阅读说明：本技术 一种实现导弹大扇面角发射的制导方法 (Guidance method for realizing missile large-sector-angle launching ) 是由 李世海 胡海燕 崔俊根 刘冬责 单乐乐 王明光 于 2021-08-26 设计创作，主要内容包括：本发明一种实现导弹大扇面角发射的制导方法,步骤如下：(1)利用引入带重力补偿与弹道终端大落角约束的纵向制导方法提高弹道前段的法向过载；(2)在法向过载满足要求的工况下通过引入方案滚转角进行BTT制导的方法实现快速侧向纠偏,同时可避免面对称气动布局武器的偏航通道和横滚通道严重的气动耦合工况；(3)在弹道末段改为常规的BTT或STT比例制导保证打击精度。幅度提高武器的发射扇面角。该方法同样适用于无人机载、战斗机载的导弹和炸弹等武器,特别适用于面对称气动布局武器。(The invention relates to a guidance method for realizing missile large-sector-angle launching, which comprises the following steps: (1) improving the normal overload of the front section of the trajectory by introducing a longitudinal guidance method with gravity compensation and trajectory terminal large-falling-angle constraint; (2) under the working condition that normal overload meets the requirement, rapid lateral deviation rectification is realized by introducing a scheme roll angle to carry out BTT guidance, and meanwhile, the severe pneumatic coupling working condition of a yaw channel and a roll channel of a plane-symmetric pneumatic layout weapon can be avoided; (3) and the conventional BTT or STT proportional guidance is changed to ensure the hitting precision at the terminal of the trajectory. The range increases the firing sector angle of the weapon. The method is also suitable for unmanned aerial vehicles and battle airborne missiles, bombs and other weapons, and is particularly suitable for plane-symmetric pneumatic layout weapons.)

1. A guidance method for realizing missile large-sector-angle launching is characterized by comprising the following steps:

(1) in the longitudinal direction of the missile, a correction proportion guidance method with gravity compensation and trajectory terminal large-falling-angle constraint is introduced on the basis of a pure proportion guidance method, so that the normal overload of the trajectory front section is improved;

(2) under the working condition that normal overload meets the requirement, rapid lateral deviation rectification is realized by introducing a scheme roll angle to carry out BTT guidance, and meanwhile, the severe pneumatic coupling working condition of a yaw channel and a roll channel of a plane-symmetric pneumatic layout weapon is avoided;

(3) and the conventional BTT or STT proportional guidance is changed at the tail section of the trajectory, so that the hitting precision is ensured.

2. The guidance method for realizing the launching of the missile at the large sector angle according to the claim 1, is characterized in that: the specific process of the step (1) is as follows:

1.1) selecting parameters according to technical indexes and ballistic characteristics of the missile;

1.2) obtaining the current flight speed Vel and the pitching direction sight line angular speed omega of the guided missile through a sensing device and a calculating device of the guided missile_yTime of flight remaining T of missile_goTrajectory of raysThe inclination angle theta;

1.3) calculating to obtain the normal command acceleration.

3. The guidance method for realizing the launching of the missile at the large sector angle according to the claim 2, is characterized in that: the parameters include a desired ballistic inclination angle θ_cCoefficient of proportional pilot term k_y1Coefficient of landing angle constraint term k_y2Coefficient k of gravity compensation term_y3。

4. The guidance method for realizing the launching of the missile at the large sector angle according to the claim 3, is characterized in that: the formula for obtaining the normal command acceleration through calculation is as follows: a is_yc＝k_y1*Vel*ω_y+k_y2*Vel*(θ-θ_c)/T_go+k_y3G, wherein g is the acceleration of gravity.

5. The guidance method for realizing the launching of the missile at the large sector angle according to claim 4, is characterized in that: in the step (2), a proper off-axis angle criterion value phi is selected according to technical indexes and ballistic characteristics of the missile_Lim1And a normal command acceleration criterion value a_{yc_Lim}(ii) a Judging to adopt a middle guidance mode; if the off-axis angle phi of the missile at the launching moment is larger than the criterion value phi_Lim1And according to the normal overload command a of the missile calculated in the step (1)_ycGreater than a criterion value a_{yc_Lim}And (4) performing the BTT guidance by adopting the scheme roll angle in the guidance, otherwise, still adopting the modified proportion guidance method in the step (1) to give the normal command acceleration.

6. The guidance method for realizing the launching of the missile at the large sector angle as claimed in claim 5, is characterized in that: in the scheme roll angle BTT guidance method, three channel instructions are as follows:

wherein, Roll_c、Roll_MaxRespectively a roll angle instruction and a maximum available roll angle; a is_yc、a_zcNormal overload command and side overload command.

7. The guidance method for realizing the launching of the missile at the large sector angle as claimed in claim 6, wherein the guidance method comprises the following steps: in the step (3), judging the terminal guidance cut-in time; if the current off-axis angle phi of the missile is less than or equal to the criterion value phi_Lim1Or normal overload command a of missile_ycLess than or equal to the criterion value a_{yc_Lim}And then the system shifts to the conventional BTT guidance or STT guidance.

8. The guidance method for realizing the launching of the missile at the large sector angle according to claim 7, is characterized in that: the instruction of the BTT guidance channel is as follows:

wherein, a_yc、a_zc、Roll_cNormal command acceleration, lateral command acceleration and roll angle command are respectively adopted; sgn (·) is a sign function; k is a radical of_y1、k_y3Normal proportional guide term coefficients and normal gravity compensation term coefficients are respectively; k is a radical of_z1、k_z2Respectively is a lateral proportion guidance term coefficient and a lateral gravity compensation term coefficient; omega_y、ω_zThe rotation angular velocities of the line of sight of the bullet in the pitch direction and the yaw direction, respectively.

9. The guidance method for realizing the launching of the missile at the large sector angle according to claim 7, is characterized in that: the STT guidance channel instruction is as follows:

wherein, a_yc、a_zc、Roll_cRespectively is a methodA directional command acceleration, a lateral command acceleration and a roll angle command; sgn (·) is a sign function; k is a radical of_y1、k_y3Normal proportional guide term coefficients and normal gravity compensation term coefficients are respectively; k is a radical of_z1、k_z2Respectively is a lateral proportion guidance term coefficient and a lateral gravity compensation term coefficient; omega_y、ω_zThe rotation angular velocities of the line of sight of the bullet in the pitch direction and the yaw direction, respectively.

10. A storage medium, characterized by: the system is used for storing a guidance program; the guidance program is the steps described in steps (1) to (3) in claim 1.

Technical Field

The invention relates to a guidance method for realizing missile large-sector-angle launching, which is particularly suitable for a working condition that an unmanned aerial vehicle weapon strikes a near-range target and a plane-symmetric aircraft.

Background

At present, the research on the guidance law of the large-sector-angle launching guidance weapon in China is less, and a method combining Bank-to-Turn (BTT) and side-slip Turn (Skid-to-Turn (STT) is often adopted in engineering to improve the lateral turning capability of the missile when the missile launches at the large sector angle. The combined guidance mode of the gliding section BTT + STT parallel composite guidance and the attack section STT guidance is adopted aiming at the characteristics of high lift-drag ratio and low course maneuvering capability of the small-diameter bomb on the back wing of the diamond in the article of 'small-diameter bomb composite guidance law design and simulation' to meet the requirement on lateral overload during large sector angle launching. Although the article verifies through simulation experiments that the method can meet the requirement of sector launching on the drop point, the method only adopts a proportional guidance law (PN) in the longitudinal direction of the glide range-extending section, and cannot ensure that the normal overload of the missile trajectory front section meets the requirement, particularly for a near-range target; meanwhile, the deviation is corrected in a mode of combining the BTT and the STT of the plane-symmetric aircraft, so that the aircraft can work under the working condition that the pneumatic coupling of a yaw channel and a roll channel is serious, and the anti-interference performance of a control system is reduced.

Disclosure of Invention

The technical problem solved by the invention is as follows: the defects in the prior art are overcome, the actual normal overload of the front section of the trajectory is improved by introducing a longitudinal guidance method with gravity compensation and trajectory terminal large-falling-angle constraint into the front section of the trajectory, and the defect that the normal overload of the front section of the trajectory hitting a near-range target is too small in conventional proportion guidance is overcome; meanwhile, a scheme rolling angle BTT guidance scheme is adopted under the working condition that normal overload meets the requirement, and compared with conventional BTT guidance, the lateral deviation rectifying capacity of the missile can be enhanced; compared with an STT guidance or a guidance mode combining BTT and STT, the anti-interference capability of the control system can be improved for the plane-symmetric pneumatic layout weapon.

The technical scheme of the invention is as follows: a guidance method for realizing missile large-sector-angle launching comprises the following steps:

(1) in the longitudinal direction of the missile, a correction proportion guidance method with gravity compensation and trajectory terminal large-falling-angle constraint is introduced on the basis of a pure proportion guidance method, so that the normal overload of the trajectory front section is improved;

(2) under the working condition that normal overload meets the requirement, rapid lateral deviation rectification is realized by introducing a scheme roll angle to carry out BTT guidance, and meanwhile, the severe pneumatic coupling working condition of a yaw channel and a roll channel of a plane-symmetric pneumatic layout weapon is avoided;

(3) and the conventional BTT or STT proportional guidance is changed at the tail section of the trajectory, so that the hitting precision is ensured.

The specific process of the step (1) is as follows:

1.1) selecting parameters according to technical indexes and ballistic characteristics of the missile;

1.2) obtaining the current flight speed Vel and the pitching direction sight line angular speed omega of the guided missile through a sensing device and a calculating device of the guided missile_yTime of flight remaining T of missile_goBallistic dip angle θ;

1.3) calculating to obtain the normal command acceleration.

The parameters include a desired ballistic inclination angle theta_cCoefficient of proportional pilot term k_y1Coefficient of landing angle constraint term k_y2Coefficient k of gravity compensation term_y3。

The formula for obtaining the normal command acceleration through calculation is as follows: a is_yc＝k_y1*Vel*ω_y+k_y2*Vel*(θ-θ_c)/T_go+k_y3G, wherein g is the acceleration of gravity.

In the step (2), a proper off-axis angle criterion value phi is selected according to technical indexes and ballistic characteristics of the missile_Lim1And a normal command acceleration criterion value a_{yc_Lim}(ii) a Judging to adopt a middle guidance mode; if the off-axis angle phi of the missile at the launching moment is larger than the criterion value phi_Lim1And according to the normal overload command a of the missile calculated in the step (1)_ycGreater than a criterion value a_{yc_Lim}If the target is the target, performing the BTT guidance by adopting a scheme roll angle in the guidance, otherwise, giving the normal command acceleration by adopting the correction proportion guidance method in the step (1);

in the scheme roll angle BTT guidance method, three channel instructions are as follows:

wherein, Roll_c、Roll_MaxRespectively a roll angle instruction and a maximum available roll angle; a is_yc、a_zcNormal overload command and side overload command.

In the step (3), judging the terminal guidance cut-in time; if the current off-axis angle phi of the missile is less than or equal to the criterion value phi_Lim1Or normal overload command a of missile_ycLess than or equal to the criterion value a_{yc_Lim}And then the system shifts to the conventional BTT guidance or STT guidance.

The instruction of the BTT guidance channel is as follows:

wherein, a_yc、a_zc、Roll_cNormal command acceleration, lateral command acceleration and roll angle command are respectively adopted; sgn (·) is a sign function; k is a radical of_y1、k_y3Normal proportional guide term coefficients and normal gravity compensation term coefficients are respectively; k is a radical of_z1、k_z2Respectively is a lateral proportion guidance term coefficient and a lateral gravity compensation term coefficient; omega_y、ω_zThe rotation angular velocities of the line of sight of the bullet in the pitch direction and the yaw direction, respectively.

The STT guidance channel instruction is as follows:

wherein, a_yc、a_zc、Roll_cNormal command acceleration, lateral command acceleration and roll angle command are respectively adopted; sgn (·) is a sign function; k is a radical of_y1、k_y3Normal proportional guide term coefficients and normal gravity compensation term coefficients are respectively; k is a radical of_z1、k_z2Respectively in a lateral ratioA guide term coefficient and a lateral gravity compensation term coefficient; omega_y、ω_zThe rotation angular velocities of the line of sight of the bullet in the pitch direction and the yaw direction, respectively.

Compared with the prior art, the invention has the beneficial effects that:

(1) by adopting the scheme rolling angle BTT guidance strategy under the condition of meeting the normal overload, the launching off-axis angle of the missile can be improved, and the limitation on the launching condition is relaxed.

(2) By introducing the mode of gravity compensation and terminal large-falling-angle constraint at the front section of the trajectory, the near range which can be hit by the missile can be shortened, and the attack envelope of the missile is enlarged.

(3) The sectional use of the STT and the BTT under the constraint condition can improve the anti-interference capability of the plane-symmetric pneumatic layout weapon control system.

Drawings

FIG. 1 is a schematic diagram of the guidance sequence design of the present invention.

FIG. 2 is a plot of off-axis angle comparison of the present invention with conventional BTT guidance under the same off-axis angle and roll angle clipping conditions.

FIG. 3 is a plot of off-axis angle of the present invention compared to STT guidance under the same off-axis angle conditions.

Detailed Description

The timing sequence of the guidance mode adopted by the invention is shown in figure 1: in the middle guidance section, a correction proportion guidance law with gravity compensation and terminal large-falling-angle constraint is longitudinally adopted to calculate the normal command acceleration, and necessary conditions that normal overload meets requirements are created for BTT guidance by adopting a scheme rolling angle. And when the normal overload meets the requirement and the off-axis angle is larger, BTT guidance is carried out through the scheme roll angle. In the final guidance section, when the off-axis angle is small or the normal overload is small, the trajectory is switched from middle guidance to end guidance, and conventional BTT guidance or STT guidance is adopted. The method comprises the following specific steps:

(1) and in the middle guidance section, gravity compensation and terminal large-falling-angle constraint are added on the basis of a proportional guidance method in the normal direction.

In order to overcome the defect that the normal overload of the front section of the ballistic trajectory of a near-range target is too small through conventional proportional guidance, and simultaneously to meet the requirement of a rolling angle BTT guidance method on the normal overload in a scheme, on the basis of the proportional guidance method, a gravity compensation item and a ballistic terminal large-falling-angle constraint item are added to the longitudinal guidance of a middle guidance section of the missile so as to improve the normal overload of the front section of the ballistic trajectory, and a normal command acceleration calculation formula is as follows:

a_yc＝k_y1*Vel*ω_y+k_y2*Vel*(θ-θ_c)/T_go+k_y3*g

wherein k is_y1、k_y2、k_y3Respectively is a proportional guide term coefficient, a falling angle constraint term coefficient and a gravity compensation term coefficient; vel is the flying speed of the missile; theta and theta_cThe trajectory inclination angle and the expected trajectory inclination angle of the missile are respectively; omega_yIs the angular velocity of the view in the pitching direction; g is the acceleration of gravity.

(2) Under the conditions of large off-axis angle and large normal overload, the medium guidance adopts a scheme roll angle to carry out BTT guidance.

Off-axis angle of missile at launching timeGreater than a criterion valueAnd according to the normal overload command a of the missile calculated in the step (1)_ycGreater than a criterion value a_{yc_Lim}And (4) performing the BTT guidance by adopting the scheme roll angle in the guidance, otherwise, still adopting the modified proportion guidance method in the step (1) to give the normal command acceleration. In the scheme roll angle BTT guidance method, three channel instructions are as follows:

wherein, Roll_c、Roll_MaxRespectively a roll angle instruction and a maximum available roll angle; a is_yc、a_zcNormal overload command and side overload command.

(3) And switching out the scheme rolling angle BTT guidance to be converted into the conventional BTT guidance or STT guidance.

When the normal instruction of the missile is overloaded a_ycIs less than a_{yc_Lim}Or the real-time off-axis angle phi is smaller than the criterionWhen one or both of the two conditions are met, the conventional BTT guidance or STT guidance is switched to.

If BTT guidance is adopted, keeping the lateral command acceleration to be 0 all the time, calculating the normal command acceleration by adopting a proportional guidance method with gravity compensation, and giving three-channel guidance instructions as follows:

wherein, a_yc、a_zc、Roll_cNormal command acceleration, lateral command acceleration and roll angle command are respectively adopted; sgn (·) is a sign function; k is a radical of_y1、k_y3Normal proportional guide term coefficients and normal gravity compensation term coefficients are respectively; k is a radical of_z1、k_z2Respectively is a lateral proportion guidance term coefficient and a lateral gravity compensation term coefficient; omega_y、ω_zThe rotation angular velocities of the line of sight of the bullet in the pitch direction and the yaw direction, respectively.

If STT guidance is adopted, the rolling angle instruction is kept to be 0, the instruction acceleration is calculated in the normal direction and the lateral direction according to a proportional guidance law with gravity compensation, and the three-channel guidance instruction is as follows:

wherein, a_yc、a_zc、Roll_cNormal command acceleration, lateral command acceleration and roll angle command are respectively adopted; k is a radical of_y1、k_y3Normal proportional guide term coefficients and normal gravity compensation term coefficients are respectively; k is a radical of_z1、k_z2Respectively is a lateral proportion guidance term coefficient and a lateral gravity compensation term coefficient; omega_y、ω_zAre respectively in the form of eyes and eyesThe angular velocities of rotation of the line in the pitch and yaw directions.

Under the same emission off-axis angle condition, the method of the invention is respectively compared with the conventional BTT guidance method and the conventional STT guidance method, and simulation results are respectively shown in fig. 2 and fig. 3. As can be seen from fig. 3, the BTT method can reduce the off-axis angle more rapidly than the STT method on the premise that the emission conditions remain the same; as can be seen from FIG. 2, under the same emission conditions, the roll angle BTT guidance mode provided by the invention can further improve the speed of off-axis angle reduction.

In conclusion, under the condition of large off-axis angle emission, compared with an STT (spin torque transfer) method and a conventional BTT method, the rolling angle BTT guidance mode designed by the scheme can reduce the off-axis angle more quickly, has obvious effect and meets the requirement of engineering practicability.