A cruise missile barrel launching method and system

Abstract

The application discloses a cruise missile barrel launching method and system. When the axial acceleration is greater than a set acceleration, a time period is delayed, and the missile body is completely out of the barrel and the missile wing is completely unfolded. In the attitude stabilization stage, the deflection of the missile body rudder surface is controlled to correct the flight attitude while the control motor provides thrust and speed until the flight attitude reaches the expected stable state. Through the control of the motor and the rudder surface, the disturbance caused by the out-of-barrel instantaneous impact force and the missile wing unfolding is overcome, the whole missile attitude is ensured to be in a stable range, the missile body is in a non-instability state, the influence of the disturbance is overcome, and the cruise missile instability and falling are avoided.

Description

Technical Field

[0001] This invention belongs to the field of aviation technology, and in particular relates to a method and system for launching loitering bombs. Background Technology

[0002] With the transformation of modern warfare towards informatization, systematization, and intelligence, traditional unguided munitions such as artillery shells, rockets, and grenades have become increasingly inadequate. In recent years, however, the rapid advancements in cutting-edge technologies such as microprocessors, microelectromechanical systems (MEMS), and intelligent sensors have led to the rapid development of intelligent missile weapon systems, exemplified by small loitering munition weapon systems. These systems are characterized by their small size, low noise, low cost, and strong collaborative combat capabilities, perfectly meeting the demands of future warfare. Therefore, intelligent missile weapon systems, represented by small loitering munition weapon systems, will inevitably gradually replace traditional unguided munitions and become the mainstay equipment on the future front lines.

[0003] Canister-launch technology is one of the key technologies for small loitering munition weapon systems. Small loitering munition weapon systems often employ an integrated storage, transport, and launch canister. When not in use, the loitering munition is folded and stored inside the canister. During launch, a high-pressure cold gas or gas generator generates an instantaneous force that propels the munition out of the canister. This canister can be used for launch from multiple platforms, including individual soldier launchers and vehicle-mounted launchers. Due to the large instantaneous impact force and short canister stroke, significant disturbance occurs when the loitering munition exits the canister. Furthermore, the deployment of the wings after exiting the canister causes substantial changes in the overall shape and center of gravity of the munition, which also constitutes a significant disturbance for the loitering munition. If these disturbances cannot be overcome, the loitering munition will inevitably become unstable and eventually fall to the ground.

[0004] The disturbances caused by the impact force at the moment of launch and the disturbances caused by the deployment of the wings are generated within an interval of no more than 100ms, making them physically difficult to distinguish. Furthermore, each specific product is different and has a certain degree of randomness. In terms of mechanics and mathematical modeling, it is difficult to decouple the two disturbances. Therefore, the two disturbances are treated as a single solution. Summary of the Invention

[0005] The purpose of this invention is to provide a method and system for launching loitering munitions in a tube-type launcher, so as to solve the problem that disturbances during the tube launch phase may cause instability of the loitering munition.

[0006] This invention solves the above-mentioned technical problems through the following technical solution: a loitering munition launcher method, comprising the following steps:

[0007] Step 1: Obtain the axial acceleration of the projectile;

[0008] Step 2: When the axial acceleration is greater than the set acceleration, delay for a period of time to wait for the projectile to fully exit the tube and the wings to fully deploy;

[0009] Step 3: When the delayed time period is greater than or equal to the set time, it indicates that the projectile body is completely out of the barrel and the wings are completely unfolded, and the process jumps to Step 4;

[0010] Step 4: The motor is controlled to provide thrust and speed, and the deflection of the rudder surface of the projectile body is controlled to correct the flight attitude until the flight attitude reaches the expected stable state;

[0011] Step 5: The motor is controlled to rotate at full speed, and the projectile body is controlled to maintain a fixed pitch angle and heading angle to climb and obtain a climbing height;

[0012] The climbing height refers to the relative height of the current position of the projectile body to the launch point;

[0013] Step 6: When the climbing height is greater than or equal to the set height, the projectile body enters the cruise flight phase, and the barrel launching ends.

[0014] The specific influence of the disturbance on the cruise missile mainly manifests in attitude divergence, which will lead to instability or falling. In the attitude stabilization stage, the control of the motor and the rudder surface ensures that the attitude of the entire projectile body is within a stable range, so that the projectile body is in a non-instability state, overcoming the influence of the disturbance and avoiding instability and falling of the cruise missile.

[0015] Further, in Step 2, the set acceleration is 8-10g, where g represents the acceleration of gravity.

[0016] Further, in Step 3, the set time is 2-3 times the barrel exit time of the projectile body.

[0017] Further, in Step 3, the set time is 100-150ms.

[0018] Further, in Step 4, the conditions for the flight attitude to reach the expected stable state are:

[0019] The roll angle is controlled within [-5°, 5°], and the pitch angle is controlled within [10°, 20°].

[0020] The present application also provides a barrel launching system for a cruise missile, comprising:

[0021] An acquisition unit for acquiring the axial acceleration of the projectile body and the climbing height;

[0022] A judgment unit for judging whether the axial acceleration is greater than the set acceleration, whether the delayed time period is greater than or equal to the set time, and whether the climbing height is greater than or equal to the set height;

[0023] The first control unit is used for controlling the motor and the body surface to delay restarting for a time period when the axial acceleration is greater than the set acceleration, and is used for controlling the motor and the body surface to be in a locked state while controlling the body to be out of the barrel and the wing to be unfolded when the axial acceleration is greater than the set acceleration and the delayed time period is less than the set time.

[0024] The second control unit is used for controlling the motor to provide thrust and speed while controlling the body surface to deflect to correct the flight attitude until the flight attitude reaches the expected stable state when the axial acceleration is greater than the set acceleration and the delayed time period is greater than or equal to the set time.

[0025] The third control unit is used for controlling the motor to rotate at full speed while controlling the body to keep a fixed pitch angle and a fixed heading angle to climb when the flight attitude reaches the expected stable state, and is used for controlling the body to enter a route flight stage when the climbing height is greater than or equal to the set height.

[0026] Advantages

[0027] Compared with the prior art, the method and system have the following advantages:

[0028] The method and system provided by the application can overcome the disturbance caused by the barrel instant impact force and the wing unfolding through the control of the motor and the surface in the attitude stabilization stage, ensure that the whole body attitude is in a stable range, make the body in a non-instability state, overcome the influence of the disturbance, and avoid the instability and falling of the cruise missile. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are only a part of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0030] Figure 1 It is a flow chart of a cruise missile barrel launching method in the embodiment of the present application. DETAILED DESCRIPTION

[0031] The technical solutions in the present application will be described clearly and completely in combination with the drawings in the embodiment of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0032] The technical solutions of the present application are described in detail below with specific examples. The following specific examples can be combined with each other, and the same or similar concepts or processes can not be described in some examples.

[0033] The barrel launching method for the loitering projectile provided in the present embodiment realizes stable barrel launching of the small loitering projectile weapon system. The barrel launching method is divided into a launching standby stage, a barrel leaving stage, a posture stabilizing stage, a climbing stage, and a flight path flying stage, and each stage is executed in sequence. As shown in Figure 1 The barrel launching method includes the following steps:

[0034] Step 1: Obtain the axial acceleration of the projectile body.

[0035] After the loitering projectile weapon system is powered on, it enters the launching standby stage. In the launching standby stage, the system continuously obtains the axial acceleration of the projectile body, and determines whether to fire by comparing the axial acceleration with the set acceleration.

[0036] Step 2: Determine whether the axial acceleration is greater than the set acceleration. If yes, it indicates that the firing has started, and jump to step 3; otherwise, the firing has not started, and jump to step 1.

[0037] The axial acceleration is compared with the set acceleration to determine whether to fire. In the launching standby stage, the maximum axial acceleration, i.e., the set acceleration, is usually 8-10g, wherein g represents the gravitational acceleration. When the axial acceleration is greater than the set acceleration, it indicates that the firing has started, and the barrel leaving stage can be entered; otherwise, the firing has not started, and the axial acceleration is continuously obtained until the axial acceleration is greater than the set acceleration.

[0038] The selection of the set acceleration is mainly based on the measurement range of the loitering projectile acceleration sensor and the actual use of the loitering projectile.

[0039] Step 3: Delay for a period of time to wait for the projectile body to completely leave the barrel and the wings to completely unfold.

[0040] After the firing, the barrel leaving stage is entered. In the barrel leaving stage, the program for starting the motor and the body rudder is delayed for a period of time T L and then started, i.e., the program for starting the motor and the body rudder is in a locked state within the period of time T L , and the motor and the body rudder are not started. In this delayed period of time T LInside, the system controls the projectile's exit from the launch tube and the deployment of its wings, ensuring complete exit and wing deployment through a time delay. If the control motor starts before the projectile is fully exited, the motor-driven propeller will strike the launch tube wall, potentially damaging the propeller blades and causing the motor to lose power. If the control surfaces start before the wings are fully deployed, their control efficiency is low, and the center of gravity is unstable; in this state, the control surfaces may have a counter-effect, causing the projectile to become unstable. If the control motor starts before the wings are fully deployed, a large counter-torque is generated at the moment of motor activation. Only after the wings are fully deployed and the center of gravity is completely stable can the motor effectively overcome this counter-torque, and the control surface efficiency is higher. Therefore, activating the motor and control surfaces after the projectile is fully exited and the wings are fully deployed avoids the impact of uncertainties such as the constantly changing center of gravity caused by incomplete wing deployment on control performance, prevents propeller blade damage, and effectively overcomes the influence of the motor's counter-torque.

[0041] Step 4: Determine whether the delay period is greater than or equal to the set time. If yes, proceed to Step 5; otherwise, proceed to Step 4 until the delay period is greater than or equal to the set time.

[0042] To ensure the projectile fully exits the tube and the wings fully deploy, the delay period needs to be greater than or equal to a set time, which is typically 2 to 3 times the projectile's exit time. The projectile's exit time generally does not exceed 50 ms; therefore, in this embodiment, the set time is 100 to 150 ms.

[0043] Step 5: Control the motors to provide thrust and speed, while controlling the deflection of the missile's control surfaces to correct the flight attitude until the flight attitude reaches the expected stable state.

[0044] The system determines whether the projectile has fully exited the tube and whether the wings have fully deployed by checking whether the delay period is greater than or equal to the set time. If the delay period is greater than or equal to the set time, it indicates that the projectile has fully exited the tube and the wings have fully deployed, the exit stage is complete, and the projectile enters the attitude stabilization stage.

[0045] The main impact of disturbances on loitering munitions is attitude divergence, which can lead to instability or crashing. Therefore, during the attitude stabilization phase, the motors and control surfaces of the munition are activated and controlled (to overcome the disturbances caused by the impact force at the moment of launch and the deployment of the wings), continuously correcting the deflection of the control surfaces. When the roll angle is controlled within [-R]... d R d Within [P], the pitch angle is controlled within [P]. d -P0, P d When the value is within [+P0], it is considered to have reached the expected state, and the rolling angle is controlled within [-R] for multiple consecutive sampling periods. d R d Within [P], the pitch angle is controlled within [P].d P0, P d +P0] to indicate that the body posture reaches the expected stable state, overcoming the disturbance caused by the impact force at the moment of the barrel and the wing deployment, and entering the next phase.

[0046] In the posture stabilization phase, the posture angle is determined according to R d , P d , P0 is usually 5°, 15°, 5° respectively, that is, the roll angle is controlled within [-5°, 5°] in multiple sampling periods, the pitch angle is controlled within [10°, 20°], and R d , P d , P0 is selected according to the control accuracy and maximum climb angle of the cruise missile.

[0047] Step 6: Control the motor to rotate at full speed, control the body to maintain a fixed pitch angle and heading angle to climb, and obtain the climbing height.

[0048] Step 7: When the climbing height is greater than or equal to the set height, the body enters the flight phase, and the barrel launching ends.

[0049] After the posture is stabilized, the body enters the climbing phase, at this time the motor runs at full speed, the body is controlled to maintain a fixed pitch angle and heading angle to climb, and the climbing height h (the climbing height refers to the relative height of the body from the launch point) is continuously obtained. By comparison, h max h max ? When h is less than h max , it is considered that the set height has not been climbed, and the body continues to climb and compares; when h is greater than or equal to h max , it is considered that the set height has been climbed, and enters the flight phase. The set height h max of the climbing phase is usually selected according to the use scene of the cruise missile, if it is mostly in plain areas, the set height is 100m, if it is mostly in hilly areas, it can be set to 300m or even larger.

[0050] After the cruise missile climbs to the set height, it enters the flight phase, at this time the launch process ends after saving or modifying the related state quantities and flag bits of the launch process. The entire cruise missile barrel launching process is strictly executed according to the preset conditions, and different phases can be adjusted by adjusting the preset values to adapt to the launch process.

[0051] The embodiment also provides a cruise missile barrel launching system, comprising:

[0052] An acquisition unit is configured to acquire the axial acceleration of the body and the climbing height.

[0053] The axial acceleration is used to determine whether to ignite at the launch standby stage, and the climbing height is used to determine whether to enter the flight phase.

[0054] The judging unit is configured to judge whether the axial acceleration is greater than a set acceleration, whether the delay time period is greater than or equal to a set time, and whether the climbing height is greater than or equal to a set height.

[0055] The axial acceleration is compared with the set acceleration to determine whether the launch is ignited. In the launch standby stage, the maximum axial acceleration, i.e., the set acceleration, is usually 8-10g, wherein g represents the gravitational acceleration. When the axial acceleration is greater than the set acceleration, it indicates that the launch is ignited, and the stage of leaving the barrel can be entered; otherwise, the launch is not ignited, and the axial acceleration is continuously acquired until the axial acceleration is greater than the set acceleration.

[0056] After the launch is ignited, the stage of leaving the barrel is entered. In the stage of leaving the barrel, the program of starting the motor and the body fin is delayed for a time period T L , and the motor and the body fin are restarted. L In the delay time period T L , the motor and the body fin are in a locked state and are not started. In this delay time period T L , the system controls the body to leave the barrel and the wings to be unfolded. The delay time period needs to be greater than or equal to a set time to ensure that the body completely leaves the barrel and the wings completely unfold. In order to ensure that the body completely leaves the barrel and the wings completely unfold, the delay time period needs to be greater than or equal to the set time, which is usually 2-3 times the body leaving time. The body leaving time is generally not more than 50ms, and therefore, in the embodiment, the set time is 100-150ms.

[0057] After the attitude is stabilized, the stage of climbing is entered. At this time, the motor is operated at full speed, the body is controlled to keep a fixed pitch angle and heading angle to climb, and the climbing height h (the climbing height refers to the relative height of the current position of the body to the launch point) is continuously acquired. The acquired climbing height h is compared with a set height h max . max When h is less than h max , it is considered that the set height has not been climbed, the body continues to climb, and the comparison and judgment are performed. When h is greater than or equal to h max , it is considered that the set height has been climbed, and the stage of flying along the route is entered. The set height h max of the climbing stage is usually selected according to the use scene of the loitering munition. If the loitering munition is mainly used in plain areas, the set height is 100m. If the loitering munition is mainly used in hilly areas, the set height can be 300m or even greater.

[0058] The first control unit is configured to control the motor and the body fin to be delayed for a time period and then restarted when the axial acceleration is greater than the set acceleration, and to control the motor and the body fin to be in a locked state and control the body to leave the barrel and the wings to be unfolded when the axial acceleration is greater than the set acceleration and the delay time period is less than the set time.

[0059] The first control unit controls the ejection of the projectile body by controlling the ignition device to detonate the gunpowder in the barrel to generate a huge thrust, and controls the deployment of the wings by controlling the automatic deployment of the torsional spring.

[0060] The second control unit controls the motor to provide thrust and speed and controls the deflection of the body's rudder surface to correct the flight attitude until the flight attitude reaches the expected stable state when the axial acceleration is greater than the set acceleration and the delay time period is greater than or equal to the set time.

[0061] The specific impact of the disturbance on the cruise missile is mainly manifested in attitude divergence, which will lead to instability or falling to the ground. Therefore, in the attitude stabilization stage, the motor and the body's rudder surface are started and controlled to continuously correct the deflection of the body's rudder surface. When the roll angle is controlled within [-R d , R d ] and the pitch angle is controlled within [P d -P0, P d +P0], it is considered to reach the expected state. When the roll angle is controlled within [-R d , R d ] and the pitch angle is controlled within [P d -P0, P d +P0] for a plurality of consecutive sampling periods, it is indicated that the body attitude reaches the expected stable state, and the next stage can be entered.

[0062] In the attitude stabilization stage, the attitude angle judgment basis R d , P d , P0 is usually 5°, 15°, and 5°, respectively, i.e., the roll angle is controlled within [-5°, 5°] and the pitch angle is controlled within [10°, 20°] for a plurality of sampling periods. The selection of R d , P d , P0 is based on the control accuracy and the maximum climb angle of the cruise missile.

[0063] The third control unit controls the motor to rotate at full speed and controls the body to maintain a fixed pitch angle and heading angle to climb when the flight attitude reaches the expected stable state, and controls the body to enter the route flight stage when the climbing height is greater than or equal to the set height.

[0064] The above only discloses specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or modifications within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A cruise missile canister launch method, comprising: The method comprises the following steps: Step 1: obtaining the axial acceleration of the projectile; Step 2: delaying for a period of time when the axial acceleration is greater than a set acceleration, waiting for the projectile to completely exit the barrel and the wings to completely unfold; Step 3: when the delayed period of time is greater than or equal to a set time, indicating that the projectile has completely exited the barrel and the wings have completely unfolded, jumping to Step 4; Step 4: controlling the motor to provide thrust and speed, and controlling the deflection of the rudder of the projectile to correct the flight attitude until the flight attitude reaches the expected stable state; when the roll angle is controlled within [-5°, 5°] and the pitch angle is controlled within [10°, 20°] for a plurality of consecutive sampling periods, it is indicated that the attitude of the projectile reaches the expected stable state; Step 5: controlling the motor to rotate at full speed, while controlling the projectile to maintain a fixed pitch angle and heading angle to climb, and obtaining the climbing height; The climbing height refers to the relative height of the current position of the projectile to the launch point; Step 6: when the climbing height is greater than or equal to a set height, the projectile enters the flight phase, and the barrel launching ends.

2. A method of launching a cruise missile from a canister as claimed in claim 1, wherein, In Step 2, the set acceleration is 8-10g, wherein g represents the acceleration of gravity.

3. A method of launching a cruise missile from a canister as defined in claim 1, wherein In Step 3, the set time is 2-3 times the time for the projectile to exit the barrel.

4. A method of launching a cruise missile from a canister as defined in claim 1, wherein In Step 3, the set time is 100-150ms.

5. A cruise missile canister launch system, comprising: The method comprises: an obtaining unit configured to obtain the axial acceleration of the projectile and the climbing height; a judging unit configured to judge whether the axial acceleration is greater than a set acceleration, whether the delayed period of time is greater than or equal to a set time, and whether the climbing height is greater than or equal to a set height; a first control unit configured to control the motor and the rudder of the projectile to delay for a period of time when the axial acceleration is greater than the set acceleration, and to control the motor and the rudder to be in a locked state when the axial acceleration is greater than the set acceleration and the delayed period of time is less than the set time, while controlling the projectile to exit the barrel and the wings to unfold; a second control unit configured to control the motor to provide thrust and speed, and control the deflection of the rudder of the projectile to correct the flight attitude until the flight attitude reaches the expected stable state when the axial acceleration is greater than the set acceleration and the delayed period of time is greater than or equal to the set time; when the roll angle is controlled within [-5°, 5°] and the pitch angle is controlled within [10°, 20°] for a plurality of consecutive sampling periods, it is indicated that the attitude of the projectile reaches the expected stable state; a third control unit configured to control the motor to rotate at full speed while controlling the projectile to maintain a fixed pitch angle and heading angle to climb when the flight attitude reaches the expected stable state, and to control the projectile to enter the flight phase when the climbing height is greater than or equal to the set height.

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