CN110411289B - Separation stability control method for inhibiting strong missile interference - Google Patents
Separation stability control method for inhibiting strong missile interference Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
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Abstract
The invention discloses a separation stability control method for inhibiting strong missile interference, which belongs to the field of tactical missile stability control and comprises the following specific steps: (1) smoothing the attitude deviation instructions of the pitching and yawing channels to obtain rudder deviation instructions before amplitude limiting of the pitching and yawing channels; (2) limiting the rudder deflection instruction of the rolling channel to obtain the rudder deflection instruction after the amplitude of the rolling channel is limited; (3) determining a rolling channel rudder deflection distribution coefficient k according to a rudder deflection instruction before pitching and yawing channel amplitude limiting and a rudder deflection instruction after rolling channel amplitude limiting; (4) limiting the amplitude of the pitching and yawing channel rudder deflection instruction according to the rudder deflection instruction after the amplitude limiting of the rolling channel and the rudder deflection distribution coefficient k to obtain the rudder deflection instruction after the amplitude limiting of the pitching and yawing channel; (5) and calculating four rudder deflection instructions according to the rudder deflection instructions after pitching, yawing and rolling channel amplitude limiting and the rudder deflection distribution coefficient k of the rolling channel.
Description
Technical Field
The invention belongs to the field of tactical missile stability control, and particularly relates to a separation stability control method for inhibiting strong missile interference in a missile separation process of a launch missile, which is suitable for a missile adopting four control surfaces to perform execution system control.
Background
In order to meet the diversity requirement and the stealth performance requirement of the aircraft hanging points in battle, the launching mode of the airborne missile is also developed from the traditional slide rail type to the ejection type. When the missile is launched in an ejection mode, the initial attitude angular velocity interference exists due to the influence of the ejection force of the ejection rack; and the distance between the missile and the carrier is small, and complex missile interference exists. The initial attitude angular velocity and the interference of the missile can cause the increase of the attack angle of the missile, and under the condition of a large attack angle, the static instability of the missile can be increased, the phenomenon of channel cross coupling can occur, and even the missile is out of control. Therefore, in the missile launching section, the stability control system effectively inhibits the initial attitude angular velocity interference and the missile interference, responds to the attitude command and controls the missile attitude to meet the requirement of engine ignition.
Due to the limited missile resources, the missile is constrained by the maximum rudder deflection angle and the maximum rudder deflection angle speed, and the catapulting separation section has to adopt a targeted control strategy to reasonably distribute the rudder deflection angle speed and the rudder deflection angle in the face of the requirements of strong missile interference suppression and attitude instruction response.
For the missile adopting four control surfaces for executing system control, the traditional distribution relation of the channel rudder deflection command and the single-rudder deflection command is shown as a formula
Shown in which Ud1～Ud4Single rudder deflection command of 1 rudder to 4 rudders, UdPFor pitch channel rudder deflection command, UdYFor yaw channel rudder deflection command, UdRAnd carrying out steering deflection command for the rolling channel.
As the maximum rudder deflection angle of a single control surface of the missile is limited, the pitch channel and the rolling channel share 2 and 4 rudders, the yaw channel and the rolling channel share 1 and 3 rudders, and the rolling channel is averagely distributed to four control surfaces according to the traditional distribution relation of the channel rudder deflection and the single rudder deflection.
Therefore, under strong missile interference, when the requirement for the yaw of the rolling channel is high, serious rudder yaw resource conflict exists between the pitching channel and the yawing channel, the traditional method only preferentially ensures the requirement for the yaw of the rolling channel, and particularly when the difference between the requirements for the yaw of the pitching channel and the yaw channel is large, the requirements for the yaw of the pitching channel and the yaw channel cannot be met, and the use efficiency of the control surface is low.
Disclosure of Invention
The invention provides a separation stability control method for suppressing strong missile interference of an ejection-launched missile. The technical problem solved by the invention is as follows: aiming at the missile adopting four control surfaces to carry out execution system control, under the strong missile interference, when the requirements of pitching, yawing and rolling channel rudder deflection are high, how to reasonably distribute the rudder deflection is to improve the use efficiency of the control surfaces and improve the missile interference suppression capability.
The technical solution of the invention is as follows: the separation stability control method for inhibiting strong missile interference is provided, and the steps comprise:
(1) smoothing the attitude deviation instructions of the pitching and yawing channels to obtain rudder deviation instructions before amplitude limiting of the pitching and yawing channels;
(2) limiting the rudder deflection instruction of the rolling channel to obtain the rudder deflection instruction after the amplitude of the rolling channel is limited;
(3) determining a rolling channel rudder deflection distribution coefficient k according to the rudder deflection instruction before the pitching and yawing channel amplitude limiting obtained in the step (1) and the rudder deflection instruction after the rolling channel amplitude limiting obtained in the step (2);
(4) limiting the pitch and yaw channel rudder deflection instructions according to the rudder deflection instruction after the rolling channel is limited in the step (2) and the rolling channel rudder deflection distribution coefficient k obtained in the step (3) to obtain the rudder deflection instruction after the pitch and yaw channel are limited;
(5) and (4) calculating four rudder deflection instructions according to the rudder deflection instruction after the rolling channel amplitude limiting obtained in the step (2), the rudder deflection instruction after the pitching and yawing channels amplitude limiting obtained in the step (4) and the rudder deflection distribution coefficient k of the rolling channel obtained in the step (3).
Further, the attitude deviation instruction smoothing processing and pitch and yaw channel rudder deviation instruction calculation method for the pitch channel and yaw channel in the step (1) comprises the following steps:
udP0＝ksf×ugyP-km×ξ×uΔP
udY0＝-ksf×ugyY-km×ξ×uΔY
where ξ is the command smoothing coefficient and t is the flight time. t is t0Starting and controlling the time of the downward deviation channel. Δ t is the instruction smoothing time, typically taken to be 0.1 s-0.4 s. u. ofdP0、udY0The control parameters are respectively a rudder deflection instruction before amplitude limiting of a pitching channel and a yawing channel, ksf is a damping loop control parameter, and km is an attitude control loop control parameter. u. ofgyP、ugyYAre respectively a pitching jointRate gyroscopic output u of track and yaw channelΔP、uΔYThe attitude deviation commands of a pitching channel and a yawing channel are respectively.
Further, in the step (2), the rolling channel rudder deflection instruction is limited, in order to avoid the situation that the maximum rudder deflection of one channel with lower requirements for the pitch or yaw channel rudder deflection is limited to 0 degree, which results in no available rudder deflection, the rolling channel rudder deflection limit amplitude should be less than 50% of the maximum available rudder deflection of a single rudder, 40% to 50% is recommended, and the limit formula is as follows:
in the formula udR0,udRRespectively are rudder deflection instructions before and after the rolling channel amplitude limiting. u. ofR_maxFor rolling channel rudder margin, uR_max＜0.5umax，umaxMaximum rudder deflection, u, available for a single ruddermax＞0。
Further, in the step (3), a calculation formula of a rudder deflection distribution coefficient k of the rolling channel is as follows, and the value range of k is between 0 and 2:
in the formula: u. ofdRFor rudder deflection command after rolling channel amplitude limiting, udP0、udY0And respectively a rudder deflection instruction before amplitude limiting of a pitching channel and a yawing channel.
Further, in the step (4), the calculation formula of the rudder deflection command after the pitching and yawing channels are limited is as follows:
uP_max＝umax-|kudR|
uY_max＝umax-|(2-k)udR|
in the formula umaxMaximum rudder deflection, u, available for a single ruddermaxGreater than 0. u. ofP_maxLimiting the magnitude for the pitch channel rudder deflection command uY_maxAnd limiting the amplitude for the yaw channel rudder deflection command. u. ofdPFor rudder deflection command u after amplitude limiting of pitch channeldYAnd (4) performing rudder deviation instruction after the amplitude of the yaw channel is limited.
Further, in the step (5), the method for calculating the four rudder deflection commands includes:
ud1＝-udY+(2-k)udR
ud2＝udP+kudR
ud3＝udY+(2-k)udR
ud4＝-udP+kudR
in the formula ud1～ud4Respectively 1 rudder to 4 rudder deflection instructions.
The invention has the beneficial effects that:
1) according to the invention, by introducing the distribution coefficient of the rolling channel rudder deflection and combining the requirements of the pitching channel rudder deflection and the yawing channel rudder deflection, the rolling channel rudder deflection is respectively distributed to the 2 rudder, the 4 rudder and the 1 rudder, and the 3 rudder according to a specific proportion, so that the maximum available rudder deflection of the pitching channel and the yawing channel is improved, the use efficiency of a control surface is improved, and the missile interference suppression capability in the catapulting separation process is enhanced.
2) According to the invention, through taking measures of pitching and yaw channel attitude deviation instruction smoothing in the initial time period after the launch separation control system starts controlling, the time of attitude instruction response and the time of maximum occurrence of the yaw instruction of angular velocity suppression are staggered, and meanwhile, the rudder deviation requirement of interference suppression is preferentially ensured, so that the missile is favorably stably controlled.
Drawings
Fig. 1 is a flowchart of a separation stability control method for suppressing strong missile interference according to an embodiment of the present invention;
FIG. 2 is a block diagram of the control principles of the pitch channel of an embodiment of the present invention;
FIG. 3 is a block diagram of the control principle of the yaw channel according to an embodiment of the present invention.
Detailed Description
The method is described below by taking a rolling stable axisymmetric three-channel controlled missile as an example, a specific method flow chart can be shown in fig. 1, and control schematic diagrams of pitching and yawing channels can be respectively shown in fig. 2-3, wherein ksf is a damping loop control parameter, and km is an attitude control loop control parameter. The following steps are described:
(1) smoothing the attitude deviation commands of the pitching and yawing channels to obtain the rudder deviation commands of the pitching and yawing channels, wherein the calculation formula is as follows;
udP0＝ksf×ugyP-km×ξ×uΔP
udY0＝-ksf×ugyY-km×ξ×uΔY
where ξ is the command smoothing coefficient and t is the flight time. t is t0Starting and controlling the time of the downward deviation channel. Δ t is the instruction smoothing time, typically taken to be 0.1 s-0.4 s. u. ofdP0、udY0The control parameters are respectively a rudder deflection instruction before amplitude limiting of a pitching channel and a yawing channel, ksf is a damping loop control parameter, and km is an attitude control loop control parameter. u. ofgyP、ugyYRate gyro outputs u for pitch and yaw channels, respectivelyΔP、uΔYThe attitude deviation commands of a pitching channel and a yawing channel are respectively.
(2) Limiting the rudder deflection instruction of the rolling channel to obtain the rudder deflection instruction after the amplitude of the rolling channel is limited;
in the formula udR0,udRRespectively are rudder deflection instructions before and after the rolling channel amplitude limiting. u. ofR_maxFor rolling channel rudder margin, uR_max＜0.5umax，umaxMaximum rudder deflection, u, available for a single ruddermaxGreater than 0.
It should be noted that the rolling channel rudder deflection limit value is less than half of the maximum available rudder deflection of a single rudder, which is recommended to be 40% -50%, so as to avoid the situation that the maximum rudder deflection of one channel with lower requirements on the rudder deflection of the pitch or yaw channel is limited to 0 degree, which results in no available rudder deflection at all.
(3) Determining a rolling channel rudder deflection distribution coefficient k according to the rudder deflection instruction before the pitching and yawing channel amplitude limiting obtained in the step (1) and the rudder deflection instruction after the rolling channel amplitude limiting obtained in the step (2), wherein a calculation formula is as follows:
in the formula: u. ofdRFor rudder deflection command after rolling channel amplitude limiting, udP0、udY0And respectively a rudder deflection instruction before amplitude limiting of a pitching channel and a yawing channel.
(4) Limiting the pitch and yaw channel rudder deflection instructions according to the rudder deflection instruction after the rolling channel is limited in the step (2) and the rolling channel rudder deflection distribution coefficient k obtained in the step (3) to obtain the rudder deflection instruction after the pitch and yaw channel are limited, wherein the calculation formula is as follows:
uP_max＝umax-|kudR|
uY_max＝umax-|(2-k)udR|
in the formula umaxMaximum rudder deflection, u, available for a single ruddermaxGreater than 0. u. ofP_maxLimiting the magnitude for the pitch channel rudder deflection command uY_maxAnd limiting the amplitude for the yaw channel rudder deflection command. u. ofdPFor rudder deflection command u after amplitude limiting of pitch channeldYAnd (4) performing rudder deviation instruction after the amplitude of the yaw channel is limited.
(5) Obtaining four rudder deflection instructions according to the rudder deflection instruction after the rolling channel amplitude limiting obtained in the step (2), the rudder deflection instruction after the pitching and yawing channels amplitude limiting obtained in the step (4) and the rudder deflection distribution coefficient k of the rolling channel obtained in the step (3);
ud1＝-udY+(2-k)udR
ud2＝udP+kudR
ud3＝udY+(2-k)udR
ud4＝-udP+kudR
in the formula ud1～ud4Respectively 1 rudder to 4 rudder deflection instructions.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (7)
1. A separation stability control method for restraining strong missile interference is characterized by comprising the following steps:
(1) smoothing the attitude deviation instructions of the pitching and yawing channels to obtain rudder deviation instructions before amplitude limiting of the pitching and yawing channels;
(2) limiting the rudder deflection instruction of the rolling channel to obtain the rudder deflection instruction after the amplitude of the rolling channel is limited;
(3) determining a rolling channel rudder deflection distribution coefficient k according to the rudder deflection instruction before the pitching and yawing channel amplitude limiting obtained in the step (1) and the rudder deflection instruction after the rolling channel amplitude limiting obtained in the step (2);
(4) limiting the pitch and yaw channel rudder deflection instructions according to the rudder deflection instruction after the rolling channel is limited in the step (2) and the rolling channel rudder deflection distribution coefficient k obtained in the step (3) to obtain the rudder deflection instruction after the pitch and yaw channel are limited;
(5) and (4) calculating four rudder deflection instructions according to the rudder deflection instruction after the rolling channel amplitude limiting obtained in the step (2), the rudder deflection instruction after the pitching and yawing channels amplitude limiting obtained in the step (4) and the rudder deflection distribution coefficient k of the rolling channel obtained in the step (3).
2. The separation stabilization control method for suppressing the strong missile interference according to claim 1, wherein the attitude deviation command smoothing processing and the rudder deviation command calculating method before the amplitude limiting of the pitch channel and the yaw channel in the step (1) are as follows:
udP0＝ksf×ugyP-km×ξ×u△P
udY0＝-ksf×ugyY-km×ξ×u△Y
in the formula, xi is an instruction smoothing coefficient, and t is flight time; t is t0Starting control time of a downward deviation channel; Δ t is the instruction smoothing time; u. ofdP0、udY0Respectively a rudder deflection instruction before amplitude limiting of a pitching channel and a yawing channel, ksf is a damping loop control parameter, and km is an attitude control loop control parameter; u. ofgyP、ugyYRate gyro outputs u for pitch and yaw channels, respectively△P、u△YThe attitude deviation commands of a pitching channel and a yawing channel are respectively.
3. The separation stability control method for suppressing the strong missile interference according to claim 2, wherein the range of Δ t is 0.1s to 0.4 s.
4. The separation stabilization control method for suppressing strong missile interference according to claim 2, wherein the method for limiting the rolling channel steering deviation command in the step (2) comprises the following steps:
in the formula udR0,udRRespectively are rudder deflection instructions before and after the rolling channel amplitude limiting; u. ofR_maxFor rolling channel rudder margin, uR_max<0.5umax，umaxMaximum rudder deflection, u, available for a single ruddermax>0; the rolling channel rudder deflection limit value should be less than 50% of the maximum available rudder deflection of a single rudder.
5. The separation stability control method for suppressing strong missile interference according to claim 4, wherein the determination method of the rolling channel rudder deflection distribution coefficient k in the step (3) comprises the following steps:
in the formula: u. ofdRFor rudder deflection command after rolling channel amplitude limiting, udP0、udY0And respectively a rudder deflection instruction before amplitude limiting of a pitching channel and a yawing channel.
6. The separation stabilization control method for suppressing the strong missile interference according to claim 5, wherein the method for determining the rudder deflection command after the amplitude limiting of the pitch and yaw channels in the step (4) comprises:
uP_max＝umax-|kudR|
uY_max＝umax-|(2-k)udR|
in the formula umaxMaximum rudder deflection, u, available for a single ruddermax>0；uP_maxLimiting the magnitude for the pitch channel rudder deflection command uY_maxLimiting amplitude values for yaw channel rudder deflection instructions; u. ofdPFor the clipped pitch channel rudder deflection command udYAnd performing rudder deflection command on the limited yaw channel.
7. The separation stabilization control method for suppressing the strong airplane bounce interference according to claim 6, wherein the determination method of the four rudder deflection commands in the step (5) comprises:
ud1＝-udY+(2-k)udR
ud2＝udP+kudR
ud3＝udY+(2-k)udR
ud4＝-udP+kudR
in the formula ud1～ud4Respectively 1 rudder to 4 rudder deflection instructions.
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| CN111007872B (en) * | 2019-12-03 | 2022-10-18 | 上海航天控制技术研究所 | Rudder deflection distribution method based on spoiler |
| CN111949043B (en) * | 2020-08-07 | 2024-02-23 | 上海航天控制技术研究所 | On-line extraction method for start control time based on attitude angular speed discrimination |
| CN112327908B (en) * | 2020-10-26 | 2023-01-17 | 上海航天控制技术研究所 | Stable control method suitable for low rudder effect separation state |
| CN116679750B (en) * | 2023-06-06 | 2024-03-29 | 北京理工大学 | Aircraft guidance control method based on dynamic rudder resource control allocation |
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