it is characterised in that：Program instruction γcWith body roll angle γ
Body rolling angular displacement e is obtained after in the first comparison point (4)；Body rolling angular displacement e is laggard by PI controllers (5)
Enter limiter (6), by limiter (6) output first control signal UPI；First control signal UPIWith through damp feedback element
(7) the second control signal U afterKwSummation in the second comparison point of common input (8)；Second comparison point (8) summation is held in order to control
The input of row mechanism (9) instructs；Executing agency (9) generates angular velocity in roll ω for controlling body around longitudinal axis rollingx；Body
Angular velocity in roll ωxOn the one hand the output second control signal U after damping feedback element (7)KwThe second comparison point (8) is given, separately
The angular velocity in roll ω of one side bodyxBody roll angle γ is obtained after integrated device (11) to the first comparison point (4).
2. a kind of projecting rolling control method of Air-to-Surface Guided Weapon according to claim 1, it is characterised in that：The resistance
The damped coefficient K of Buddhist nun's feedback element (7)ωFor
T in formulamFor controlled device time constant, KmFor controlled device gain.
3. a kind of projecting rolling control method of Air-to-Surface Guided Weapon according to claim 2, it is characterised in that：The limit
Width device (6) amplitude limit amplitude UmaxFor
Umax=-Kωωxmax
In formula, ωxmaxFor the amplitude limit value of rolling maximum angular speed.
4. a kind of projecting rolling control method of Air-to-Surface Guided Weapon according to claim 2, it is characterised in that：The warp
After overdamp feedback element (7), the closed loop transfer function, of damping circuitFor
S is plural number in formula.
5. a kind of projecting rolling control method of Air-to-Surface Guided Weapon according to claim 1, it is characterised in that：Described
Two comparison points (8), executing agency (9), controlled device (10) and damping feedback element (7) composition Air-to-Surface Guided Weapon hang upside down and turn over
Roll the inner looping of control method.
6. a kind of projecting rolling control method of Air-to-Surface Guided Weapon according to claim 1, it is characterised in that：Described
One comparison point (4), PI controllers (5), limiter (6), damping feedback element (7), the second comparison point (8), executing agency (9),
The external loop of controlled device (10) and the projecting rolling control method of integrator (11) composition Air-to-Surface Guided Weapon.
7. a kind of projecting rolling control method of Air-to-Surface Guided Weapon according to claim 1, it is characterised in that：Including such as
Lower step：
Step 1: Air-to-Surface Guided Weapon hangs upside down (3) under carrier aircraft hanger (2), body normal direction is downward；
Step 2: after the separation of the machine of bullet, rolling control section is entered after without control section, no control section rolling rudder is zero partially；
Step 3: program instruction γcWith body roll angle γ in the first comparison point (4) after obtain body rolling angular displacement
e；Body rolling angular displacement e enters limiter (6) after PI controllers (5), by the first control of limiter (6) amplitude limit output
Signal UPI；First control signal UPIWith the second control signal U after damping feedback element (7)KwThe second comparison point of common input
(8) summation in；Second comparison point (8) the summation i.e. input instruction of executing agency (9) in order to control；Executing agency (9) is for controlling
Body generates angular velocity in roll ω around longitudinal axis rollingx；The angular velocity in roll ω of bodyxOn the one hand after damping feedback element (7)
Export second control signal UKwGive the second comparison point (8), the angular velocity in roll ω of another aspect bodyxAfter integrated device (11)
The first comparison point (4) is given to body roll angle γ.
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| CN201711481938.XA CN108279693B (en) | 2017-12-29 | 2017-12-29 | Air-to-ground guided weapon upside-down-hanging rolling control method |
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| CN201711481938.XA CN108279693B (en) | 2017-12-29 | 2017-12-29 | Air-to-ground guided weapon upside-down-hanging rolling control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109579617A (en) * | 2018-12-21 | 2019-04-05 | 上海机电工程研究所 | Rolling control method, system and the medium of canard aerodynamic arrangement guided missile |
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|---|---|---|---|---|
| CN109579617A (en) * | 2018-12-21 | 2019-04-05 | 上海机电工程研究所 | Rolling control method, system and the medium of canard aerodynamic arrangement guided missile |
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