Calculation method of overweight compensation coefficient and proportional guidance coefficient, electronic equipment and medium

Abstract

The present application discloses a method, electronic device and medium for calculating an overweight compensation coefficient and a proportional guidance coefficient. The method may include: grid cutting the missile envelope, and each grid intersection is a state point for dynamic calculation; performing coefficient configuration calculation for each flight trajectory of each state point; setting the initial step length of the coefficient, performing mathematical simulation, and screening the coefficient configuration that meets the set conditions corresponding to each flight trajectory of the state point; repeating the above steps until the coefficient configuration of each state point in the missile envelope is completed. The present invention dynamically calculates the overweight compensation proportional guidance coefficient of each trajectory to obtain the optimal solution of the coefficient under the full trajectory conditions, and in practical applications, obtains the applicable value through multi-dimensional difference, thereby improving the guidance accuracy.

Description

Technical Field

[0001] The present invention relates to the field of flight data, and more specifically, to a method for calculating an overweight compensation coefficient and a proportional guidance coefficient, an electronic device and a medium. Background Art

[0002] Generally, subsonic tactical air-to-ground missiles use proportional guidance to attack, which is characterized by low flight speed in the terminal guidance stage and limited overload capacity. The use of overweight compensation proportional guidance law can solve the problem of upward maneuvering overload loss and asymmetric upward and downward maneuvering capacity at the terminal of guidance, and can increase the attack angle and improve the destructive power of the warhead. The overweight compensation coefficient and the proportional guidance coefficient have a mutually influencing and restricting relationship, and a specific set of coefficients cannot cover all ballistic flight envelopes. Different coefficients need to be configured for both according to different launch conditions.

[0003] Therefore, it is necessary to develop a method, electronic equipment and medium for calculating an overweight compensation coefficient and a proportional guidance coefficient.

[0004] The information disclosed in the background technology section of the present invention is only intended to deepen the understanding of the general background technology of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0005] The present invention proposes a method for calculating an overweight compensation coefficient and a proportional guidance coefficient, an electronic device and a medium, which can dynamically calculate the overweight compensation proportional guidance coefficient of each trajectory to obtain the optimal solution of the coefficient under all trajectory conditions, and in practical applications, obtain applicable values ​​through multi-dimensional difference, thereby improving the guidance accuracy.

[0006] In a first aspect, an embodiment of the present disclosure provides a method for calculating an overweight compensation coefficient and a proportional guidance coefficient, including:

[0007] The missile envelope is cut into grids, and each grid intersection is a state point for dynamic calculation;

[0008] Calculate the coefficient configuration for each flight trajectory at each state point;

[0009] Set the initial step length of the coefficient, perform mathematical simulation, and select the coefficient configuration that meets the set conditions corresponding to each flight trajectory of the state point;

[0010] Repeat the above steps until the coefficient configuration of each state point in the missile envelope is completed.

[0011] Preferably, the flight trajectory stage includes an engine combustion stage, a mid-range guidance stage, and a terminal guidance stage.

[0012] Preferably, after each trajectory simulation is completed, it is determined whether it hits the target. If it has hit the target, the data is recorded, and the stack rule is used to determine whether the missile hit point is within the optimal 10% miss range, and it is determined whether the terminal required overload meets the set conditions. If so, the data is stored.

[0013] Preferably, the terminal required overload is calculated by formula (1):

[0014]

[0015] Among them, c is the overweight compensation coefficient, N is the proportional guidance coefficient, t is the proportional guidance time, and T is the terminal guidance time.

[0016] Preferably, the coefficients include an overweight compensation coefficient and a proportional guidance coefficient.

[0017] Preferably, the initial parameter of the overweight compensation coefficient is 1, and the step size is 0.1.

[0018] Preferably, the initial parameter of the overweight compensation coefficient is 2, and the step size is 0.2.

[0019] Preferably, if there are multiple coefficient configurations that meet the conditions, the configuration of the optimal attack angle coefficient is selected as the optimal solution.

[0020] As a specific implementation method of the embodiment of the present disclosure,

[0021] In a second aspect, an embodiment of the present disclosure further provides an electronic device, the electronic device comprising:

[0022] A memory storing executable instructions;

[0023] A processor runs the executable instructions in the memory to implement the method for calculating the overweight compensation coefficient and the proportional guidance coefficient.

[0024] In a third aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method for calculating the overweight compensation coefficient and the proportional guidance coefficient is implemented.

[0025] Its beneficial effects are:

[0026] (1) It can overcome the existing design system that requires designers to manually find state points to design guidance laws, and automatically record the optimal coefficient values ​​based on the results of a large amount of cyclic simulation data.

[0027] (2) It is able to refine the design status of each trajectory with the support of a large amount of data and change the coefficient in real time according to different launch conditions.

[0028] (3) The simulation input can be adjusted according to the conditions emphasized during the actual flight of the missile, and the optimal guidance coefficient can be recalculated to prevent the designer from repeating work.

[0029] The methods and apparatus of the present invention have other features and advantages that will be apparent from, or will be described in detail in, the accompanying drawings and subsequent detailed descriptions incorporated herein, which together serve to explain the specific principles of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0031] Figure 1 A block diagram of an ideal proportional steering loop transfer function according to one embodiment of the present invention is shown.

[0032] Figure 2 A loop simulation flow chart according to an embodiment of the present invention is shown.

[0033] Figure 3 A flow chart showing the steps of a method for calculating an overweight compensation coefficient and a proportional guidance coefficient according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0034] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0035] The present invention provides a method for calculating an overweight compensation coefficient and a proportional guidance coefficient, comprising:

[0036] The missile envelope is cut into grids, and each grid intersection is a state point for dynamic calculation;

[0037] Calculate the coefficient configuration for each flight trajectory at each state point;

[0038] Set the initial step length of the coefficient, perform mathematical simulation, and select the coefficient configuration that meets the set conditions corresponding to each flight trajectory of the state point;

[0039] Repeat the above steps until the coefficient configuration of each state point in the missile envelope is completed.

[0040] In one example, the ballistic phase of flight includes an engine combustion phase, a mid-range guidance phase, and a terminal guidance phase.

[0041] In one example, after each ballistic simulation is completed, it is determined whether there is a hit. If there is a hit, the data is recorded, and the stack rule is used to determine whether the missile hit point is within the optimal 10% miss distance region, and it is determined whether the required overload at the end meets the set conditions. If it meets the conditions, the data is stored.

[0042] In one example, the required overload at the end is calculated by formula (1):

[0043]

[0044] where c is the overweight compensation coefficient, N is the proportional navigation coefficient, t is the proportional navigation time, and T is the terminal guidance time.

[0045] In one example, the coefficients include the overweight compensation coefficient and the proportional navigation coefficient.

[0046] In one example, the initial parameter of the overweight compensation coefficient is 1, and the step size is 0.1.

[0047] In one example, the initial parameter of the overweight compensation coefficient is 2, and the step size is 0.2.

[0048] In one example, if there are multiple coefficient configurations that meet the conditions, the configuration of the optimal attack angle coefficient is selected as the optimal solution.

[0049] Specifically, the missile envelope is meshed, and each mesh intersection point is a state point calculated dynamically; for each flight trajectory of each state point, the coefficient configuration calculation is performed:

[0050] The flight trajectory of the state point is divided into three stages, namely the engine combustion stage, the mid-course guidance stage, and the terminal guidance stage. The coefficient configuration of each stage needs to be calculated separately;

[0051] The normal overload requirement of the missile is only related to the overweight compensation coefficient and the proportional navigation coefficient. In the actual flight process of the air-to-ground missile, the normal aerodynamic overload is between 1 and 4g. Therefore, the value range of the overweight compensation coefficient c is set between 1 and 4. According to formula (1), it can be seen that as the overweight compensation coefficient c increases, the required normal overload increases.

[0052] The analytical solution of the normal overload of the missile body is between the definitions of the proportional navigation guidance law. The proportional navigation coefficient N should be selected in the range of 1 < N < ∞, usually taking 2 to 6. According to formula (1), it can be seen that as the proportional navigation coefficient N increases, the required normal overload decreases.

[0053] Figure 1 Fig. shows the block diagram of the ideal proportional navigation loop transfer function according to an embodiment of the present invention. In the terminal guidance stage, the guidance loop is approximately linearized with the position Y of the target in the Y direction as the input, and the output and feedback are the position Y of the missile in the Y direction. t as the input, and the output and feedback are the position Y of the missile in the Y directionm , the gravity compensation cg and gravity g are used as the positive compensation for the autopilot input command and the negative interference to the output acceleration respectively, and the mathematical model of the ideal proportional guidance loop with over-gravity compensation is obtained as follows Figure 1 shown.

[0054] Figure 2 A loop simulation flow chart according to an embodiment of the present invention is shown.

[0055] Set the initial parameter of the overweight compensation coefficient to 1, the initial parameter of the proportional guidance coefficient to 2, the ballistic stage as the outer loop, the overweight compensation coefficient step size is set to 0.1 as the middle loop, the proportional guidance coefficient step size is set to 0.2 as the inner loop, and set the launch conditions, guidance parameters and simulation cycle. Figure 2 The cyclic simulation process starts the simulation;

[0056] After each trajectory simulation is completed, it is determined whether it hits the target. If it has hit the target, the data is recorded. The stack rule is used to determine whether the missile hit point is within the optimal 10% miss range, and the terminal overload f is calculated according to formula (1). m Does it meet the condition of less than 0.5g? If it does, store the data; if any of the above conditions is not met, press Figure 2 The launch conditions are changed in a cyclic sequence, and the overweight compensation and proportional guidance parameters are changed. If the launch conditions have reached the upper limit of the interval, the simulation conditions are changed according to the step size and the overweight compensation and proportional guidance parameters are reset. After the trajectory simulation of a single stage is completed, the flight trajectory stage is changed until the trajectory of the three stages has completed the cyclic simulation;

[0057] The coefficient configuration data is recorded as the optimal configuration of the flight trajectory at that state point, and the state points are replaced in sequence until the state points on the left and right sides of the flight envelope are completed. If there are multiple coefficient configurations that meet the conditions, the configuration with the optimal attack angle coefficient is selected as the optimal solution.

[0058] A three-dimensional table is made by taking the launch altitude, slant range and sector angle as interpolation conditions, and combining the overweight compensation coefficient and the proportional guidance coefficient as the interpolation content. In actual flight overload, the overweight compensation coefficient and the proportional guidance coefficient of the trajectory are obtained by three-dimensional interpolation before launch and during the flight.

[0059] The present invention also provides an electronic device, comprising: a memory storing executable instructions; a processor, the processor running the executable instructions in the memory to implement the above-mentioned method for calculating the overweight compensation coefficient and the proportional guidance coefficient.

[0060] The present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned method for calculating the overweight compensation coefficient and the proportional guidance coefficient is implemented.

[0061] To facilitate understanding of the solutions and effects of the embodiments of the present invention, three specific application examples are given below. Those skilled in the art should understand that the examples are only for facilitating understanding of the present invention, and any specific details thereof are not intended to limit the present invention in any way.

[0062] Example 1

[0063] Figure 3 A flow chart showing the steps of a method for calculating an overweight compensation coefficient and a proportional guidance coefficient according to an embodiment of the present invention is shown.

[0064] like Figure 3 As shown, the method for calculating the overweight compensation coefficient and the proportional guidance coefficient includes: step 101, grid cutting the missile envelope, and each grid intersection point is a state point of dynamic calculation; step 102, coefficient configuration calculation is performed for each flight trajectory of each state point; step 103, setting the initial participation step of the coefficient, performing mathematical simulation, and screening the coefficient configuration that meets the set conditions corresponding to each flight trajectory of the state point; step 104, repeating the above steps until the coefficient configuration of each state point in the missile envelope is completed.

[0065] The mathematical modeling of a certain 80kg-class air-to-ground missile guidance loop is carried out. The dynamic hysteresis of the guidance head and the autopilot is ignored. Based on the linearized proportional guidance loop model, the gravity compensation and gravity are regarded as the positive compensation for the autopilot input command and the negative interference to the output acceleration respectively. The transfer function block diagram of the ideal proportional guidance loop with excessive gravity compensation is obtained as shown in the figure. Figure 1 shown.

[0066] The missile envelope is grid-cut at intervals of 100m in height, 200m in missile-target distance, and 5° in fan angle. Each grid intersection is a state point for dynamic calculation; coefficient configuration calculation is performed for each flight trajectory of each state point:

[0067] The flight trajectory of this state point is divided into three stages, namely the engine combustion stage, the mid-range guidance stage, and the terminal guidance stage. The coefficient configuration of each stage needs to be calculated separately.

[0068] Set the initial parameter of the overweight compensation coefficient to 1, the initial parameter of the proportional guidance coefficient to 2, the ballistic stage as the outer loop, the overweight compensation coefficient step size is set to 0.1 as the middle loop, the proportional guidance coefficient step size is set to 0.2 as the inner loop, and set the launch conditions, guidance parameters and simulation cycle. Figure 1 Start simulation as shown in the cyclic simulation process;

[0069] After each trajectory simulation is completed, it is determined whether it hits the target. If it has hit the target, the data is recorded. The stack rule is used to determine whether the missile hit point is within the optimal 10% miss range, and the terminal overload f is calculated according to formula (1). m Whether the condition of less than 0.5g is met, if so, the data is stored; if one of the above conditions is not met, the launch conditions are changed in a cyclic order, and if the launch conditions have reached the upper limit of the value range, the flight trajectory stage is changed until the trajectory of the three stages completes the cyclic simulation;

[0070] The coefficient configuration data is recorded as the optimal configuration of the flight trajectory at that state point, and the state points are replaced in sequence until the state points on the left and right sides of the flight envelope are completed. If there are multiple coefficient configurations that meet the conditions, the configuration with the optimal attack angle coefficient is selected as the optimal solution.

[0071] A three-dimensional table is made by taking the launch altitude, slant range and sector angle as interpolation conditions, and combining the overweight compensation coefficient and the proportional guidance coefficient as the interpolation content. In actual flight overload, the overweight compensation coefficient and the proportional guidance coefficient of the trajectory are obtained by three-dimensional interpolation before launch and during the flight.

[0072] Example 2

[0073] The present disclosure provides an electronic device, which includes: a memory storing executable instructions; a processor running the executable instructions in the memory to implement the above-mentioned method for calculating the overweight compensation coefficient and the proportional guidance coefficient.

[0074] An electronic device according to an embodiment of the present disclosure includes a memory and a processor.

[0075] The memory is used to store non-temporary computer-readable instructions. Specifically, the memory may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, etc.

[0076] The processor may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions. In one embodiment of the present disclosure, the processor is used to run the computer-readable instructions stored in the memory.

[0077] Those skilled in the art should be able to understand that in order to solve the technical problem of how to obtain a good user experience, the present embodiment may also include well-known structures such as a communication bus and an interface, and these well-known structures should also be included in the protection scope of the present disclosure.

[0078] For detailed description of this embodiment, reference may be made to the corresponding descriptions in the aforementioned embodiments, which will not be repeated here.

[0079] Example 3

[0080] An embodiment of the present disclosure provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the method for calculating the overweight compensation coefficient and the proportional guidance coefficient is implemented.

[0081] According to the computer-readable storage medium of the embodiment of the present disclosure, non-transitory computer-readable instructions are stored thereon. When the non-transitory computer-readable instructions are executed by a processor, all or part of the steps of the above-mentioned methods of each embodiment of the present disclosure are executed.

[0082] The above-mentioned computer-readable storage media include, but are not limited to: optical storage media (e.g., CD-ROM and DVD), magneto-optical storage media (e.g., MO), magnetic storage media (e.g., magnetic tape or mobile hard disk), media with built-in rewritable non-volatile memory (e.g., memory card) and media with built-in ROM (e.g., ROM box).

[0083] Those skilled in the art should understand that the purpose of the above description of the embodiments of the present invention is only to exemplarily illustrate the beneficial effects of the embodiments of the present invention, and is not intended to limit the embodiments of the present invention to any given examples.

[0084] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A method for calculating an overweight compensation coefficient and a proportional guidance coefficient, characterized in that: include: The missile envelope is cut into grids, and each grid intersection is a state point for dynamic calculation; Calculate the coefficient configuration for each flight trajectory at each state point; The initial step length of the coefficient is set, and mathematical simulation is performed to select the coefficient configuration that meets the set conditions for each flight trajectory of the state point; wherein, after each trajectory simulation is completed, it is determined whether it hits, and if it has hit, the data is recorded, and the stack rule is used to determine whether the missile hit point is within the optimal 10% miss amount area, and whether the terminal required overload meets the set conditions, and if it does, the data is stored; Repeat the above steps until the coefficient configuration of each state point in the missile envelope is completed.

2. The method for calculating the overweight compensation coefficient and the proportional guidance coefficient according to claim 1, wherein: The flight trajectory stage includes an engine combustion stage, a mid-range guidance stage, and a terminal guidance stage.

3. The method for calculating the overweight compensation coefficient and the proportional guidance coefficient according to claim 1, wherein: The required overload at the end is calculated by formula (1): Among them, c is the overweight compensation coefficient, N is the proportional guidance coefficient, t is the proportional guidance time, and T is the terminal guidance time.

4. The method for calculating the overweight compensation coefficient and the proportional guidance coefficient according to claim 1, wherein: The coefficients include an overweight compensation coefficient and a proportional guidance coefficient.

5. The method for calculating the overweight compensation coefficient and the proportional guidance coefficient according to claim 4, wherein: The initial parameter of the overweight compensation coefficient is 1, and the step size is 0.

1.

6. The method for calculating the overweight compensation coefficient and the proportional guidance coefficient according to claim 4, wherein: The initial parameter of the overweight compensation coefficient is 2, and the step size is 0.

2.

7. The method for calculating the overweight compensation coefficient and the proportional guidance coefficient according to claim 1, wherein: If there are multiple coefficient configurations that meet the conditions, select the configuration with the optimal attack angle coefficient as the optimal solution.

8. An electronic device, characterized in that: The electronic device comprises: A memory storing executable instructions; A processor, wherein the processor runs the executable instructions in the memory to implement the method for calculating the overweight compensation coefficient and the proportional guidance coefficient according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the method for calculating the overweight compensation coefficient and the proportional guidance coefficient according to any one of claims 1 to 7.

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