阅读说明：本技术 一种舰载垂直发射载荷的投放方法 (Launching method of ship-borne vertical launch load ) 是由 彭雪明 李莹 陈爱锋 李冲 于 2020-06-10 设计创作，主要内容包括：本发明涉及一种舰载垂直发射载荷的投放方法,属于载荷发射技术领域,解决了现有技术中舰载垂直发射载荷投放过程响应时间长、投放效率低的问题。本发明的投放方法步骤包括：步骤1：调转横向动力装置的喷口朝向；步骤2：载荷离开垂直发射筒；步骤3：对载荷进行扰动补偿；步骤4：载荷移动至投放区域。本发明的投放方法通过横向动力调转装置在载荷离开垂直发射筒前对喷口朝向调转,不占用响应时间,载荷离开垂直发射后进行扰动补偿,使得载荷始终以竖直姿态向投放区域运动,减小了载荷离开垂直发射筒后进行姿态调整的时间,提高了载荷投放部署速度。(The invention relates to a launching method of a ship-based vertical launching load, belongs to the technical field of load launching, and solves the problems of long response time and low launching efficiency in the launching process of the ship-based vertical launching load in the prior art. The releasing method comprises the following steps: step 1: the nozzle orientation of the transverse power device is turned; step 2: the load leaves the vertical launch canister; and step 3: carrying out disturbance compensation on the load; and 4, step 4: the load moves to the launch area. According to the launching method, the nozzle is turned towards the direction before the load leaves the vertical launching tube through the transverse power turning device, the response time is not occupied, disturbance compensation is carried out after the load leaves the vertical launching tube, the load always moves to the launching area in a vertical posture, the time for posture adjustment after the load leaves the vertical launching tube is shortened, and the launching deployment speed of the load is improved.)

1. A launching method of a ship-based vertical launching load is characterized by comprising the following steps:

step 1: the nozzle orientation of the transverse power device is turned;

step 2: the load leaves the vertical launch canister;

and step 3: carrying out disturbance compensation on the load;

and 4, step 4: the load moves to the launch area.

2. The launch method for the carrier-based vertical launch load according to claim 1, characterized in that in step 1, the turning angle and the turning direction are determined before the nozzle of the lateral power device is turned towards the turning direction.

3. The launch method for the carrier-based vertical launch load according to claim 2, characterized in that the angle θ of rotation of the thrust direction of the transverse power device around the axial direction of the load is determined as_xWhen the angle is less than or equal to 180 degrees, the turning angle theta of the transverse power device_{Transfer and rotation}＝θ_xAnd the turning direction is positive rotation around the load axial direction.

4. The method for launching the carrier-based vertical launch load according to claim 3, characterized in that when θ is measured_xWhen the angle is more than 180 degrees, the transverse power device adjusts the rotation angle theta_{Transfer and rotation}＝360°-θ_xAnd the turning direction is reverse rotation around the axial direction of the load.

5. The launching method of the carrier-based vertical launching load as recited in claim 1, wherein in the step 3, the load disturbance compensation step comprises:

step 3.1: acquiring the angular speed of the load rotating around the axial direction of the load;

step 3.2: and the transverse power device deflects around the load deflection shaft to perform disturbance compensation.

6. The launch method for the carrier-based vertical launch load according to claim 5, characterized in that in step 3.1, the angular velocity is obtained by a gyroscope axially disposed on the load.

7. The launching method of the carrier-based vertical launching load as recited in claim 5, characterized in that in the step 3.2, the deflection angle of the transverse power device satisfies the following condition:

wherein the content of the first and second substances,is the angular velocity of the load rotating axially around the load, L is the distance of the deflection axis of the transverse power unit from the center point of the load, I_xxIs the moment of inertia of the load about the axial direction, F_{Transverse direction}Is the thrust of the transverse power device.

8. The method for launching the carrier-based vertical launching load according to claim 1, wherein in the step 2, the load leaves the vertical launching tube in a cold launching mode.

9. The method for launching the carrier-based vertical launching load according to claim 1, wherein in the step 2, the load leaves the vertical launching tube in a thermal launching mode.

10. The method for launching the carrier-based vertical launch load according to claim 1, characterized in that in step 4, the load is launched while the load is moved to the launch area.

Technical Field

The invention relates to the technical field of load launching, in particular to a launching method of a carrier-based vertical launching load.

Background

At present, a launching (close range) method of ship-borne vertical launching comprises the following steps: after the load is launched from the vertical launching tube, a recoil type power device (such as a rocket engine, a turbojet engine and the like) positioned at the tail part of the load drives the load to continuously ascend, and an attitude adjusting device (such as a rudder wing, a vector nozzle and the like) rapidly acts to adjust the pitch attitude angle of the load, so that the speed of the load in the vertical direction is converted into the horizontal direction (in some cases, the load can also be rapidly moved to the horizontal plane by adjusting the pitch attitude angle), and the short-distance motion of a specific track is realized, wherein the motion track of the load is shown in fig. 1.

In addition, after the load is vertically emitted from the ship surface, the direction turning is firstly needed, and the direction turning of the load after the load is vertically emitted is realized by adopting a thrust vector method for the existing load vertically emitted from the ship surface. Because the gas rudder thrust vector method needs to work by depending on jet flow of an engine, the jet direction turning of a vertical transmitting load can be realized only after a load engine is ignited, and the problem of long response time exists; meanwhile, in order to meet the requirement of working in the high-temperature and high-speed jet flow environment of the engine, the device used in the engineering application of the thrust vector method has the problems of complex process and high cost.

Disclosure of Invention

In view of the above analysis, the present invention aims to provide a method for launching a ship-based vertical launch load, so as to solve the problems of long response time and low launching efficiency in the existing launching process of the ship-based vertical launch load.

The invention provides a launching method of a carrier-based vertical launching load, which comprises the following steps:

step 1: the transverse power turning device turns the direction of a nozzle of the transverse power device;

step 2: the load leaves the vertical launch canister;

and step 3: carrying out disturbance compensation on the load;

and 4, step 4: the load moves to the launch area.

Further, in the step 1, before the nozzle of the transverse power device faces the turning direction, the turning angle and the turning direction are determined.

Further, the rotation angle theta around the load axial direction when the thrust direction of the lateral power unit is rotated_xWhen the angle is less than or equal to 180 degrees, the turning angle theta of the transverse power device_{Transfer and rotation}＝θ_xAnd the turning direction is positive rotation around the load axial direction.

Further, when θ_xWhen the angle is more than 180 degrees, the transverse power device adjusts the rotation angle theta_{Transfer and rotation}＝360°-θ_xAnd the turning direction is reverse rotation around the axial direction of the load.

Further, in step 3, the load disturbance compensation step includes:

step 3.1: acquiring the angular speed of the load rotating around the axial direction of the load;

step 3.2: and the transverse power device deflects around the load deflection shaft to perform disturbance compensation.

Further, in step 3.1, the angular velocity is obtained by loading a gyroscope axially disposed.

Further, in the step 3.2, the deflection angle of the transverse power device satisfies:

wherein the content of the first and second substances,is the angular velocity of the load rotating axially around the load, L is the distance of the deflection axis of the transverse power unit from the center point of the load, I_xxIs the moment of inertia of the load about the axial direction, F_{Transverse direction}Is the thrust of the transverse power device.

Further, in step 2, the load leaves the vertical launch canister in a cold launch manner.

Further, in step 2, the load is thermally emitted from the vertical launch canister.

Further, in step 4, when the load moves to the throwing area, the load in the load is thrown.

Compared with the prior art, the invention can realize at least one of the following beneficial effects:

(1) the direction of the nozzle of the transverse power device is adjusted before the load leaves the vertical launching tube, and compared with the direction adjustment after the load leaves the vertical launching tube, the direction adjustment does not occupy the load response time, shortens the time required by the direction adjustment of the vertical launching load, and improves the working efficiency of the vertical launching load.

(2) Disturbance compensation is carried out after the load leaves the launching tube, so that the load still moves in the posture of the vertical launching tube after leaving the vertical launching tube, namely, nozzles of the transverse power device are always in the same horizontal direction, the distribution of the motion trail of the vertical launching load is avoided, and the load running time is shortened.

(3) After the load leaves the launching tube, starting the transverse power device to enable the load to move to the launching area at a horizontal speed, and under the condition that transverse movement of the load is guaranteed, the load can quickly reach the near-ground launching area; compared with the existing load short-distance launching method, the response time of the load reaching the launching area is shortened, and the launching and deployment speed of the load carrying load is increased.

(4) The rotating maneuvering of the load with larger overload is not needed, so that an attitude adjusting device with higher technical index is not needed, and the stress performance index of other devices in the load is correspondingly reduced.

(5) The transverse dynamic steering device can realize the steering adjustment of the load before vertical launching by using any motor device with the functions of rotation and angular position measurement, and compared with a high-temperature resistant special material device with high manufacturing cost used by the traditional gas rudder thrust vector method, the cost for realizing the steering adjustment of the vertical launching load is reduced.

In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.

FIG. 1 is a schematic diagram of a load launching motion trajectory of a thrust vector method in the background art;

FIG. 2 is a flowchart of a delivery method in accordance with an exemplary embodiment;

FIG. 3 is a schematic diagram of a turning lateral power unit of an exemplary embodiment;

fig. 4 is a schematic diagram of a load dropping motion trajectory according to an embodiment.

Detailed Description

The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention and not to limit its scope.

A specific embodiment of the present invention, as shown in fig. 2-4, discloses a method for launching a carrier-based vertical launch load, which is used for launching the load at a short distance, wherein the carrier-based vertical launch load comprises a transverse power device and a transverse power turning device, the transverse power device is connected with the transverse power turning device, and the transverse power turning device can turn a nozzle of the transverse power device towards the direction; the releasing method comprises the following steps:

s1: the transverse power turning device turns the nozzle of the transverse power device towards the direction.

The transverse drive is a recoil injector with its nozzle opening perpendicular to the vertical extent of the load, i.e. in the case of a vertical arrangement of the load, the nozzle opening of the transverse drive is arranged in the horizontal direction. When the transverse power device works, thrust can be applied to the load in the horizontal direction. In this embodiment, the number of the nozzles and the positions of the nozzles of the lateral power device are not limited as long as the lateral power device can apply a thrust force to the load to translate the load.

In the load releasing process, the orientation of the load releasing area and the nozzle of the transverse power device can be in any position relation, when the orientation of the load releasing area and the nozzle are in the same plane and opposite to the orientation of the nozzle (namely the orientation of the load releasing area and the nozzle is consistent with the thrust direction of the transverse power device), the load can be released to the releasing area without turning the orientation of the nozzle, and when the orientation of the load releasing area and the nozzle is in other any position relation, the orientation of the nozzle of the transverse power device needs to be turned according to the position of the load releasing area before the carrier-borne vertical launching load leaves the vertical launching tube.

First, the turning angle and turning direction of the lateral power unit need to be determined. When the thrust direction of the transverse power device rotates by a rotation angle theta around the axial direction of the load_xWhen the angle is less than or equal to 180 degrees, the turning angle theta of the transverse power device_{Transfer and rotation}＝θ_xThe turning direction is positive rotation around the load axial direction; when theta is_xWhen the angle is larger than 180 degrees, the transverse power device adjusts the rotation angle theta_{Transfer and rotation}＝360°-θ_xAnd the turning direction is reverse rotation around the axial direction of the load.

The rotation angle θ is_xThe judgment of the size accords with the right-hand rule, namely the thumb faces the vertical upward direction, the four-finger holding direction is the rotating direction of the transverse power device, under the condition, when the rotating angle of the thrust direction of the transverse power device is smaller than or equal to 180 degrees, the turning angle of the transverse power device is consistent with the rotating angle, the turning direction is consistent with the four-finger holding direction, when the deflection angle is larger than 180 degrees, the turning angle is equal to 360 degrees minus the deflection angle, and the turning direction is opposite to the four-finger holding direction.

Secondly, the transverse power turning device is controlled to rotate according to the turning angle and the turning direction, so that the transverse power device can be turned. In this embodiment, the transverse power steering device is any device or component, such as a motor, capable of achieving rotation of the transverse power device.

In the embodiment, the direction of the nozzle of the transverse power device is adjusted before the load leaves the vertical launching tube, and compared with the direction adjustment after the load leaves the vertical launching tube, the direction adjustment does not occupy the load response time, shortens the time required by the direction adjustment of the vertical launching load, and improves the working efficiency of the vertical launching load. Meanwhile, the transverse dynamic steering device can realize the directive adjustment of the load before vertical emission by using any motor device with rotation and angular position measurement functions, and compared with a high-temperature-resistant special material device with high manufacturing cost used by the traditional gas rudder thrust vector method, the cost for realizing the directive steering by vertically emitting the load is reduced.

Further, in order to avoid accidental ignition of the transverse power device in the launching tube, step S0 is executed before step S1, step S0 is ignition control on the transverse power device, when the load is in the vertical launching tube, the overload relay is not attracted, and the transverse power device cannot ignite; when the load leaves the vertical launching tube, the load controls the ignition relay to be attracted, and the transverse power device can be ignited successfully.

In the step S0, an aerial safe ignition system is adopted for ignition control of the transverse power device, so that accidental ignition of the transverse power device in the launching tube can be prevented, and reliable ignition of the transverse power device in the air can be ensured. The aerial safe ignition system is a parallel ignition system, and the aerial ignition reliability can be improved. The aerial safety ignition system comprises two parallel paths, wherein an overload relay and an ignition relay are respectively connected in series in the two parallel paths, the overload relay is attracted when the overload relay is ejected and overloaded, and the phenomenon that accidental ignition cannot occur in the launching tube by a transverse power device is guaranteed. The load is judged according to the loaded axial acceleration output value and the launching time relative to the launching zero point, when the axial acceleration output value is larger than a specified value and the launching time reaches a specified value of a binding ignition time sequence, the load controls an ignition relay to suck, and the transverse power device can be ignited successfully.

S2: the load leaves the vertical launch canister.

In order to save time during the load throwing process, the load can be separated from the launching tube in a cold launching mode or in a hot launching mode, and the load is separated from the vertical launching tube in a vertical mode, wherein the load is separated from the vertical launching tube in the vertical mode, namely the load moves vertically upwards after ignition.

When the cold emission mode is adopted for emission, high-temperature and high-pressure gas generated by the vertical emission system is filled into the emission barrel from the bottom, and the interior of the emission barrel starts to be pressurized so that the pressure acts on the bottom of the load; when the acting force generated by the pressure in the launching tube is larger than the gravity of the load, the load is gradually accelerated in the vertical direction and leaves the vertical launching tube at a certain speed.

When the launch is performed in a thermal launch mode, the recoil engine at the lower end of the load (i.e., the tail end of the load) ignites to overcome the weight of the load, causing the load to move away from the vertical launch canister.

In consideration of the fact that in practical application, the load can obtain enough initial velocity after leaving the vertical launch canister, that is, enough dead time of the load can be ensured, the cold launch mode can be adopted to ensure that the load can obtain the enough initial velocity, and the design complexity of the load can be simplified, so the cold launch mode is preferably adopted to launch the load in the specific application of the embodiment.

After the load leaves the vertical launch canister, the method further comprises the steps of: and starting the transverse power device to enable the load to obtain a horizontal speed to move towards the throwing area.

The vertical launch canister does not laterally restrain the load after it leaves the vertical launch canister. At this time, the transverse power device is started, and the jet flow is sprayed out from the nozzle of the transverse power device, so that the load obtains transverse thrust, the transverse thrust enables the load to obtain acceleration in the horizontal direction, and therefore the load obtains horizontal movement speed. It is conceivable that the load moves towards the launch area (i.e. the area remote from the vessel) under the combined effect of gravity and lateral thrust.

In the process of transverse movement of the load due to the starting of the transverse power device, the transverse thrust device enables the load to directly move towards the close-distance throwing area, and the load does not need to be thrown to the close-distance throwing area by turning the movement direction by adopting a large overload quick maneuvering method in the prior art, so that the transverse acceleration applied to the load can be set to be smaller, and a posture adjusting device with harsh technical indexes is not needed; the load may be subjected to relatively low lateral acceleration without being subjected to a large motorized overload as in the prior art, and the stress indicators of other components in the load may be relatively reduced.

In the embodiment, the transverse thrust device directly enables the load after the obtained barrel (separated from the vertical launching barrel) to move to the short-distance launching area, so that the load can quickly reach the short-distance launching area under the condition of ensuring the transverse movement of the load; compared with the existing load close-distance launching process, the response time of the load reaching a close-distance launching area is shortened, and the launching and deployment speed of the load carrying load is increased.

It should be noted that the load moves vertically during the launch phase; and after the transverse power device is started, the load performs a parabola-like track motion in a vertical posture.

Specific criteria of the lateral power device are described below. Assuming that the determined performance indicator includes t_{Response to}And L_{Short distance}。

Assuming that the transverse power device works stably, the formula is adopted

Andthe minimum thrust that can be determined to achieve a performance index for a transverse power plant is

Wherein, a_{Transverse direction}Representing the lateral acceleration, t, of the ship-borne vertical launch load_{Response to}The response interval L representing the requirement of realizing the short-range motion track of the ship-borne vertical transmitting load_{Short distance}Representing the short-range movement transverse distance, F, required to be realized by the ship-borne vertical launching load_{Transverse direction (min)}Minimum thrust value, m, representing lateral thrust_Load(s)Representing the mass of the carrier-borne vertical launch load.

F can be determined according to the maximum transverse overload that the load can bear_{Transverse direction (max)}＝n_Limiting×m_Load(s)X g, wherein n_LimitingThe maximum normal overload value bearable by the ship-borne vertical launching load is shown, g represents the gravity acceleration value, F_{Transverse direction (min)}≤F_{Transverse direction (design)}≤F_{Transverse direction (max)}。

In specific application, the transverse power device is mostly a power device with high power-to-mass ratio (power-to-mass ratio refers to power-to-mass ratio) such as a rocket engine. The rocket engine generates transversely-sprayed high-temperature flame at high temperature, and the transversely-sprayed high-temperature flame can damage the superstructure of the naval vessel, so that the transverse power device in practical application is limited by the load launching direction and the superstructure of the naval vessel at the moment of reverse thrust ignition.

If the load needs to be thrown to the side direction perpendicular to the keel of the naval vessel, because of the structural design characteristics of the naval vessel, no superstructure exists in the direction perpendicular to the keel of the naval vessel, flame generated by the transverse power device cannot influence the superstructure of the naval vessel, and the transverse power device can be started after leaving the vertical launch canister.

If the load needs to be thrown to the area at the front side or the rear side of the naval vessel, under the condition, in order to avoid damage of the superstructure of the naval vessel when the transverse power device is ignited, the load needs to be started after leaving the vertical launching tube and rising to a safe height. In a specific application, the safe height may be a mast height of a vessel, a bridge height, or a furnace bay radiator height, depending on the location of the load deployment.

Under the condition that the load has the safety height, the working performance requirement index mentioned above can be met, and the speed characteristic of the load leaving the launch canister needs to be analyzed. Through scene analysis, the load moves to at least a safe height h_SecureThe ignition safety of the transverse power device can be ensured. Then, according to the force analysis, in order to raise the load to a safe height, the required speed obtained by launching the load from the vertical launching tube is

In addition, in practical application, in order to enable the load to be at a horizontal height generally close to that of a naval vessel when the load reaches the launching area and ensure that the speed of the load in the vertical direction is not too high after the load reaches the launching area, the maximum height h which the load can reach after the load is launched from the vertical launching tube needs to be limited_maxAccording to force analysis

Thus, can obtainAccording to v above_{Discharging tube}The thrust force characteristic acting on the load during the vertical launch phase can then be determined.

In practical application, the dynamic characteristic and the horizontal force-moving characteristic of the load in the vertical direction need to be combined, so that the load can be thrown to a set throwing area. In a specific application of the embodiment, when the stress characteristic of the load in the horizontal direction is determined by the thrust of a specific type of transverse power device, the working characteristic of the cold emission device can be determined by S2.1-S2.3.

S2.1: the distance of the launch area relative to the vessel is determined.

S2.2: and determining the initial speed of the load leaving the vertical launching tube according to the distance and the thrust of the transverse power device.

S2.2, according to the distance and the thrust of the transverse power device, the time t from the start of the transverse power device to the movement of the load to the throwing area can be determined_{Response to}(ii) a In order to enable the load to move to the launch area, at t_{Response to}In this case, the load should be in a dead space state. The larger the initial velocity of the load leaving the vertical launch canister, the larger the dead time, according to the required dead time t_{Response to}A minimum initial velocity of the load away from the vertical launch canister may be determined, and a reasonable initial velocity may be selected in a range greater than the minimum initial velocity.

S2.3: and determining the working characteristics of the cold launching device in the vertical launching tube according to the initial speed and the weight of the load.

The operating characteristics of the cold launching device are analyzed with respect to a special constraint that the transverse power unit is activated when the load rises to the maximum height, and the horizontal height of the load when it reaches the launch area is identical to the height when it leaves the vertical launch canister, when a_{Transverse direction}Has already been determined.

According toCan determineBecause the transverse power device is started when the vertical speed of the load is 0, the speed when the load reaches the throwing area can be determined to be the same as the speed when the load reaches the throwing area, and the direction is opposite, and then the transverse power device is started when the load reaches the throwing areaAccording to v_{Discharging tube}The operating characteristics of the cold emitter in the vertical emitter can be determined such that the carrier reaches v upon exiting the vertical emitter_{Discharging tube}。

It is noted that during the execution of S2.1-S2.3, the safety height h may also need to be taken into account_SecureAnd the load may be started when the vertical speed is not reduced to 0, and the corresponding constraint condition can be increased to obtain the corresponding v_{Discharging tube}(ii) a In addition, in practical application, various constraint conditions can be comprehensively considered to determine the thrust characteristic of the transverse power device, and the speed v of the load leaving the vertical launching tube_{Discharging tube}So that the load reaches the launch area in a reasonably minimum time from the start of the launch.

S3: and carrying out disturbance compensation on the load.

When the transverse power device works, the load obtains horizontal thrust; however, in practical application, the load is affected by the shake of the naval vessel, the uneven vertical thrust and the like in the vertical launching process, and the load may incline after leaving the vertical launching tube, and at the moment, if the horizontal thrust is still applied to the load by the transverse power device, the horizontal thrust may act on the load to form a rotating moment, so that the load rotates uncontrollably. In addition, the load may also rotate under the influence of various disturbances after the load is launched. The rotation of the load may deviate from the throwing track, and the throwing of the load in the throwing area cannot be realized, so that disturbance compensation is needed in the transverse movement process of the load.

In this embodiment, the load further comprises an acceleration measuring device; in practical application, the acceleration measuring device can be a gyroscope or a three-coordinate accelerometer processed by an MEMS process. The step of compensating the load for disturbances comprises:

s3.1: and acquiring the angular speed of the load rotating around the axial direction of the load.

The angular velocity of the rotation of the load is measured according to an acceleration measuring device, such as by a gyroscope disposed axially of the load.

S3.2: and the transverse power device deflects around the deflection shaft to perform disturbance compensation.

And adjusting the spraying angle of the transverse power device according to the rotational inertia to avoid load rotation.

The distance between the deflection shaft of the transverse power device and the center of the load is L, and the moment of inertia of the load around the axial direction is I_xxThe angular velocity of the load rotating axially around the load isThe rotation angle of the transverse power device around the deflection shaft is as follows:

the transverse power device generates opposite rotation torque by rotating around the deflection shaft so as to compensate the rotation torque generated by disturbance. Disturbance compensation is carried out after the load leaves the launching tube, so that the load still moves in the posture of the vertical launching tube after leaving the vertical launching tube, namely, nozzles of the transverse power device are always in the same horizontal direction, the distribution of the motion trail of the vertical launching load is avoided, and the load running time is shortened.

S4: the load moves to the target area.

Under the condition that the load leaves the vertical launching tube and does not apply lifting thrust to the vertical launching tube any more, determining the dead time of the load; in the case where the start timing of the lateral power unit after leaving the vertical launch canister with respect to the load is determined and the thrust characteristics of the lateral power unit are known, the load final landing zone can be determined.

In reverse consideration, under the condition that the index of the short-distance throwing area of the load is determined, the thrust characteristics of the load in the vertical launching tube and the thrust characteristics of the transverse power device can be designed according to the determined index, so that the load can be thrown to the short-distance throwing area.

In the specific application of the embodiment, the v is the control quantity obtained by calculating the load according to the control quantity obtained by the load emission, due to the influence of the actual battlefield environment and the working characteristics of the cold emission device_{Discharging tube}Without reaching the theoretical calculation, the load may not be able to move to the predetermined drop zone in this case. In order to solve this problem, the load bottom in this embodiment is further provided with a vertical thrust device. In the step of initiating the lateral thrust load to obtain a horizontal velocity moving towards the launch area, steps S4.1-S4.4 may be performed to ensure that the load eventually reaches the launch area.

S4.1: the current height of the load is determined.

In this embodiment, an altimeter may be disposed in the load, and configured to measure an altitude of the load, and determine a current height of the load relative to a water surface according to the altitude, or determine the current height of the load by calculating according to an optical signal in a naval vessel optical monitoring manner.

S4.2: and determining whether the load can fly to the throwing area or not according to the current height, the horizontal distance between the throwing area and the current position, the transverse speed state of the load and the transverse thrust exerted on the load by the transverse power device.

In S4.2, the running track of the load is calculated according to the current height, the horizontal distance between the launching area and the current position, the transverse speed state of the load and the transverse thrust applied to the load by the transverse power device, so as to determine whether the load can fly to the launching area. In performing this process, the lateral power unit needs to function properly. If the load cannot fly to the distance of the throwing area, the height of the load is determined to be too low, and the dead time of the future load cannot meet the requirement.

If S4.2, determining that the load cannot fly to the throwing area, executing S4.3; if S4.2 determines that the load can fly to the launch area, step S4.4 is executed.

S4.3: and controlling the vertical thrust device to apply vertical thrust to the load.

The size of the vertical thrust applied to the load by the vertical thrust device is controlled according to the current height, the horizontal distance between the release area and the current position, the transverse speed state of the load and the transverse thrust applied to the load by the transverse power device.

Under the condition that the vertical thrust device applies vertical thrust, the vertical thrust can overcome the gravity action on at least part of the load, so that the acceleration of the load in the vertical direction is reduced, and the load dead time is prolonged; by increasing the dead time of the load, the load can be ensured to move a larger distance in the transverse direction, and a preset throwing area can be reached as far as possible.

In practical application, the vertical thrust device can be various types of recoil thrust devices; considering the simplicity of the actual structural design, the vertical thrust device is preferably a high pressure compressed air source or the like.

S4.4: and throwing the load in the load.

When the load reaches the drop area, the load in the load is dropped. In this embodiment, a throwing device is arranged on the shell of the load, or a separating device is arranged on the shell of the load; when the load reaches the launch area, the launch device or the separation device is activated so that the load in the load is launched into the airspace or on the water surface in the launch area.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.