A long-distance large target simulation device and its control method

Abstract

The present invention discloses a long-distance large target simulation device, which includes a support and suspension mechanism. A horizontal transportation mechanism is arranged on the support and suspension mechanism. The horizontal transportation mechanism includes a linear track connected to the support and suspension mechanism and a transportation cart installed on the linear track. A vertical transportation mechanism is arranged on the transportation cart, and a display screen serving as a load is arranged on the vertical transportation mechanism. Wherein, a controller is electrically connected to the drive modules in the horizontal transportation mechanism and the vertical transportation mechanism, the display screen is electrically connected to a graphics workstation, and the graphics workstation is electrically connected to the controller.

Description

Technical Field

[0001] The present invention relates to the field of target simulation, and particularly to a long-distance large target simulation device and a control method thereof. Background Art

[0002] The target simulation device belongs to the reliability test equipment of precision-guided weapons, and is a physical verification scenario construction for the functions and performances of precision-guided weapons. It can calibrate the accuracy of precision-guided weapons, quickly detect, identify, capture, and track targets of precision-guided weapons, and conduct simulation tests and assessments on the abilities of shooting fixed or moving targets during movement, etc. It can improve the first-shot hit rate of long-distance shooting and enhance the attack power of precision-guided weapons.

[0003] The existing target simulation methods include: 1. Using a physical aircraft for experiments, which is restricted by takeoff sites, flight control, etc., and has high single-experiment costs, long preparation times, and complex coordination work; 2. Building a straight track on the ground to simulate the movement of the target on the straight track, with the disadvantages of single trajectory, no height change, inability to truly simulate a flying target, and the need for an open and spacious building site, otherwise it is easy to cause line-of-sight occlusion; 3. Building a high-low undulating track on the ground to increase height changes, but still with a single trajectory, requiring an open site and increased construction costs; 4. Building the track on a high platform, breaking through the open-site restriction, but with a single trajectory and even higher costs.

[0004] The existing technical solutions have serious site restrictions, and problems such as insufficient simulation authenticity, single trajectory, and high cost.

[0005] Due to reasons such as wind pressure and high speed, large-travel long-distance large target simulation is prone to phenomena such as slipping and jitter, seriously affecting the target simulation accuracy. Summary of the Invention

[0006] The purpose of the present invention is to provide a long-distance large target simulation device and a control method thereof to solve the problems of single track and insufficient simulation authenticity in the existing target simulation technology.

[0007] To solve the above technical problems, the present invention provides a technical solution: a long-distance large target simulation device, including a support and suspension mechanism, on which a horizontal transport mechanism is arranged. The horizontal transport mechanism includes a linear track connected to the support and suspension mechanism and a transport trolley installed on the linear track; a vertical transport mechanism is arranged on the transport trolley, and a display screen as a load is arranged on the vertical transport mechanism; wherein a controller is electrically connected to the drive modules in the horizontal transport mechanism and the vertical transport mechanism, the display screen is electrically connected to a graphics workstation, and the graphics workstation is electrically connected to the controller; the controller transmits control signals to the drive modules of the horizontal transport mechanism and the vertical transport mechanism and the graphics workstation according to the set simulated target motion trajectory, and the graphics workstation changes the size of the simulated target displayed on the display screen and its position relative to the display screen according to the control signals.

[0008] According to the above solution, a static deformation measuring device for measuring the deformation degree of the linear track is arranged on the transport trolley.

[0009] According to the above solution, the static deformation measuring device includes a vertically arranged scale and a horizontally arranged digital level.

[0010] According to the above solution, a load end encoder for measuring the spatial position of the transport trolley is arranged on the transport trolley.

[0011] According to the above solution, the load end encoder includes X-direction, Y-direction, and Z-direction laser rangefinders arranged on the transport trolley and perpendicular to each other, and reflectors arranged on the linear track corresponding to the laser rangefinders in each direction.

[0012] According to the above solution, motor end encoders are arranged in the drive modules of the horizontal transport mechanism and the vertical transport mechanism, and the motor end encoders are electrically connected to the controller.

[0013] According to the above solution, the drive module in the horizontal transport mechanism includes a first frequency converter and a transport trolley motor electrically connected to each other, the drive module in the vertical transport mechanism includes a second frequency converter and a lifting winch electrically connected to each other, and the motor end encoder includes a first encoder electrically connected to the first frequency converter and the transport trolley motor, and a second encoder electrically connected to the second frequency converter and the lifting winch.

[0014] According to the above solution, the X-direction, Y-direction, and Z-direction laser rangefinders are connected to a computing device for time synchronization.

[0015] According to the above solution, the suspension support mechanism includes a first high tower and a second high tower, and the linear track is mounted between the first high tower and the second high tower.

[0016] The present invention also provides a control method for a long-distance large target simulation device: First, input the pre-set simulated target motion trajectory into the controller. The controller outputs a control signal according to this motion trajectory. The horizontal transport mechanism and the vertical transport mechanism move the display screen in a vertical plane according to this control signal to control the motion of the simulated target in the horizontal and vertical directions. At the same time, the graphics workstation performs image rendering according to this control signal to simulate the change in the distance between the simulated target and the detection device by changing the size of the simulated target displayed on the display screen, and finely adjusts the position of the simulated target on the display screen in the up, down, left, and right directions to compensate for vibrations or other minor errors during high-speed movement, and is also used to complete the simulation of the random motion jitter of the target.

[0017] The beneficial effects of the present invention are as follows: The present invention's solution sets a horizontal linear track and adds a lifting track. Through the cooperation of two degrees of freedom, it can achieve the effect of full coverage of planar motion within a certain area, greatly enriching the target motion trajectory. Secondly, this solution adds a virtual target, which can render and display the target at high speed on a large display screen. It can not only simulate different styles and postures of the target, but also express the distance in the vertical direction by scaling the size of the simulated target on the display screen. Combining the two-degree-of-freedom track motion, it can realize the three-dimensional space motion of the simulated target. Since it adopts a physical plus digital target trajectory simulation method of a high-speed track control system and real-time rendering and display of high-frame-rate digital images, compared with the method of simulating the three-dimensional motion of the simulated target by pure mechanical motion, it greatly saves the floor space and manufacturing cost of the simulation device, and the refresh frequency, execution accuracy, and execution rate of the display screen far exceed those of mechanical mechanisms. It can compensate for vibrations or other minor errors during high-speed movement and can simulate the random jitter of the target.

[0018] Furthermore, by setting the first high tower and the second high tower, the horizontal linear track is elevated, avoiding the occlusion of the observation field of view by the surrounding environment when observing the target at a long distance, and is not restricted by site environmental factors.

[0019] Furthermore, the device is equipped with high-precision sensors and third-party laser measurement equipment, which can obtain key information such as the motion position and speed of the current simulation system at high frequency. Combining with the original target three-dimensional trajectory planning curve, it can complete the compensation of the motion offset caused by interference factors such as high-altitude wind disturbance or motion slip in real time, that is, complete the real-time compensation of the actual trajectory and the ideal trajectory through high-speed calculation and dynamic rendering of high-speed digital images, so that the actual motion state of the simulation device is consistent with the ideal planned motion state. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of a long-distance large target simulation device according to an embodiment of the present invention;

[0021] Figure 2Front view of the linear track and carrier trolley structure according to an embodiment of the present invention;

[0022] Figure 3 Schematic diagram of the carrier trolley structure according to an embodiment of the present invention;

[0023] Figure 4 is Figure 3 Partial enlarged view of;

[0024] Figure 5 Schematic flow chart of converting the simulated target motion trajectory into the mechanical motion of the device according to an embodiment of the present invention;

[0025] Figure 6 Schematic flow chart of time synchronization of the laser rangefinder according to an embodiment of the present invention;

[0026] Figure 7 Electrical control flow chart of the long-distance large target simulation device according to an embodiment of the present invention;

[0027] Figure 8 Schematic diagram of the double-position feedback connection relationship of the long-distance large target simulation device according to an embodiment of the present invention;

[0028] Figure 9 Double-loop control algorithm flow chart of the long-distance large target simulation device according to an embodiment of the present invention.

[0029] In the figure: 1 - First high tower, 2 - Second high tower, 3 - Linear track, 4 - Carrier trolley, 5 - Scale, 6 - Digital level, 7 - Display screen, 8 - Laser rangefinder. Detailed implementation manners

[0030] To make the objectives, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. Apparently, the described embodiments are some but not all of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0031] 1. The present invention adopts the overall idea of long-distance linear motion plus lifting motion to carry a digital screen, completes the simulation of real two-dimensional motion and digital high-speed image simulation in the distance direction, and builds a long-distance target trajectory simulation system in a highly reliable and cost-effective manner. To facilitate long-distance observation and avoid environmental interference, the first high tower 1 and the second high tower 2 are respectively erected at both ends of the linear guide rail 3, and the linear guide rail 3 is erected in the air, as Figure 1As shown. The entire system decomposes the simulated target motion into linear motions in three directions: the lateral motion of the carrier vehicle 4, marked as the X direction; the vertical motion of the lifting mechanism, marked as the Y direction; and the longitudinal motion of the display and rendering model, marked as the Z direction, as Figure 5 shown.

[0032] 2. To ensure the accuracy of the target simulation system, it is necessary to perform real-time measurement on the target simulation system to restore the spatial trajectory curve of the moving target with high precision and display it on the large screen of the control center.

[0033] First, use a high-precision digital level 6 and a scale 5 installed on the carrier vehicle 4 to complete the measurement of the static deformation of the track by measuring the height and horizontal changes of the entire track, as Figure 2 shown.

[0034] Secondly, three laser ranging modules (i.e., laser rangefinders 8) are set on the top of the carrier vehicle 4, and cooperate with the reflectors installed on the inner top and side surfaces of the linear track 3 and the reflector installed at the end of the linear track 3 to complete the measurement of the real-time position information in three orthogonal directions of the X direction, Y direction, and Z direction, as Figure 3 、 Figure 4 shown. (When using a high-precision digital level for static calibration, it is also a calibration of the laser ranging modules in the Y direction and Z direction. At different positions in the X direction, the corresponding level calibration values of the laser ranging modules during static calibration.)

[0035] To complete the simulation of the moving target trajectory, it is necessary to perform system time synchronization on the real-time measurement data of different measuring devices to complete the data fusion processing of different source measuring devices. This solution adopts the NTP network time synchronization method. Set up an NTP time synchronization service, and use the three laser rangefinders 8 in the X direction, Y direction, and Z direction as the NTP time synchronization clients, with the fixed IP address of the server as the standard time synchronization time reference, as Figure 6 shown.

[0036] The system electrical control schematic diagram is as Figure 7 shown. The data of the X-direction laser ranging module is transmitted to the controller, and the controller issues commands to the first frequency converter (i.e., the first inverter). The first frequency converter drives the carrier vehicle motor to actuate, and at the same time, the first encoder feeds back the motion information to the first frequency converter to perform closed-loop drive control on the carrier vehicle motor; the data of the Y-direction laser ranging module is transmitted to the controller, and the controller issues commands to the second frequency converter (i.e., the second inverter). The second frequency converter drives the hoist of the lifting mechanism to actuate, and at the same time, the second encoder feeds back the motion information to the second frequency converter to perform closed-loop drive control on the hoist of the lifting mechanism; the data of the Z-direction laser ranging module is transmitted to the controller, and the controller issues commands to the graphics workstation, and the graphics workstation renders and displays the target model on the display screen 7, as Figure 7As shown. In addition, there is a certain margin on the display screen 7 for fine-tuning the model up, down, left, and right, which can be used as a high-frequency and high-precision adjustment method in the X and Y directions.

[0037] A dual-loop control algorithm is constructed using dual-position feedback. The dual-loop complementary method can improve the stability of the system and its resistance to track disturbances. The algorithm process is as follows: The motion parameters of the motor, including position, speed, etc., are pre-entered into the controller in advance. The controller performs trajectory planning based on the motion parameters and interpolates to calculate the time, speed, and position control sequences, as Figure 8 shown.

[0038] The system powers on and performs self-check, completing the initialization of the device system. The controller obtains the states of each subsystem. The controller sends parameters such as position and speed to the frequency converter in real time through the control bus. The frequency converter combines the position information fed back from the encoder at the motor end and controls the speed and position of the motor by adjusting the PWM method. The frequency converter, the motor, and the encoder at the motor end form an inner-loop control circuit. The laser ranging module is connected to the high-speed counting interface of the controller, and it collects the position and speed information of the load end in real time and feeds it back to the controller. The laser ranging module, the motor, and the controller form an outer-loop control circuit, thus forming a dual-position feedback control, as Figure 9 shown.

[0039] If other factors such as slipping occur on the track, affecting the actual position of the load end to be inconsistent with the theoretical position, the control command can be updated by comparing the actual position information fed back by the laser ranging module with the control sequence. The controller uses the feedback result to compensate the position of the motor to improve the reliability of the system.

[0040] The above are only the embodiments of the present invention, and thus do not limit the patent scope of the present invention. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A long-distance large target simulation device, characterized in that: It includes a support and suspension mechanism, on which a horizontal transportation mechanism is arranged. The horizontal transportation mechanism includes a linear track connected to the support and suspension mechanism and a transportation trolley installed on the linear track; a vertical transportation mechanism is arranged on the transportation trolley, and a display screen as a load is arranged on the vertical transportation mechanism; among them, a controller is electrically connected to the drive modules in the horizontal transportation mechanism and the vertical transportation mechanism, the display screen is electrically connected to a graphics workstation, and the graphics workstation is electrically connected to the controller; the controller transmits control signals to the drive modules of the horizontal transportation mechanism and the vertical transportation mechanism and the graphics workstation according to the set simulated target motion trajectory, and the graphics workstation changes the size of the simulated target displayed on the display screen and its position relative to the display screen according to the control signals. Motor end encoders are arranged in the drive modules of the horizontal transportation mechanism and the vertical transportation mechanism, and the motor end encoders are electrically connected to the controller. The drive module in the horizontal transportation mechanism includes a first frequency converter and a transportation trolley motor that are electrically connected to each other. The drive module in the vertical transportation mechanism includes a second frequency converter and a lifting winch that are electrically connected to each other. The motor end encoder includes a first encoder electrically connected to the first frequency converter and the transportation trolley motor, and a second encoder electrically connected to the second frequency converter and the lifting winch.

2. The long-distance large target simulation device according to claim 1, wherein: A static deformation measuring device for measuring the deformation degree of the linear track is arranged on the transportation trolley.

3. The long-distance large target simulation device according to claim 2, characterized in that: The static deformation measuring device includes a vertically arranged scale and a horizontally arranged digital level.

4. The long-distance large target simulation device according to claim 1, characterized in that: A load end encoder for measuring the spatial position of the transportation trolley is arranged on the transportation trolley.

5. The long-distance large target simulation device according to claim 4, characterized in that: The load end encoder includes X-direction, Y-direction, and Z-direction laser rangefinders arranged on the transportation trolley and perpendicular to each other, and reflectors corresponding to the laser rangefinders in each direction arranged on the linear track.

6. The long-distance large target simulation device according to claim 5, characterized in that: The X-direction, Y-direction, and Z-direction laser rangefinders are connected to a computing device for time synchronization.

7. The long-distance large target simulation device according to claim 1, characterized in that: The suspension support mechanism includes a first high tower and a second high tower, and the linear track is mounted between the first high tower and the second high tower.

8. A control method for a long-distance large target simulation device implemented by using the long-distance large target simulation device according to any one of claims 1-7, characterized in that: First, the preset simulated target motion trajectory is input into the controller. The controller outputs control signals according to this motion trajectory. The horizontal transportation mechanism and the vertical transportation mechanism move the display screen in a vertical plane according to this control signal to control the motion of the simulated target in the horizontal and vertical directions; at the same time, the graphics workstation performs image rendering according to this control signal to change the size of the simulated target displayed on the display screen to simulate the change in the distance between the simulated target and the detection device, and finely adjusts the up, down, left, and right positions of the simulated target on the display screen to compensate for vibrations or other minor errors during high-speed motion, and is also used to complete the simulation of the random motion jitter of the target.

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