CN109900157B - Semi-physical simulation platform and method for guidance ammunition terminal guidance law - Google Patents
Semi-physical simulation platform and method for guidance ammunition terminal guidance law Download PDFInfo
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Abstract
The invention discloses a semi-physical simulation platform for a guided munition terminal guidance law, which comprises a main control computer, a three-axis turntable, a turntable control cabinet, a microcontroller, a steering engine driver, a pitching channel electric steering engine, a yawing channel electric steering engine, a pitching channel potentiometer and a yawing channel potentiometer, wherein the steering engine driver, the pitching channel electric steering engine, the yawing channel electric steering engine, the pitching channel potentiometer and the yawing channel potentiometer are fixed on the three-axis turntable; the semi-physical simulation platform and the semi-physical simulation method for the guided munition end guidance law combine the advantages of the semi-physical simulation technology and the characteristics of the guided munition end guidance law, combine the embedded microcontroller technology and the semi-physical simulation technology, set programs, set parameters and the control platform through the serial communication bus, transmit, receive, store and display the parameters in real time, facilitate users to easily complete the semi-physical simulation of the novel end guidance law with complex structure and more parameters and select the structure and the parameters with higher reliability, reduce the experiment cost, shorten the experiment period and contribute to promoting the application of the novel end guidance law in the pharmacy.
Description
Technical Field
The invention relates to the technical field of semi-physical simulation of a guidance ammunition terminal guidance law, in particular to a guidance ammunition terminal guidance law (guidance control law of guidance ammunition at the tail section of flight) semi-physical simulation platform and method.
Background
The terminal guidance law is a core technology for controlling a guidance ammunition to achieve remote accurate striking, plays a significant role in exerting the great power of a warhead, and along with the application of a modern control theory in the terminal guidance law, the control performance of the novel terminal guidance law is increasingly improved, and meanwhile, the structure of the terminal guidance law is more complex and the parameters are increased.
In recent years, China vigorously develops high-precision low-cost guidance ammunition, the structure and parameters of the terminal guidance law are mainly selected by a digital simulation method at present, but the method is only suitable for the classical terminal guidance law with simple structure and few parameters, the structure and parameters with high reliability are difficult to determine for the novel terminal guidance law, the live ammunition flight inspection with high cost and long period cannot be carried out, and the application of the novel terminal guidance law in missile production of ammunition is hindered.
Disclosure of Invention
The invention aims to provide a semi-physical simulation platform and a semi-physical simulation method for a guided munition end guidance law, which can realize real-time driving and feedback of a pitching and yawing channel electric steering engine and a three-axis turntable and semi-physical simulation of the end guidance law, are favorable for improving the reliability of selected structural parameters, shorten the development period and reduce the development cost.
In order to achieve the purpose, the invention designs a guidance ammunition terminal guidance law semi-physical simulation platform, which is characterized in that: the device comprises a main control machine, a three-axis turntable, a turntable control cabinet, a microcontroller, a steering engine driver, a pitching channel electric steering engine, a yawing channel electric steering engine, a pitching channel potentiometer and a yawing channel potentiometer, wherein the steering engine driver, the pitching channel electric steering engine, the yawing channel electric steering engine, the pitching channel potentiometer and the yawing channel potentiometer are fixed on the three-axis turntable;
the main control machine is used for conveying a terminal guidance law control program, an emulation control instruction and an emulation control parameter to the microcontroller, a steering engine instruction output end of the microcontroller is connected with an instruction input end of a steering engine driver, a yaw channel electric steering engine control signal output end of the steering engine driver is connected with a signal input end of a yaw channel electric steering engine, a pitch channel electric steering engine control signal output end of the steering engine driver is connected with a signal input end of a pitch channel electric steering engine, an output shaft of the yaw channel electric steering engine is fixedly connected with an input shaft of a yaw channel potentiometer, an output shaft of the pitch channel electric steering engine is fixedly connected with an input shaft of a pitch channel potentiometer, a yaw channel electric steering engine output shaft deflection angle signal output end of the yaw channel potentiometer is connected with a yaw channel feedback data input end of the microcontroller, and a pitch channel electric steering engine output shaft deflection angle signal output end of the pitch channel A terminal;
a turntable control and state signal communication end of the microcontroller is connected with a communication end of a turntable control cabinet, and the turntable control cabinet is used for controlling the movement of the three-axis turntable and acquiring the attitude angle of the three-axis turntable at the current moment;
the microcontroller is used for calculating the aerodynamic force of the pitching channel electric steering engine, the aerodynamic moment of the pitching channel electric steering engine, the aerodynamic force of the yawing channel electric steering engine and the aerodynamic moment of the yawing channel electric steering engine at the current moment according to the deflection angle signal of the output shaft of the yawing channel electric steering engine and the deflection angle signal of the output shaft of the pitching channel electric steering engine at the current moment, and is also used for obtaining the deflection angle of the output shaft of the pitching channel electric steering engine, the aerodynamic moment of the yawing channel electric steering engine and the attitude angle of the three-axis turntable at the next moment through a four-step Runge Kutta method, the deflection angle of the output shaft of the yawing channel electric steering engine and the attitude angle of the three-axis turntable, namely the control information of.
A semi-physical simulation method for a guidance cartridge terminal guidance law comprises the following steps:
step 1: the main control computer sends a simulation control instruction, a set simulation control program and simulation control parameters to the microcontroller through the terminal guidance law software;
selecting a compiled simulation control program on terminal guidance law software, and installing the simulation control program into a microcontroller by sending a program installing control instruction, wherein the simulation control program comprises a differential equation set and a four-order Runge Kutta algorithm, and the differential equation set comprises a projectile six-degree-of-freedom dynamic model, a target three-degree-of-freedom kinematic model, a projectile three-degree-of-freedom relative motion model and various terminal guidance laws;
selecting or inputting simulation environment parameters, projectile body attribute parameters, target attribute parameters and terminal guidance law parameters on terminal guidance law software, and installing the simulation environment parameters, the projectile body attribute parameters, the target attribute parameters and the terminal guidance law parameters into a microcontroller by sending an installing and determining parameter control instruction;
step 2: the microcontroller is used for determining the trajectory inclination angle theta according to the attribute parameters of the projectile body at the current moment1Pitch angle signal to three axis turntable
Calculating the attack angle alpha of the projectile at the current moment by the following formula 11；
The microcontroller determines the ballistic deflection angle psi according to the bullet attribute parameters at the current moment1Yaw angle signal with three-axis turntable
Calculating the sideslip angle beta of the projectile at the current moment by the following formula 21；
The microcontroller (3.1) deflects the angle delta of the output shaft of the electric steering engine according to the pitch channel at the current momentz1Yaw channel electric steering engine output shaft deflection angle deltay1Roll angle gamma with three-axis turntable (2.1)1Calculating the equivalent deflection angle delta of the output shaft of the electric steering engine of the pitching channel at the current moment by the following formula 3zeq1Equivalent deflection angle delta of electric steering engine output shaft of yaw channelyeq1；
Angle of attack alpha in combination with the projectile at the present moment1Side slip angle beta of projectile body at current moment1Equivalent deflection angle delta of output shaft of electric steering engine of pitching channel at current momentzeq1Equivalent deflection angle delta of output shaft of electric steering engine of yaw channel at current momentyeq1Calculating parameters of acting force and acting moment of the projectile at the current moment through the six-degree-of-freedom dynamic model of the projectile set in the step 1 and the simulation control parameters set in the step 1;
and step 3: micro-controllerSolving control parameters of the guidance law at the end of the next moment and variable parameters to be solved in the differential equation set according to the differential equation set in the step 1 and a four-order Runge Kutta method, wherein the variable parameters comprise the equivalent deflection angle delta of the output shaft of the steering engine of the pitching channel at the next momentzeq2The equivalent deflection angle delta of the output shaft of the steering engine of the yaw channel at the next momentyeq2And the pitch angle of the three-axis turntable at the next moment
Yaw angle
And roll angle gamma2；
The microcontroller controls the equivalent deflection angle delta of the output shaft of the steering engine according to the pitch channel at the next momentzeq2The equivalent deflection angle delta of the output shaft of the steering engine of the yaw channel at the next momentyeq2And the roll angle gamma of the three-axis turntable at the next moment2The deflection angle delta of the output shaft of the electric steering engine of the pitch channel at the next moment is calculated by the following formula 4z2Yaw channel electric steering engine output shaft deflection angle deltay2；
And 4, step 4: the microcontroller controls the deflection angle delta of the output shaft of the electric steering engine according to the pitch channel at the next momentz2And the drift channel electric steering engine output shaft drift angle deltay2Sending a yaw channel electric steering engine control instruction and a pitch channel electric steering engine control instruction to a steering engine driver;
the yaw channel electric steering engine is controlled by the steering engine driver to move according to a yaw channel electric steering engine control command, the motion of the yaw channel electric steering engine drives an input shaft of a yaw channel potentiometer to move, and the yaw channel potentiometer feeds back the deflection angle of an output shaft of the yaw channel electric steering engine to the microcontroller;
the steering engine driver controls the pitching channel electric steering engine to move according to the pitching channel electric steering engine control instruction, the pitching channel electric steering engine drives the input shaft of the pitching channel potentiometer to move, and the pitching channel potentiometer feeds back the deflection angle of the output shaft of the pitching channel electric steering engine to the microcontroller;
the microcontroller is according to the pitch angle of the triaxial rotary table at the next moment
Yaw angle
And roll angle gamma2And sending an attitude driving instruction to the rotary table control cabinet, enabling the three-axis rotary table to move under the driving of the attitude driving instruction, obtaining the current moving attitude angle of the three-axis rotary table by the microcontroller, returning to the step 2, sequentially circulating the steps 2-4 until the projectile distance parameter is smaller than or equal to the set damage radius of the guided ammunition, and jumping out of circulation, namely ending the semi-physical simulation of the terminal guided ammunition guidance law of the guided ammunition.
The semi-physical simulation platform and the method for the guided munition end guidance law combine the advantages of the semi-physical simulation technology and the characteristics of the guided munition end guidance law, combine the embedded microcontroller technology and the semi-physical simulation technology, and bring the steering engine and the three-axis turntable into a semi-physical simulation loop, solve the problem of low simulation credibility caused by difficult accurate modeling of digital simulation due to the dynamic characteristics of the steering engine, measurement errors of an attitude angle sensor and the like, set programs, set parameters and a control platform through a serial communication bus, transmit, receive, store and display the parameters in real time, facilitate a user to easily complete the semi-physical simulation of the novel end guidance law with complex structure and more parameters and select the structure and the parameters with higher credibility, reduce the experiment cost, shorten the experiment period and contribute to promoting the application of the novel end guidance law in missile pharmacy.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
The system comprises a main control unit 1, a main control unit 1.1, a first RS 422-USB conversion module 1.2, an attitude simulation unit 2, a three-axis turntable 2.1, a turntable control cabinet 2.2, a second RS 422-USB conversion module 2.3, a control cabin unit 3.1, a microcontroller 3.2, a steering engine driver 3.3, a pitching channel electric steering engine 3.4, a yawing channel electric steering engine 3.5, a pitching channel potentiometer 3.6, a yawing channel potentiometer 3.7, a first TTL-RS 422 conversion module 3.8, a second TTL-RS 422 conversion module and a storage module 3.9.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
the semi-physical simulation platform for the guided munition end guidance law shown in fig. 1 comprises a main control computer 1.1, a three-axis turntable 2.1, a turntable control cabinet 2.2, a microcontroller 3.1, a steering engine driver 3.2, a pitching channel electric steering engine 3.3, a yawing channel electric steering engine 3.4, a pitching channel potentiometer 3.5 and a yawing channel potentiometer 3.6, wherein the steering engine driver, the pitching channel electric steering engine, the yawing channel electric steering engine and the yawing channel potentiometer are fixed on the three-axis turntable 2.1;
the main control machine 1.1 is used for transmitting terminal guidance law control programs, simulation control instructions and simulation control parameters to the microcontroller 3.1, the steering engine instruction output end of the microcontroller 3.1 is connected with the instruction input end of a steering engine driver 3.2, the yaw channel electric steering engine control signal output end of the steering engine driver 3.2 is connected with the signal input end of a yaw channel electric steering engine 3.4, the pitch channel electric steering engine control signal output end of the steering engine driver 3.2 is connected with the signal input end of a pitch channel electric steering engine 3.3, the output shaft of the yaw channel electric steering engine 3.4 is fixedly connected with the input shaft of a yaw channel potentiometer 3.6, the output shaft of the pitch channel electric steering engine 3.3 is fixedly connected with the input shaft of a pitch channel potentiometer 3.5, the yaw channel electric steering engine output shaft deflection angle signal output end of the yaw channel potentiometer 3.6 is connected with the yaw channel feedback data input end of the microcontroller 3., the output end of the deflection angle signal of the output shaft of the pitching channel electric steering engine of the pitching channel potentiometer 3.5 is connected with the input end of the feedback data of the pitching channel of the microcontroller 3.1;
a turntable control and state signal communication end of the microcontroller 3.1 is connected with a communication end of a turntable control cabinet 2.2, the turntable control cabinet 2.2 is used for controlling the movement of the three-axis turntable 2.1 and acquiring the attitude angle of the three-axis turntable 2.1 at the current moment, and the microcontroller 3.1 is used for transmitting an attitude driving instruction to the turntable control cabinet 2.2 and receiving feedback information of the attitude state of the turntable;
the microcontroller 3.1 is used for calculating the pneumatic force of the pitching channel electric steering engine, the pneumatic moment of the pitching channel electric steering engine, the pneumatic force of the yawing channel electric steering engine and the pneumatic moment of the yawing channel electric steering engine at the current moment according to the deflection angle signal of the output shaft of the yawing channel electric steering engine and the deflection angle signal of the output shaft of the pitching channel electric steering engine at the current moment, and the microcontroller 3.1 is also used for obtaining the deflection angle of the output shaft of the pitching channel electric steering engine, the deflection angle of the yaw channel output shaft and the deflection angle of the triaxial rotating table at the next moment through a four-step Runge Tower method (refer to Hanzipeng, Mars Explorer [ M ]. Beijing: Beijing Milli Dou Shi Press, 2014 university) according to the pneumatic force of the pitching channel electric steering engine, the pneumatic moment of the pitching channel electric steering engine, the pneumatic force of the yawing channel electric steering engine, the pneumatic force of, namely control information of the terminal guidance law of the guided munition.
In the above technical solution, it further includes a first RS422 to USB conversion module 1.2, a first TTL to RS422 conversion module 3.7, a second TTL to RS422 conversion module 3.8, a second RS422 to USB conversion module 2.3 and a storage module 3.9, an end-to-end discipline control program output end of the main control computer 1.1 is connected to a control program input end of the microcontroller 3.1, an emulation control instruction and an emulation control parameter output end of the main control computer 1.1 are connected to a serial data input end of the microcontroller 3.1 sequentially through the first RS422 to USB conversion module 1.2 and the first TTL to RS422 conversion module 3.7, a turntable control and status signal communication end of the microcontroller 3.1 is connected to a communication end of the control cabinet 2.2 sequentially through the second TTL to RS422 conversion module 3.8 and the second RS422 to USB conversion module 2.3, and a data storage end of the storage module 3.9 is connected to a data storage end of the microcontroller 3.1.
The attitude angle of the three-axis turntable 2.1 comprises a pitch angle, a yaw angle and a roll angle.
In the above technical solution, the turntable control cabinet 2.2 can drive the three-axis turntable 2.1 to perform pitching, yawing and rolling motions according to the turntable attitude driving instruction sent by the microcontroller 3.1, the attitude angle range is pitch angle-80 °, yaw angle-60 °, rolling angle continuously rotates, and the attitude angle precision is 10' (unit is minutes). The guided ammunition continuously rolls at low speed in the actual flying process, and the change ranges of the pitch angle and the yaw angle are large, so that the attitude angle change is controlled by a three-axis turntable at high precision and in a large range.
In the technical scheme, the angular speed range of the three-axis turntable 2.1 is pitching-10 degrees/s to +10 degrees/s, yawing-10 degrees/s to +10 degrees/s and rolling-10 n/s to 10n/s, and the angular acceleration range is-100 degrees/s2～+100°/s2. The actual flight process of the guided ammunition is stable in low-speed rolling, the change of the attitude angle of the guided ammunition is not severe, namely the ranges of the attitude angular velocity and the attitude angular acceleration are limited, so that the attitude angular velocity and the angular acceleration of the three-axis turntable can meet the requirements of the ranges.
In the technical scheme, the main control unit 1 is composed of a main control machine 1.1 and a first RS 422-to-USB conversion module 1.2, the three-axis turntable 2.1, the turntable control cabinet 2.2 and a second RS 422-to-USB conversion module 2.3 are composed of an attitude simulation unit 2, the microcontroller 3.1, the steering engine driver 3.2, the pitching channel electric steering engine 3.3, the yawing channel electric steering engine 3.4, the pitching channel potentiometer 3.5, the yawing channel potentiometer 3.6, the first TTL-to-RS 422 conversion module 3.7, the second TTL-to-RS 422 conversion module 3.8 and the storage module 3.9 are composed of a control cabin unit 3, and the control cabin unit 3 is used for controlling the movement track of the missile.
In the technical scheme, the control cabin unit 3 has an axisymmetric shape, the control cabin unit 3 is mechanically installed on the three-axis turntable 2.1, and the longitudinal axis of the control cabin unit 3 coincides with the axis of the three-axis turntable 2.1 in the rolling direction. The control cabin unit is a simplified model of a guided cartridge and is fixed on a three-axis turntable, the attitude angle of the three-axis turntable is the attitude angle of the control cabin unit, if the axis of the control cabin unit is not coincident with the axis of the three-axis turntable in the rolling direction, installation errors are easily caused, and the measurement errors of the attitude angle are caused during continuous rolling movement, so the axis needs to be aligned.
Among the above-mentioned technical scheme, triaxial revolving stage 2.1 when the operation, has taken tertiary protection to extreme position: (1) the method comprises the following steps that software is limited, turntable control software automatically calculates the current position, once the overrun in a certain direction is calculated, the turntable control software prohibits movement in the overrun direction and only allows movement in the opposite direction; (2) limiting by hardware, wherein limit switches are arranged at each limit position, and when the mechanism moves to touch the limit switches, the movement of the three-axis turntable 2-1 is forcibly stopped; mechanical limiting: (3) mechanical stop blocks are arranged at all the limit positions, and the mechanism is ensured to move to the limit positions and not move any more.
A semi-physical simulation method for a guidance cartridge terminal guidance law comprises the following steps:
step 1: the main control machine 1.1 sends a simulation control instruction, a set simulation control program and a simulation control parameter to the microcontroller 3.1 through the final guidance law software (the final guidance law software is used on the main control machine 1.1), wherein the simulation control instruction is a series of control instructions which are set in the final guidance law software and are used for controlling and operating the microcontroller by the main control machine, and the simulation control instruction mainly comprises a connecting serial port, a set program, a set parameter, a checking set parameter, an initial turntable, starting simulation, closing the serial port, returning a platform to zero and the like;
selecting a compiled simulation control program on terminal guidance law software, and installing the simulation control program into the microcontroller 3.1 by sending a program installation control instruction, wherein the simulation control program comprises a differential equation set and a four-order Runge Kuta algorithm, and the differential equation set comprises a projectile six-degree-of-freedom kinetic model (the reference is Qian Xing Fang. missile flight mechanics [ M ]. Beijing: Beijing university of physics publisher, 2008.), a target three-degree-of-freedom kinematic model, a projectile three-degree-of-freedom relative motion model and various terminal guidance laws;
selecting or inputting simulation environment parameters, projectile body attribute parameters, target attribute parameters and terminal guidance law parameters on terminal guidance law software, and installing the simulation environment parameters, the projectile body attribute parameters, the target attribute parameters and the terminal guidance law parameters into the microcontroller 3.1 by sending an installing and determining parameter control instruction;
step 2: microcontroller 3.1 depends on the trajectory inclination angle theta in the projectile property parameters at the present moment1Pitch angle signal to three axis turntable 2.1
Calculating the attack angle alpha of the projectile at the current moment by the following formula 11，
The microcontroller 3.1 determines the ballistic deflection angle psi from the projectile property parameters at the current moment1Yaw angle signal with three-axis turntable 2.1
Calculating the sideslip angle beta of the projectile at the current moment by the following formula 21；
The microcontroller 3.1 controls the deflection angle delta of the output shaft of the electric steering engine according to the pitch channel at the current momentz1Yaw channel electric steering engine output shaft deflection angle deltay1Roll angle gamma with three-axis turret 2.11Calculating the equivalent deflection angle delta of the output shaft of the electric steering engine of the pitching channel at the current moment by the following formula 3zeq1Equivalent deflection angle delta of electric steering engine output shaft of yaw channelyeq1；
Angle of attack alpha in combination with the projectile at the present moment1Side slip angle beta of projectile body at current moment1Equivalent deflection angle delta of output shaft of electric steering engine of pitching channel at current momentzeq1Equivalent deflection angle delta of output shaft of electric steering engine of yaw channel at current momentyeq1Calculating parameters of acting force and acting moment of the projectile at the current moment through the six-degree-of-freedom dynamic model of the projectile set in the step 1 and the simulation control parameters set in the step 1;
and step 3: the microcontroller 3.1 solves the control parameters of the terminal guidance law at the next moment and the variable parameters to be solved in the differential equation set according to the differential equation set in the step 1 and the fourth-order Runge Kutta method, including the variable parameters to be solved in the next timeEquivalent deflection angle delta of steering engine output shaft of carved pitching channelzeq2The equivalent deflection angle delta of the output shaft of the steering engine of the yaw channel at the next momentyeq2And the pitch angle of the three-axis turntable (2.1) at the next moment
Yaw angle
And roll angle gamma2；
The microcontroller 3.1 controls the equivalent deflection angle delta of the output shaft of the steering engine according to the pitch channel at the next momentzeq2The equivalent deflection angle delta of the output shaft of the steering engine of the yaw channel at the next momentyeq2And the roll angle gamma of the three-axis turret (2.1) at the next moment2The deflection angle delta of the output shaft of the electric steering engine of the pitch channel at the next moment is calculated by the following formula 4z2Yaw channel electric steering engine output shaft deflection angle deltay2；
And 4, step 4: the microcontroller 3.1 controls the deflection angle delta of the output shaft of the electric steering engine according to the pitch channel at the next momentz2And the drift channel electric steering engine output shaft drift angle deltay2Sending a yaw channel electric steering engine control instruction and a pitch channel electric steering engine control instruction to a steering engine driver 3.2;
the steering engine driver 3.2 controls the electric steering engine 3.4 of the yaw channel to move according to the control instruction of the electric steering engine of the yaw channel, the electric steering engine 3.4 of the yaw channel drives the input shaft of the potentiometer 3.6 of the yaw channel to move, and the potentiometer 3.6 of the yaw channel feeds back the deflection angle of the output shaft of the electric steering engine of the yaw channel to the microcontroller 3.1;
the steering engine driver 3.2 controls the pitching channel electric steering engine 3.3 to move according to the pitching channel electric steering engine control instruction, the pitching channel electric steering engine 3.3 moves to drive the input shaft of the pitching channel potentiometer 3.5 to move, and the pitching channel potentiometer 3.5 feeds back the deflection angle of the output shaft of the pitching channel electric steering engine to the microcontroller 3.1;
the microcontroller 3.1 is according to the pitch angle of the next time triaxial rotating table 2.1
Yaw angle
And roll angle gamma2Sending an attitude driving instruction to a rotary table control cabinet 2.2, enabling a three-axis rotary table 2.1 to move under the driving of the attitude driving instruction, enabling a microcontroller 3.1 to obtain an attitude angle of the three-axis rotary table 2.1 in current movement, returning to the step 2, sequentially circulating the step 2-4 until a projectile distance parameter is smaller than or equal to a set distance constant, jumping out of circulation, enabling the microcontroller 3.1 to store data through a storage module 3.9 in each circulation and sending the data to a main control machine 1.1, namely finishing semi-physical simulation of the last guidance law of the guided ammunition, emptying parameters of the microcontroller, and zeroing a steering engine and the three-axis rotary table 2.1.
In step 4 of the above technical solution, the set distance constant is a damage radius rsThe condition of jumping out of the cycle is that the relative distance parameter r of the bullet at the current moment and the damage radius r are taken as the basissJudging whether the projectile hits the target or not according to the size relation of the projectile body, and if r is less than or equal to rsAnd indicating that the projectile body hits the target, and finishing the semi-physical simulation. The main control machine 1.1 sends a platform zero return control instruction to the microcontroller 3.1, and triggers the microcontroller to respectively send a turntable zero return driving instruction and a steering engine zero return driving instruction to the turntable control cabinet and the steering engine driver so as to drive the three-axis turntable and the pitching and yawing channel electric steering engine to return to zero.
Before the step 1, a steering engine driver 3.2 drives a pitching channel electric steering engine 3.3 and a yawing channel electric steering engine 3.4 to return to zero, a turntable control software is operated on a turntable control cabinet 2.2 to drive a three-axis turntable 2.1 to return to zero in pitching, yawing and rolling directions, and the independent working conditions of all devices are checked.
In the invention, the microcontroller 3.1 transmits the next time parameter resolved in each cycle to the storage module 3.9 through Direct Memory Access (DMA), the storage module 3.9 stores the next time parameter, the microcontroller 3.1 transmits the next time parameter resolved in the fifth cycle to the main control computer 1.1 every five times of cycles, and the main control computer 1.1 receives, stores and displays the next time parameter. And analyzing the data of the semi-physical simulation on the last-guidance law software by offline playback or combination with MATLAB and other professional software, wherein the data comprises the storage records of the main control computer and the storage module.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (10)
1. The utility model provides a guidance ammunition terminal guidance law semi-physical simulation platform which characterized in that: the device comprises a main control machine (1.1), a three-axis turntable (2.1), a turntable control cabinet (2.2), a microcontroller (3.1), a steering engine driver (3.2), a pitching channel electric steering engine (3.3), a yawing channel electric steering engine (3.4), a pitching channel potentiometer (3.5) and a yawing channel potentiometer (3.6), wherein the steering engine driver, the pitching channel electric steering engine, the yawing channel electric steering engine, the pitching channel potentiometer and the yawing channel potentiometer are fixed on the three-axis turntable (2.1);
the main control machine (1.1) is used for transmitting a terminal guidance law control program, a simulation control instruction and a simulation control parameter to the microcontroller (3.1), a steering engine instruction output end of the microcontroller (3.1) is connected with an instruction input end of a steering engine driver (3.2), a yaw channel electric steering engine control signal output end of the steering engine driver (3.2) is connected with a signal input end of a yaw channel electric steering engine (3.4), a pitch channel electric steering engine control signal output end of the steering engine driver (3.2) is connected with a signal input end of a pitch channel electric steering engine (3.3), an output shaft of the yaw channel electric steering engine (3.4) is fixedly connected with an input shaft of a yaw channel potentiometer (3.6), an output shaft of the pitch channel electric steering engine (3.3) is fixedly connected with an input shaft of a pitch channel potentiometer (3.5), a yaw channel electric output shaft deflection angle signal output end of the yaw channel electric output shaft of the yaw channel potentiometer (3.6) is connected with a yaw channel feedback data input end of the microcontroller (3, the output end of the deflection angle signal of the output shaft of the pitching channel electric steering engine of the pitching channel potentiometer (3.5) is connected with the input end of the pitching channel feedback data of the microcontroller (3.1);
a turntable control and state signal communication end of the microcontroller (3.1) is connected with a communication end of the turntable control cabinet (2.2), and the turntable control cabinet (2.2) is used for controlling the movement of the three-axis turntable (2.1) and acquiring the attitude angle of the three-axis turntable (2.1) at the current moment;
the microcontroller (3.1) is used for calculating the aerodynamic force of the pitching channel electric steering engine, the aerodynamic moment of the pitching channel electric steering engine, the aerodynamic force of the yawing channel electric steering engine and the aerodynamic moment of the yawing channel electric steering engine at the current moment according to the deflection angle signal of the output shaft of the yawing channel electric steering engine and the deflection angle signal of the output shaft of the pitching channel electric steering engine at the current moment, and the microcontroller (3.1) is also used for obtaining the yaw angle of the output shaft of the pitching channel electric steering engine, the aerodynamic force of the yawing channel electric steering engine and the aerodynamic moment of the yawing channel electric steering engine at the next moment and the attitude angle of the triaxial turntable (2.1) through a four-step Rungeku tower method, so that the attitude angle of the triaxial turntable (2.1) is the control information of the guided ammunition terminal guidance law.
2. The guidance cartridge terminal guidance law semi-physical simulation platform according to claim 1, wherein: the device also comprises a first RS 422-to-USB conversion module (1.2), a first TTL-to-RS 422 conversion module (3.7), a second TTL-to-RS 422 conversion module (3.8), a second RS 422-to-USB conversion module (2.3) and a storage module (3.9), wherein the output end of a final control law control program of the main control machine (1.1) is connected with the input end of a control program of the microcontroller (3.1), the output ends of simulation control instructions and simulation control parameters of the main control machine (1.1) are connected with the serial data input end of the microcontroller (3.1) through the first RS 422-to-USB conversion module (1.2) and the first TTL-to-RS 422 conversion module (3.7) in sequence, the turntable control and state signal communication end of the microcontroller (3.1) is connected with the communication end of the turntable control cabinet (2.2) through the second TTL-to-RS 422 conversion module (3.8) and the second RS 422-to-USB conversion module (2.3) in sequence, and the data storage end of the storage module (3.9) is connected with the data storage end of the microcontroller (3.1).
3. The guidance cartridge terminal guidance law semi-physical simulation platform according to claim 1, wherein: the attitude angle of the three-axis turntable (2.1) comprises a pitch angle, a yaw angle and a roll angle.
4. The guidance cartridge end guidance law semi-physical simulation platform according to claim 3, wherein: the rotary table control cabinet (2.2) can drive the three-axis rotary table (2.1) to perform pitching, yawing and rolling motions according to a rotary table attitude driving instruction sent by the microcontroller (3.1), and the attitude angle ranges from-80 degrees to +80 degrees in pitch angle, from-60 degrees to +60 degrees in yaw angle and from continuous rotation in rolling angle.
5. The guidance cartridge terminal guidance law semi-physical simulation platform according to claim 4, wherein: the angular speed range of the three-axis turntable (2.1) is pitching-10 degrees/s to +10 degrees/s, yawing-10 degrees/s to +10 degrees/s and rolling-10 n/s to 10n/s, and the angular acceleration range is-100 degrees/s2～+100°/s2。
6. The guidance cartridge terminal guidance law semi-physical simulation platform according to claim 4, wherein: the attitude angle accuracy was 10 °.
7. The guidance cartridge terminal guidance law semi-physical simulation platform according to claim 1, wherein: the missile control system is characterized in that a main control unit (1) is formed by a main control machine (1.1) and a first RS 422-to-USB conversion module (1.2), a three-axis turntable (2.1), a turntable control cabinet (2.2) and a second RS 422-to-USB conversion module (2.3) form an attitude simulation unit (2), a microcontroller (3.1), a steering engine driver (3.2), a pitching channel electric steering engine (3.3), a yawing channel electric steering engine (3.4), a pitching channel potentiometer (3.5), a yawing channel potentiometer (3.6), a first TTL-to-RS 422 conversion module (3.7), a second TTL-to-RS 422 conversion module (3.8) and a storage module (3.9) form a control cabin unit (3), and the control cabin unit (3) is used for controlling the movement track of a missile.
8. The guidance cartridge end guidance law semi-physical simulation platform according to claim 7, wherein: the control cabin unit (3) is provided with an axisymmetric appearance, the control cabin unit (3) is installed on the three-axis rotary table (2.1) in a mechanical mode, and the longitudinal axis of the control cabin unit (3) is superposed with the axis of the three-axis rotary table (2.1) in the rolling direction.
9. A semi-physical simulation method for a guidance cartridge terminal guidance law is characterized by comprising the following steps:
step 1: the main control machine (1.1) sends a simulation control instruction, a set simulation control program and simulation control parameters to the microcontroller (3.1) through terminal guidance law software;
selecting a compiled simulation control program on terminal guidance law software, and installing the simulation control program into a microcontroller (3.1) by sending a program installing control instruction, wherein the simulation control program comprises a differential equation set and a four-order Runge Kutta algorithm, and the differential equation set comprises a projectile six-degree-of-freedom dynamic model, a target three-degree-of-freedom kinematic model, a projectile three-degree-of-freedom relative motion model and various terminal guidance laws;
selecting or inputting simulation environment parameters, projectile body attribute parameters, target attribute parameters and terminal guidance law parameters on terminal guidance law software, and installing the simulation environment parameters, the projectile body attribute parameters, the target attribute parameters and the terminal guidance law parameters into a microcontroller (3.1) by sending an installing and determining parameter control instruction;
step 2: the microcontroller (3.1) determines the trajectory inclination angle theta according to the attribute parameters of the projectile at the current moment1Pitch angle signal with three-axis turntable (2.1)
The attack angle alpha of the projectile body at the current moment is calculated by the following formula (1)1，
The microcontroller (3.1) determines the ballistic deflection angle psi in the projectile property parameters at the current moment1Yaw angle signal with a three-axis turntable (2.1)
Calculating the sideslip angle beta of the projectile at the current moment by the following formula (2)1；
The microcontroller (3.1) deflects the angle delta of the output shaft of the electric steering engine according to the pitch channel at the current momentz1Yaw channel electric steering engine output shaft deflection angle deltay1Roll angle gamma with three-axis turntable (2.1)1Calculating the equivalent deflection angle delta of the output shaft of the electric steering engine of the pitching channel at the current moment by the following formula (3)zeq1Equivalent deflection angle delta of electric steering engine output shaft of yaw channelyeq1；
Angle of attack alpha in combination with the projectile at the present moment1Side slip angle beta of projectile body at current moment1Equivalent deflection angle delta of output shaft of electric steering engine of pitching channel at current momentzeq1Equivalent deflection angle delta of output shaft of electric steering engine of yaw channel at current momentyeq1Calculating parameters of acting force and acting moment of the projectile at the current moment through the six-degree-of-freedom dynamic model of the projectile set in the step 1 and the simulation control parameters set in the step 1;
and step 3: the microcontroller (3.1) solves the control parameters of the guidance law at the end of the next time and the variable parameters to be solved in the differential equation set according to the differential equation set in the step 1 and a four-order Runge Kutta method, and the variable parameters comprise the equivalent deflection angle delta of the steering engine output shaft of the pitching channel at the next timezeq2The equivalent deflection angle delta of the output shaft of the steering engine of the yaw channel at the next momentyeq2And the pitch angle of the three-axis turntable (2.1) at the next moment
Yaw angle
And roll angle gamma2；
The microcontroller (3.1) controls the equivalent deflection angle delta of the output shaft of the steering engine according to the pitch channel at the next momentzeq2The equivalent deflection angle delta of the output shaft of the steering engine of the yaw channel at the next momentyeq2And the roll angle gamma of the three-axis turret (2.1) at the next moment2Calculating the deflection angle delta of the output shaft of the electric steering engine of the pitch channel at the next moment by the following formula (4)z2Yaw channel electric steering engine output shaft deflection angle deltay2；
And 4, step 4: the microcontroller (3.1) tilts the output shaft deflection angle delta of the electric steering engine according to the pitch channel at the next momentz2And the drift channel electric steering engine output shaft drift angle deltay2Sending a yaw channel electric steering engine control instruction and a pitch channel electric steering engine control instruction to a steering engine driver (3.2);
the steering engine driver (3.2) controls the electric steering engine (3.4) of the yaw channel to move according to the control command of the electric steering engine of the yaw channel, the electric steering engine (3.4) of the yaw channel drives the input shaft of the potentiometer (3.6) of the yaw channel to move, and the potentiometer (3.6) feeds back the deflection angle of the output shaft of the electric steering engine of the yaw channel to the microcontroller (3.1);
the steering engine driver (3.2) controls the pitching channel electric steering engine (3.3) to move according to the pitching channel electric steering engine control instruction, the pitching channel electric steering engine (3.3) moves to drive the input shaft of the pitching channel potentiometer (3.5) to move, and the pitching channel potentiometer (3.5) feeds back the deflection angle of the output shaft of the pitching channel electric steering engine to the microcontroller (3.1);
the microcontroller (3.1) is used for pitching the three-axis turntable (2.1) according to the next moment
Yaw angle
And roll angle gamma2Sending the attitude to the turntable control cabinet (2.2)And (3) a driving instruction is given, the three-axis rotary table (2.1) moves under the driving of the attitude driving instruction, the microcontroller (3.1) acquires the attitude angle of the current movement of the three-axis rotary table (2.1), the step (2) is returned, the steps (2) to (4) are sequentially circulated until the projectile distance parameter is less than or equal to the set distance constant, and circulation is carried out, namely the semi-physical simulation of the guided ammunition terminal guidance law is finished.
10. The guidance cartridge terminal guidance law semi-physical simulation method according to claim 9, characterized in that: before the step 1, a steering engine driver (3.2) drives a pitching channel electric steering engine (3.3) and a yawing channel electric steering engine (3.4) to return to zero, and a turntable control software is operated on a turntable control cabinet (2.2) to drive a three-axis turntable (2.1) to return to zero in pitching, yawing and rolling directions.
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| CN111856924B (en) * | 2020-08-06 | 2022-12-13 | 西安睿高测控技术有限公司 | Control method of guided ammunition using relay type steering engine |
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