CN116820114B - Anti-rudder deviation system during target continuous high-G maneuvering and its design and use method - Google Patents
Anti-rudder deviation system during target continuous high-G maneuvering and its design and use method Download PDFInfo
- Publication number
- CN116820114B CN116820114B CN202310385186.6A CN202310385186A CN116820114B CN 116820114 B CN116820114 B CN 116820114B CN 202310385186 A CN202310385186 A CN 202310385186A CN 116820114 B CN116820114 B CN 116820114B
- Authority
- CN
- China
- Prior art keywords
- target
- overload
- command
- rudder deflection
- delta
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000013461 design Methods 0.000 title abstract description 12
- 238000012937 correction Methods 0.000 claims abstract description 38
- 230000002265 prevention Effects 0.000 claims abstract description 19
- 230000008569 process Effects 0.000 claims abstract description 18
- NRNCYVBFPDDJNE-UHFFFAOYSA-N pemoline Chemical compound O1C(N)=NC(=O)C1C1=CC=CC=C1 NRNCYVBFPDDJNE-UHFFFAOYSA-N 0.000 claims description 9
- 230000003416 augmentation Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Landscapes
- Feedback Control In General (AREA)
Abstract
本发明公开了靶标持续大过载机动时的防舵偏系统及其设计和使用方法，防舵偏系统包括靶标控制过载命令控制系统、靶标弹上控制系统和指令修正系统，靶标控制过载命令控制系统用于向靶标弹上控制系统输入靶标的靶标程控过载指令nyc1；靶标弹上控制系统用于靶标程控过载指令，并对靶标程控过载指令进行处理，得到靶标弹体发射的俯仰舵偏指令δc；指令修正系统用于接收俯仰舵偏指令δc，并对俯仰舵偏指令δc进行修正，得到修正系统的控制增益Kf，并通过控制增益Kf对靶标程控过载指令nyc1进行修正；本系统通过对靶标过载指令进行在线修复，从而确保靶标在持续大过载机动时舵偏不会陷入限幅值过深，能够有效保证靶标飞行安全，具有修复效果好、安全性高的特点。
The invention discloses a rudder deflection prevention system when a target continuously maneuvers with a large overload, and a design and use method thereof. The rudder deflection prevention system comprises a target control overload command control system, a target missile control system and an instruction correction system. The target control overload command control system is used for inputting a target program-controlled overload instruction n yc1 of the target into the target missile control system; the target missile control system is used for the target program-controlled overload instruction, and processes the target program-controlled overload instruction to obtain a pitch rudder deflection instruction δ c of the target missile body; the instruction correction system is used for receiving the pitch rudder deflection instruction δ c , and corrects the pitch rudder deflection instruction δ c to obtain a control gain K f of the correction system, and corrects the target program-controlled overload instruction n yc1 through the control gain K f ; the system performs online repair on the target overload instruction, thereby ensuring that the rudder deflection of the target will not fall into a too deep limit value when the target continuously maneuvers with a large overload, and can effectively ensure the flight safety of the target, and has the characteristics of good repair effect and high safety.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a rudder deflection prevention system for a target in continuous large overload maneuver and a design and use method thereof.
Background
The target is to simulate the large maneuvering performance of a fighter, if the balance rudder of the target is larger, the stability ratio is smaller, then the pitching rudder deflection angle required by continuous overload maneuvering is larger, but because of the constraints of pneumatics and structures, the steering engine deflection is limited, the target is easy to generate the situation of pitching rudder deflection saturation in the maneuvering process, therefore, the control system performance of the target is reduced due to the physical constraint influence of the maximum rudder deflection, even larger oscillation or divergence of the system can occur, if the target completes the corresponding maneuvering task through tracking an overload instruction in the large overload maneuvering process, however, the output rudder deflection control instruction delta c can exceed the normal deflection range and enter a saturation region when the overload instruction is tracked, the control system gradually exits from the saturation region, the deeper the entering saturation region, the longer the exiting saturation region time is, and the rudder deflection still stays at the limit rudder deflection position in the moment, and the corresponding change can not be immediately made along with the overload deviation, thus the control performance is deteriorated, and even the control performance is lost;
therefore, ensuring the flight safety of the target is a serious weight of the target flight task, but how to ensure that the rudder deflection cannot exceed the maximum rudder deflection limit for a long time when the target continuously carries out large overload maneuver is a key technology for target development;
In the prior art, the related description that the rudder deflection does not exceed the maximum rudder deflection limit for a long time when the target is continuously overloaded is not solved, and further the flight safety of the target is effectively ensured, so that the rudder deflection prevention system and the design and use method thereof for the target is required to be designed in order to solve the problem that the rudder deflection reaches the limit position for a long time in the process of the target is continuously overloaded in the prior art, thereby causing out of control.
Disclosure of Invention
Aiming at the problems, the invention aims to provide the rudder deflection preventing system for the continuous large overload maneuver of the target and the design and the use method thereof, and the system is used for repairing the overload instruction of the target on line, so that the rudder deflection of the target is ensured not to be sunk into the limit value too deep during the continuous large overload maneuver, the flight safety of the target can be effectively ensured, and the system has the characteristics of good repairing effect and high safety.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
The rudder deflection prevention system comprises a target control overload command control system, a target on-bullet control system and an instruction correction system when a target is continuously overloaded and maneuvered, wherein the rudder deflection prevention system comprises a target control overload command control system, a target on-bullet control system and an instruction correction system
The target control overload command control system is used for inputting a target program control overload command n yc1 of a target to the target on-bullet control system;
The on-target projectile control system is used for receiving a target program-controlled overload instruction of the target control overload command control system and processing the target program-controlled overload instruction to obtain a pitching rudder deflection instruction delta c emitted by the target projectile;
The command correction system is used for receiving a pitching rudder deflection command delta c output by the target on-bullet control system, correcting the pitching rudder deflection command delta c to obtain a control gain K f of the correction system, correcting a target program-controlled overload command n yc1 output by the target control overload command control system through the control gain K f to obtain a corrected overload command n yc, and taking the n yc as an input command of the target on-bullet control system.
Preferably, the on-target-bullet control system structure comprises an overload control loop subsystem and an autopilot loop subsystem, wherein
The overload control loop subsystem is used for receiving a target program control overload instruction n yc1 of the target control overload command control system and an overload instruction n yc corrected by the instruction correction system, and processing the target program control overload instruction by utilizing normal overload feedback loop control gain K ny, false attack angle feedback loop control gain K α and angular rate feedback loop control gain K ω to obtain a pitching rudder deflection instruction delta c transmitted by a target projectile body;
Wherein the autopilot loop subsystem includes a pitch rate feedback loop and false attack angle feedback loop.
Preferably, the correction process of the instruction correction system structure comprises the following steps of
When a pitch rudder deflection command delta c calculated by the on-board control system and a rudder deflection command after clipping are received as delta clim, an overload command correction amount is obtained as follows:
Δnyc＝(|δc|-|δclim|)*Kf (1)
the modified overload instruction is:
nyc＝nyc1-Δnyc (2)。
Preferably, the obtaining process of the limited pitch rudder deflection command delta clim includes:
(1) A pitching rudder deflection command delta c calculated by the sprung control system;
(2) If the pitching rudder deflection command delta c is more than or equal to the maximum rudder deflection command delta max, delta clim＝δmax is obtained, and the limited pitching rudder deflection command delta clim is the maximum rudder deflection command delta max;
(3) If the pitch rudder deflection command delta c is less than the maximum rudder deflection command delta max and is greater than the minimum rudder deflection command delta min, delta clim＝δc is obtained, and the limited pitch rudder deflection command delta clim is the pitch rudder deflection command delta c;
(4) If the pitching rudder deflection command delta c is less than the maximum rudder deflection command delta max and less than or equal to the minimum rudder deflection command delta min, delta clim＝δmin is obtained, and the limited pitching rudder deflection command delta clim is the minimum rudder deflection command delta min.
Preferably, the determining of the control gain K f includes
The targets are in different states, the pneumatic characteristics of the targets are changed, the pitching moment of the longitudinal channel mainly comprises two parts, and the pitching moment coefficient meets the following formula:
In the formula, The deflection of the pitching moment coefficient to the attack angle and the deflection of the rudder;
The target manipulation-stability ratio is an amount for evaluating the manipulation and stability thereof, and is expressed as follows
When the target operation stability is smaller, the same pitching moment is generated when the attack angle is fixed, the rudder deflection needed by the smaller operation stability ratio is larger, the target operation stability ratio is obviously changed along with Mach number, the target operation stability ratio is sharply reduced in the transonic stage of the target, mach number is about 0.7-0.9 in the maneuvering process, the pitching rudder deflection command |delta c | calculated along with the Mach number is larger and is easier to fall into rudder deflection saturation, at the moment, the control gain K f is also increased along with the pitching rudder deflection command to generate more overload command correction quantity to enable the overload command to be smaller, and therefore K f is a group of interpolation tables interpolated along with the Mach number.
A method for preventing rudder deflection system during continuous large overload maneuver of target comprises
Step 1, determining a rudder deflection instruction limit range of a target channel
Setting the deflection range of the pitching rudder to be +/-22 degrees, and setting the deflection range of the rolling rudder to be +/-6 degrees;
Step 2, designing a target on-bullet control system
Designing a target on-bullet control system circuit to comprise an overload control loop and an autopilot loop, wherein the autopilot loop comprises a stability augmentation loop and a normal overload feedback loop which are mutually matched, and the stability augmentation loop comprises a pitch angle rate feedback loop and a false attack angle feedback loop;
And 3, designing a control gain K f of the instruction correction system according to the pneumatic characteristics of the targets with different speeds.
The invention has the beneficial effects that the invention discloses a rudder deflection prevention system and a design and use method thereof when a target continuously carries out a large overload maneuver, and compared with the prior art, the invention has the following improvement:
Aiming at the problem that the rudder deflection reaches the limit position for a long time in the target continuous overload maneuvering process to cause out of control, the rudder deflection prevention system and the design and use method thereof are provided, when the rudder deflection control command output by the target continuous overload maneuvering is easy to exceed the rudder deflection command limit value and reach saturation, the rudder deflection is not out of control because the rudder deflection cannot be withdrawn from the limit value for a long time in the target continuous overload maneuvering process by designing the command generator and correcting the maneuvering overload command on line, so that the flight safety in the maneuvering process is ensured; the invention has the advantages of simple and reliable working mode, easy operation and obvious effect.
Drawings
Fig. 1 is a block diagram of a conventional target program control overload instruction control structure.
Fig. 2 is a block diagram of the rudder deflection prevention system of the present invention when the target is continuously over-loaded.
Fig. 3 is a block diagram of the control system on the target projectile of the present invention.
Fig. 4 is a flow chart of the acquisition of the limited pitch rudder deflection command delta clim according to the present invention.
Fig. 5 is a normal overload program control command and a normal overload curve of a conventional target flight test maneuver section.
Fig. 6 is a rudder deflection command curve before and after clipping of a maneuver section of a conventional target flight test.
FIG. 7 shows normal overload program control instructions, correction instructions and normal overload curves of a maneuvering section of a target flight test according to the invention.
Fig. 8 is a rudder deflection command curve before and after clipping of the maneuver section of the target flight test of the present invention.
Detailed Description
In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
The design principle of the traditional target program-controlled overload control structure block diagram is shown in fig. 1:
As can be seen from fig. 1, the program-controlled overload instruction of the target is n yc1, and directly enters an on-board control system, the on-board control system controls the target to fly flexibly according to a pre-designed control law, when the target is continuously overloaded, a large attack angle is required, the Mach number is greatly changed, if the target is continuously overloaded, the corresponding operation stability ratio is low and balances the pneumatic characteristics of the rudder which is bigger, the program-set fixed overload instruction is continuously tracked, the calculated pitching rudder bias instruction can exceed the rudder bias instruction limit value, the instruction enters a saturation region for a long time due to the limit of the maximum rudder bias, when the maneuvering is finished, the overload instruction is not the program-controlled overload instruction n yc1 any more, but the steering engine still stays at the limit instruction position due to the integral accumulation of the operation, and the target is out of control;
Therefore, the structural block diagram of the rudder deflection prevention system when the target continuously exceeds the overload maneuver is designed, as shown in fig. 2 of the embodiment, the instruction generator is designed according to the deviation of the currently calculated rudder deflection delta c and the limit position delta max、δmin reached by the pitching rudder deflection of the target, the program load control instruction is corrected, the execution instruction output by the instruction generator is n yc,nyc, which is the overload capability of the target available in real time at the moment, enters the on-board control system, the on-board control system controls the target flight according to the predesigned control law, the deviation of the rudder deflection calculated by the target and the limit rudder deflection can not be excessively large according to the control, the rudder deflection can be rapidly withdrawn from a saturation region when the reverse overload instruction deviation occurs, and the target is prevented from being out of control by re-responding to the new overload instruction;
Embodiment 1. Referring to fig. 1 to 8, a design method of a rudder deflection prevention system for a target continuous large overload maneuver specifically comprises the following steps:
step1, designing and determining a target channel rudder deflection instruction limiting range
In the target flight process, the horizontal tail rudder deflection angle range is +/-30 degrees, the horizontal tail is synchronously pitching rudder deflection, the horizontal tail differential is rolling rudder deflection, reasonable rudder distribution is carried out to meet the control system requirement, the single-chip rudder usable rudder deflection limiting value is +/-28 degrees for avoiding the full deflection of the steering engine, the control mode of BTT is adopted when the target is in great maneuver, the overload capacity is mainly generated by a longitudinal plane, a larger pitching rudder deflection angle is needed to operate the normal movement of the target in the maneuver process, the pitching rudder deflection range is limited to +/-22 degrees, and the rolling rudder deflection range is +/-6 degrees;
Step 2, designing a target on-bullet control system
As shown in fig. 3, the designed target on-bullet control system circuit comprises an overload control loop and an autopilot loop, the pitching channel normal overload autopilot adopts the autopilot loop structure shown in fig. 3, and comprises a stability augmentation loop and a normal overload feedback loop which are mutually matched for use, wherein the stability augmentation loop comprises a pitch angle rate feedback loop and a false attack angle feedback loop;
Firstly, designing overload control loop control parameters of a target missile-borne control system, and simultaneously completing selection of normal overload feedback loop control gains K ny and false attack angle feedback loop control gain K α and angle rate feedback loop control gain K ω with different heights and different rates by a pole allocation method;
step 3, designing control gain K of the instruction correction system according to pneumatic characteristics of targets with different speeds f
The pitch rudder deflection command calculated by the target on-bullet control system is delta c, the relationship between delta clim,δc and delta clim of the rudder deflection command after clipping is shown in fig. 4, and therefore, the overload command correction amount is as follows:
Δnyc＝(|δc|-|δclim|)*Kf (1)
the modified overload instruction is:
nyc＝nyc1-Δnyc (2)
As can be seen from fig. 4, i.e., δ c|-|δclim i is equal to or greater than 0, and the overload instruction correction amount is negative feedback, then K f should be positive in design;
Simultaneously, as the states of the targets are different, the aerodynamic characteristics can be changed, the pitching moment of the longitudinal channel mainly comprises two parts, and the pitching moment coefficient meets the following formula:
In the formula, The deflection of the pitching moment coefficient to the attack angle and the deflection of the rudder;
The target manipulation-stability ratio is an amount for evaluating the manipulation and stability thereof, and is expressed as follows
When the target operation stability is smaller, the same pitching moment is generated when the attack angle is fixed, the rudder deflection needed by the smaller operation stability ratio is larger, the target operation stability ratio is obviously changed along with Mach number, the target operation stability ratio is sharply reduced in the transonic stage of the target, mach number is about 0.7-0.9 in the maneuvering process, the pitching rudder deflection command |delta c | calculated along with the Mach number is larger and is easier to fall into rudder deflection saturation, at the moment, the control gain K f is also increased along with the pitching rudder deflection command to generate more overload command correction quantity to enable the overload command to be smaller, and therefore K f can be designed into a group of interpolation tables interpolated along with the Mach number to match the maneuvering capability of the target in different states.
Example 2 unlike example 1, the design method of the rudder deflection prevention system for continuous large overload maneuver of the target according to example 1 provides a rudder deflection prevention system for continuous large overload maneuver of the target, as shown in fig. 2, the rudder deflection prevention system comprises a target control overload command control system, a target on-bullet control system and a command correction system, wherein
The target control overload command control system is used for inputting a target program control overload command of a target to the target on-bullet control system to be n yc1;
The on-target projectile control system is used for receiving a target program-controlled overload instruction of the target control overload command control system and processing the target program-controlled overload instruction to obtain a pitching rudder deflection instruction transmitted by the target projectile body as delta c;
The command correction system is used for receiving a pitching rudder deflection command delta c output by the target on-bullet control system, correcting the pitching rudder deflection command delta c, further obtaining a control gain K f of the correction system, correcting a target program-controlled overload command n yc1 output by the target control overload command control system, obtaining a corrected overload command n yc, and taking the n yc as an input command of the target on-bullet control system.
Preferably, the structure of the control system on the target bullet is shown in fig. 3, and comprises an overload control loop subsystem and an autopilot loop subsystem, wherein
The overload control loop subsystem is used for receiving a target program control overload instruction n yc1 of the target control overload command control system and an overload instruction n yc corrected by the instruction correction system, and processing the target program control overload instruction by utilizing normal overload feedback loop control gain K ny, false attack angle feedback loop control gain K α and angular rate feedback loop control gain K ω to obtain a pitching rudder deflection instruction delta c emitted by a target projectile body;
the autopilot loop subsystem includes a pitch rate feedback loop and false attack angle feedback loop, the principles of which are shown in fig. 3 of the present description.
Preferably, the instruction correction system is constructed as shown in FIG. 4, and in use, the instruction correction system comprises
When a pitch rudder deflection command delta c calculated by the on-board control system and a rudder deflection command after clipping are received as delta clim, an overload command correction amount is obtained as follows:
Δnyc＝(|δc|-|δclim|)*Kf (1)
the modified overload instruction is:
nyc＝nyc1-Δnyc (2)。
Preferably, the obtaining process of the limited pitch rudder deflection command delta clim includes:
(1) A pitching rudder deflection command delta c calculated by the sprung control system;
(2) If the pitching rudder deflection command delta c is more than or equal to the maximum rudder deflection command delta max, delta clim＝δmax is obtained, and the limited pitching rudder deflection command delta clim is the maximum rudder deflection command delta max;
(3) If the pitch rudder deflection command delta c is less than the maximum rudder deflection command delta max and is greater than the minimum rudder deflection command delta min, delta clim＝δc is obtained, and the limited pitch rudder deflection command delta clim is the pitch rudder deflection command delta c;
(4) If the pitching rudder deflection command delta c is less than the maximum rudder deflection command delta max and less than or equal to the minimum rudder deflection command delta min, delta clim＝δmin is obtained, and the limited pitching rudder deflection command delta clim is the minimum rudder deflection command delta min.
Preferably, because the targets are in different states, the aerodynamic properties of the targets also change, the pitching moment of the longitudinal channel mainly consists of two parts, and the pitching moment coefficient meets the following formula:
In the formula, The deflection of the pitching moment coefficient to the attack angle and the deflection of the rudder;
The target manipulation-stability ratio is an amount for evaluating the manipulation and stability thereof, and is expressed as follows
When the target operation stability is smaller, the same pitching moment is generated when the attack angle is fixed, the rudder deflection needed by the smaller operation stability ratio is larger, the target operation stability ratio is obviously changed along with Mach number, the target operation stability ratio is sharply reduced in the transonic stage of the target, mach number is about 0.7-0.9 in the maneuvering process, the pitching rudder deflection command |delta c | calculated along with the Mach number is larger and is more prone to be trapped into rudder deflection saturation, at the moment, the control gain K f is also increased along with the pitching rudder deflection command to generate more overload command correction quantity to enable the overload command to be smaller, and therefore the result of K f is a group of interpolation tables interpolated along with the Mach number.
Example 3 unlike the above examples, to verify the reliability and effectiveness of the rudder deflection prevention system when the target continues to be heavily overloaded as described in the above examples, the following experiments were designed for verification:
Without the instruction correction method of the embodiment 2 of the invention, the normal overload program control instruction and the normal overload curve of the maneuvering section of the target flight test are shown in fig. 5, the rudder deflection instruction curves before and after the amplitude limitation of the maneuvering section are shown in fig. 6, and as can be seen from fig. 5, the program control overload instruction is 6g, the normal overload is still maintained for about 3s near 5g although the overload instruction is not 6g after the maneuvering is finished, because the pitching rudder deflection is limited, the deviation between the instruction and the actual normal overload is larger, the calculated rudder deflection instruction far exceeds the amplitude limitation value, the control quantity delta c gradually exits from the saturation region when the negative deviation begins to appear, but the accumulated value of the integral term still gradually exits from the saturation region after a period of rudder deflection instruction is larger, as shown in fig. 6, and the target pitching rudder deflection still stays at delta clim in the period of exiting the saturation region, so that the target cannot respond to the normal overload instruction after the maneuvering is finished and is in a runaway state;
It can be seen from fig. 7 and 8 that, with the instruction correction system described in embodiment 2 of the present invention, the i δ c|≥|δclim |time-controlled overload instruction is reduced due to correction, so as to reduce the deviation between the normal overload instruction and the actual normal overload, the depth of the rudder deflection instruction in the saturation region is greatly reduced, and when the reverse deviation occurs, the rudder deflection instruction also rapidly exits from the saturation region to respond to other instruction signals. The result shows that the method has obvious effect and higher engineering value.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. Rudder deflection prevention system when target lasts big overload maneuver, its characterized in that: comprises a target control overload command control system, a target on-bullet control system and an instruction correction system, wherein
The target control overload command control system is used for inputting a target program control overload command n yc1 of a target to the target on-bullet control system;
The on-target projectile control system is used for receiving a target program-controlled overload instruction of the target control overload command control system and processing the target program-controlled overload instruction to obtain a pitching rudder deflection instruction delta c emitted by the target projectile;
The command correction system is used for receiving a pitching rudder deflection command delta c output by the target on-bullet control system, correcting the pitching rudder deflection command delta c to obtain a control gain K f of the correction system, correcting a target program-controlled overload command n yc1 output by the target control overload command control system through the control gain K f to obtain a corrected overload command n yc, and taking the n yc as an input command of the target on-bullet control system;
The correction process of the instruction correction system comprises
When a pitch rudder deflection command delta c calculated by the on-board control system and a rudder deflection command after clipping are received as delta clim, an overload command correction amount is obtained as follows:
Δnyc=(δc|-|δclim|)*Kf (1)
the modified overload instruction is:
nyc＝nyc1-Δnyc (2);
the obtaining process of the limited pitching rudder deflection command delta clim comprises the following steps:
(1) A pitching rudder deflection command delta c calculated by the sprung control system;
(2) If the pitching rudder deflection command delta c is more than or equal to the maximum rudder deflection command delta max, delta clim＝δmax is obtained, and the limited pitching rudder deflection command delta clim is the maximum rudder deflection command delta max;
(3) If the pitch rudder deflection command delta c is less than the maximum rudder deflection command delta max and is greater than the minimum rudder deflection command delta min, delta clim＝δc is obtained, and the limited pitch rudder deflection command delta clim is the pitch rudder deflection command delta c;
(4) If the pitching rudder deflection command delta c is less than the maximum rudder deflection command delta max and less than or equal to the minimum rudder deflection command delta min, delta clim＝δmin is obtained, and the limited pitching rudder deflection command delta clim is the minimum rudder deflection command delta min;
The determination of the control gain K f comprises
The targets are in different states, the aerodynamic properties of the targets are changed, the longitudinal channel pitching moment is composed of two parts, and the pitching moment coefficient meets the following formula:
In the formula, The deflection of the pitching moment coefficient to the attack angle and the deflection of the rudder;
The target manipulation-stability ratio is an amount for evaluating the manipulation and stability thereof, and is expressed as follows
When the target operation stability is smaller, the same pitching moment is generated when the attack angle is fixed, the rudder deflection needed by the smaller operation stability ratio is larger, the target operation stability ratio is obviously changed along with Mach number, the target operation stability ratio is sharply reduced in the transonic stage of the target, mach number is 0.7-0.9 in the maneuvering process, the pitching rudder deflection command |delta c | calculated along with the Mach number is larger and is more prone to be sunk into rudder deflection saturation, at the moment, the control gain K f is also increased along with the pitching rudder deflection command to generate more overload command correction quantity to enable the overload command to be smaller, and therefore K f is a group of interpolation tables interpolated along with the Mach number.
2. The rudder deflection prevention system during continuous and large overload maneuver of the target as set forth in claim 1 wherein said on-target-bullet control system architecture includes an overload control loop subsystem and an autopilot loop subsystem, wherein
The overload control loop subsystem is used for receiving a target program control overload instruction n yc1 of the target control overload command control system and an overload instruction n yc corrected by the instruction correction system, and processing the target program control overload instruction by utilizing normal overload feedback loop control gain K ny, false attack angle feedback loop control gain K α and angular rate feedback loop control gain K ω to obtain a pitching rudder deflection instruction delta c transmitted by a target projectile body;
Wherein the autopilot loop subsystem includes a pitch rate feedback loop and false attack angle feedback loop.
3. A method for designing a rudder deflection prevention system for a target continuous heavy overload maneuver according to claim 1, comprising
Step 1, determining a rudder deflection instruction limit range of a target channel
Setting the deflection range of the pitching rudder to be +/-22 degrees, and setting the deflection range of the rolling rudder to be +/-6 degrees;
Step 2, designing a target on-bullet control system
Designing a target on-bullet control system circuit to comprise an overload control loop and an autopilot loop, wherein the autopilot loop comprises a stability augmentation loop and a normal overload feedback loop which are mutually matched, and the stability augmentation loop comprises a pitch angle rate feedback loop and a false attack angle feedback loop;
And 3, designing a control gain K f of the instruction correction system according to the pneumatic characteristics of the targets with different speeds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310385186.6A CN116820114B (en) | 2023-04-12 | 2023-04-12 | Anti-rudder deviation system during target continuous high-G maneuvering and its design and use method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310385186.6A CN116820114B (en) | 2023-04-12 | 2023-04-12 | Anti-rudder deviation system during target continuous high-G maneuvering and its design and use method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116820114A CN116820114A (en) | 2023-09-29 |
| CN116820114B true CN116820114B (en) | 2025-02-28 |
Family
ID=88128183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310385186.6A Active CN116820114B (en) | 2023-04-12 | 2023-04-12 | Anti-rudder deviation system during target continuous high-G maneuvering and its design and use method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116820114B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117234070B (en) * | 2023-11-13 | 2024-03-19 | 西安现代控制技术研究所 | BTT distribution method based on angle control instruction |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114200828A (en) * | 2021-11-09 | 2022-03-18 | 西北工业大学 | An anti-stall method for continuous large overload of supersonic large maneuvering target |
| CN115840456A (en) * | 2022-11-01 | 2023-03-24 | 西北工业大学 | Control method for preventing target drone from falling due to continuous large overload |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1230721C (en) * | 1996-08-22 | 2005-12-07 | 波音公司 | Aircraft pitch-axis stability and command augmentation system |
| RU2364548C2 (en) * | 2007-05-17 | 2009-08-20 | Закрытое акционерное общество "Гражданские самолеты Сухого" | Aircraft control system |
| RU2465535C1 (en) * | 2011-05-12 | 2012-10-27 | Открытое акционерное общество "Конструкторское бюро приборостроения" | Method of missile remote control |
| CN110411289B (en) * | 2019-06-13 | 2021-10-15 | 上海航天控制技术研究所 | Separation stability control method for inhibiting strong missile interference |
| CN111857177B (en) * | 2020-07-20 | 2022-11-01 | 西安科为实业发展有限责任公司 | Method, device, equipment and medium for generating remote control target instruction |
| CN114200826B (en) * | 2021-11-09 | 2023-06-23 | 西北工业大学 | A high-speed stable control method for a supersonic high-speed maneuvering target with continuous large-overload maneuvering |
| CN114200827B (en) * | 2021-11-09 | 2023-06-23 | 西北工业大学 | A multi-constraint dual-channel control method for a supersonic large maneuvering target |
-
2023
- 2023-04-12 CN CN202310385186.6A patent/CN116820114B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114200828A (en) * | 2021-11-09 | 2022-03-18 | 西北工业大学 | An anti-stall method for continuous large overload of supersonic large maneuvering target |
| CN115840456A (en) * | 2022-11-01 | 2023-03-24 | 西北工业大学 | Control method for preventing target drone from falling due to continuous large overload |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116820114A (en) | 2023-09-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106997208B (en) | A control method for hypersonic vehicle under uncertain conditions | |
| CN110220416B (en) | Self-adaptive rapid trajectory tracking guidance method | |
| CN107908109A (en) | A kind of hypersonic aircraft reentry stage track optimizing controller based on orthogonal configuration optimization | |
| CN111473696A (en) | Guidance rocket vertical attack guidance method based on drop point estimation | |
| CN106814626B (en) | Fast Tracking Method of Supersonic Vehicle Overload Command Based on Fuzzy Variable Structure | |
| CN106383523B (en) | A kind of aircraft nonlinear attitude control system stability analysis method | |
| CN116820114B (en) | Anti-rudder deviation system during target continuous high-G maneuvering and its design and use method | |
| CN109508027B (en) | Control method of rocket booster launch based on robust control theory | |
| CN105159311B (en) | A kind of design method of automatic pilot for strapdown seeker | |
| CN114200828B (en) | A Stall Prevention Method for Sustained Large Overload of Supersonic Large Maneuvering Target | |
| CN111336871A (en) | A vertical attack guidance method based on detour flight | |
| CN107515612A (en) | Elastic vibration suppressing method based on side spray flow control | |
| CN112069605A (en) | A Design Method of Proportional Guidance Law with Attack Time Constraint | |
| CN111897223B (en) | A Speed Tracking Guidance Method Considering the Dynamic Characteristics of Autopilot | |
| CN113758380A (en) | Guidance control integration method considering steering engine dynamic performance and attack angle constraint | |
| CN105094140B (en) | A kind of Structure Filter parameter optimization method based on Gene hepatitis B vaccine | |
| CN115657458A (en) | Aircraft climbing track control method based on energy matching | |
| CN113341710B (en) | A compound control method and application of aircraft agile turning | |
| CN113359819A (en) | Optimal guidance law with collision angle constraint and acceleration limitation | |
| CN115268503B (en) | A desingularized three-dimensional cooperative guidance method for multi-aircraft | |
| CN116125808A (en) | Multi-constraint motor protrusion anti-skid molding guiding method based on pure azimuth measurement | |
| CN110209197B (en) | Aircraft control system design method | |
| Zhe et al. | Design of longitudinal control system for target missiles based on fuzzy adaptive PID control | |
| CN110940232A (en) | A Guidance Method for BTT-90° Guidance Law Missile | |
| CN112346474A (en) | Design method of differential game guidance law with limited time convergence |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |