A precise control method for the large dive flight path of a target drone

Abstract

The present invention is a precise control method for the large dive trajectory of a target drone, belonging to the field of experimental engineering technology, which can be used for providing targets during the large dive maneuver of the target drone to improve the accuracy of the dive trajectory control of the target drone. The traditional large dive trajectory control of the target drone adopts a fixed pitch angle dive mode. Affected by the system error of the dynamic measurement accuracy of the sensor and the drastic changes in flight airflow, airspeed, etc., there will be a certain deviation in the actual trajectory angle of the large dive flight of the target drone, and the trajectory control accuracy is relatively low. By measuring the trajectory data of the current point in real time during the dive of the target drone, introducing the pitch angle tracking signal, altitude tracking signal and lift rate tracking signal, calculating the control amount of the elevator of the target drone, and controlling the operation of the servo mechanism of the target drone in real time, the present invention realizes the precise control of the large dive maneuver flight trajectory of the target drone and improves the simulation fidelity of target supply.

Description

Technical Field

[0001] The present invention belongs to the technical field of test engineering, and mainly relates to a precise control method for the large dive trajectory of a target drone. Background Art

[0002] The large dive maneuver of a target drone can simulate missile-like targets of enemy dive attacks and is used for anti-missile tests and training of short-range and terminal air defense weapon systems. The traditional dive maneuver of a target drone is to determine the pitch angle of the target drone based on the dive entry point and exit point, and then enter the fixed pitch angle dive mode. The main problems of this mode are as follows: The dive maneuver of the target drone adopts a single attitude control loop, and there are certain systematic errors in the dynamic measurement accuracy of the sensor. Moreover, during the dive process, affected by drastic changes in air flow, airspeed, etc., there may be a certain deviation between the actual flight trajectory and the theoretical trajectory. The control accuracy of the target drone flight trajectory is relatively low, and it is easy to prematurely exit before reaching the predetermined exit point or have a too high flight altitude when reaching the predetermined exit point during the final stage of the dive. This is not conducive to the stable tracking of the target drone dive maneuver process by the air defense weapon system and the effective acquisition of flight data, and the quality and efficiency of test training assessment are relatively low. Summary of the Invention

[0003] By measuring the trajectory data of the current point in real time during the dive of the target drone and introducing the pitch angle tracking signal, altitude tracking signal, and lift rate tracking signal of the target drone, the present invention increases the accuracy of the target drone dive trajectory control.

[0004] A precise control method for the large dive trajectory of a target drone includes:

[0005] After the target drone enters the dive process, according to the dive parameter requirements and the trajectory of the current point of the target drone, the expected dive trajectory angle, expected pitch angle signal, and expected altitude tracking signal of the target drone are calculated in real time to obtain the pitch angle program signal for the target drone dive, and then the elevator control amount is obtained, and the servo mechanism of the target drone is controlled in real time to achieve precise control of the target drone dive maneuver trajectory.

[0006] Preferably, the method for calculating the expected dive trajectory angle of the target drone is as follows:

[0007] After the target drone enters the dive process, the entry point, exit point, and current point values of the target drone are recorded in real time. The entry point values include the initial dive height h s , initial longitude λ s , initial latitude initial time t s , the exit point values include the end height h of the exit dive e , end longitude λ e , end latitude The current value values include the current height h c , current longitude λ c , current latitude Current pitch angle θ c 、Current time t c 、Current speed V c According to the following formula, calculate the relevant parameters during the dive process:

[0008] H = h s -h e

[0009]

[0010]

[0011]

[0012]

[0013] ΔH = h c -h e

[0014]

[0015]

[0016]

[0017]

[0018] Among them, H is the vertical height difference of the dive, L is the projection distance of the dive entry point and the exit point on the horizontal plane, ΔH is the vertical height difference from the current dive point to the exit point, and ΔL is the projection distance of the current dive point and the exit point on the horizontal plane. is the expected track angle of the current dive.

[0019] Preferably, the specific method for calculating the expected pitch angle signal θ θpr is as follows:

[0020]

[0021] Among them, k1 is the pitch angle softening coefficient, and θ bal is the pitch angle trim value.

[0022] Preferably, the method for calculating the expected height tracking signal h pr 、 is as follows:

[0023]

[0024]

[0025] Among them, k2 is the height softening coefficient, and k3 is the lift rate softening coefficient.

[0026] Preferably, the method for calculating the pitch angle program signal θ pr is as follows:

[0027]

[0028] θ pr = k θ θ θpr + k h θ hpr

[0029] If θ pr ≤ 60.0, then θ pr takes the actual value;

[0030] If θ pr > 60.0, then θ pr takes 60 nearby;

[0031] where: θ hpr is the expected pitch angle corresponding to the trajectory tracking loop, k hp is the proportional control coefficient of the altitude loop, k hd is the derivative control coefficient of the altitude loop, k θ is the proportional coefficient of the pitch angle tracking loop, k h is the proportional coefficient of the trajectory tracking loop.

[0032] Preferably, the method for calculating the elevator control amount of the target drone is as follows:

[0033] δ e = k θp (θ c - θ pr ) + k θd Q

[0034] If |δ e | ≤ 15.0, then δ e takes the actual value;

[0035] If |δ e | > 15.0, then δ e takes 15.0 or -15.0 nearby;

[0036] where: Q is the pitch angle rate, k θp is the proportional control coefficient of the pitch angle loop, k θd is the derivative control coefficient of the pitch angle loop.

[0037] Furthermore, if the current track point satisfies |h c - h e | ≤ 10.0 m or ΔL ≤ 50.0 m, then the target drone exits the dive maneuver.

[0038] The present invention has the following beneficial effects:

[0039] (1) According to the real-time track data of the target aircraft, the present invention can calculate the pitch angle program signal and elevator control amount of the target aircraft, control the operation of the target aircraft servo mechanism, and correct the track deviation of the target aircraft's dive maneuver in real time, effectively improving the track control accuracy of the target aircraft's dive maneuver.

[0040] (2) By adopting the real-time track tracking control method, the present invention can effectively simulate the flight track of a dive attack missile, improve the target supply simulation fidelity, meet the urgent need for actual combat test training, have good practicability, and remarkable military benefits. Description of the Drawings

[0041] Figure 1 It is a schematic diagram for comparing the flight track of the traditional fixed pitch angle control mode of the target aircraft with the flight track of the present invention. Specific Embodiments

[0042] The present invention will be described in detail below with reference to the drawings and by way of examples.

[0043] The traditional fixed pitch angle dive mode of the target aircraft adopts a single attitude control loop. Since the dynamic measurement accuracy of the attitude sensor is generally about 2°, assuming the target aircraft dives from a sea height of 10,000 m to 1,000 m at a pitch angle of -45°, the resulting height error or horizontal error is about 600 m, making it difficult to meet the requirements of high-precision dive target supply with large height differences.

[0044] Different from the traditional fixed pitch angle dive mode, the present invention adopts a real-time track tracking control method and introduces the real-time track data of the target aircraft. Since the single-point positioning accuracy of the target aircraft track measurement equipment is generally controlled within ±10 m, the dive track tracking control method can well maintain the track accuracy during the dive process and at the exit moment.

[0045] The implementation method of the present invention is as follows: After the target aircraft enters the dive process, according to the dive parameter requirements and the current point track of the target aircraft, the expected dive track angle, expected pitch angle signal, and expected height tracking signal of the target aircraft are calculated in real time to obtain the dive pitch angle program signal of the target aircraft, and then the elevator control amount is obtained to control the operation of the target aircraft servo mechanism in real time, realizing the precise control of the dive maneuver track of the target aircraft, specifically as follows:

[0046] 1. Calculate the relevant parameters of the target aircraft's dive

[0047] After the target aircraft enters the dive process, the values of the entry point, exit point, and current point of the target aircraft are recorded in real time. The values of the entry point include the initial height h s , initial longitude λ s , initial latitude , and initial time t s . The values of the exit point include the end height h of the exit divee , the longitude λ of the end point e , the latitude of the end point The current value includes the current altitude h c , the current longitude λ c , the current latitude The current pitch angle θ c , the current time t c , the current speed V c , calculate the relevant parameters during the dive process according to the following formula:

[0048] H = h s -h e

[0049]

[0050]

[0051]

[0052]

[0053] ΔH = h c -h e

[0054]

[0055]

[0056]

[0057]

[0058] Among them, H is the vertical height difference of the dive, L is the projected distance on the horizontal plane between the dive entry point and the exit point, ΔH is the vertical height difference from the current dive point to the exit point, and ΔL is the projected distance on the horizontal plane between the current dive point and the exit point. is the current expected dive track angle.

[0059] 2. Calculate the expected pitch angle signal of the target aircraft

[0060] Use the calculated current expected dive track angle to calculate the expected pitch angle signal θ according to the following formula θpr :

[0061]

[0062] Among them, k1 is the pitch angle softening coefficient, and θ bal is the pitch angle trim value.

[0063] 3. Calculate the expected altitude tracking signal of the target aircraft during the dive

[0064] Using the calculated relevant dive parameters, calculate the target aircraft dive expected altitude tracking signal h according to the following formula pr 、

[0065]

[0066]

[0067] where k2 is the altitude softening coefficient and k3 is the pitching rate softening coefficient.

[0068] 4. Calculate the target aircraft pitch angle program signal

[0069] Using the calculated target aircraft expected pitch angle signal and dive expected altitude tracking signal, calculate the pitch angle program signal θ according to the following formula pr :

[0070]

[0071] θ pr =k θ θ θpr +k h θ hpr

[0072] If θ pr ≤60.0, then θ pr takes the actual value;

[0073] If θ pr >60.0, then θ pr is rounded to 60.

[0074] where: θ hpr is the expected pitch angle corresponding to the trajectory tracking loop, k hp is the altitude loop proportional control coefficient, k hd is the altitude loop derivative control coefficient, k θ is the pitch angle tracking loop proportional coefficient, k h is the trajectory tracking loop proportional coefficient.

[0075] 5. Calculate the target aircraft elevator control amount

[0076] Using the calculated target aircraft pitch angle program signal θ pr , calculate the target aircraft elevator control amount δ according to the following formula e :

[0077] δ e =k θp (θ c -θ pr )+k θd Q

[0078] If |δ e | ≤ 15.0, then δ e takes the actual value;

[0079] If |δ e | > 15.0, then δ e takes 15.0 or -15.0 nearby.

[0080] Where: Q is the pitch rate, k θp is the proportional control coefficient of the pitch angle loop, k θd is the differential control coefficient of the pitch angle loop.

[0081] 6. Target drone servo mechanism operation

[0082] Using the calculated δ e to control the operation of the target drone servo mechanism, and further control the dive flight trajectory of the target drone.

[0083] 7. Target drone dive exit

[0084] If the current track point satisfies |h c - h e | ≤ 10.0 m or ΔL ≤ 50.0 m, then the target drone exits the dive maneuver.

[0085] As Figure 1 shown, adopting the traditional fixed pitch angle control mode, during the dive maneuver of the target drone, the lifting mechanism of the target drone keeps the working state unchanged. Affected by factors such as the dynamic measurement accuracy system error of the sensor and air flow and airspeed, there will be a certain deviation (such as being too large or too small) in the actual track angle of the target drone during the dive maneuver. If the actual track angle is too large, the target drone will exit the dive maneuver in advance; if the actual track angle is too small, the flight altitude of the target drone will be too high when reaching the predetermined exit point; neither of the two situations can achieve the purpose of test and training assessment.

[0086] After adopting the present invention, during the dive of the target drone, by measuring the track data of the current point in real time, calculating the pitch angle program signal and elevator control amount of the target drone, controlling the operation of the lifting mechanism of the target drone, and correcting the track deviation of the target drone in real time, the control accuracy of the dive track of the target drone is ensured.

[0087] In summary, the above is only a preferred embodiment of the present invention and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A precise control method for the large dive flight path of a target drone, characterized in that, Including: After the target aircraft enters the dive process, according to the dive parameter requirements and the current point track of the target aircraft, the expected dive track angle, the expected pitch angle signal, and the expected altitude tracking signal of the target aircraft are calculated in real time to obtain the dive pitch angle program signal of the target aircraft, and then the elevator control amount is obtained, and the servo mechanism of the target aircraft is controlled in real time to achieve precise control of the dive maneuver track of the target aircraft; Among them, the method for calculating the expected dive track angle of the target aircraft is: After the target drone enters the dive process, record the values of the entry point, exit point, and current point of the target drone in real time. The values of the entry point include the initial height h of the dive entry s , the initial longitude λ s , the initial latitude the initial time t s , and the values of the exit point include the end height h of the dive exit e , the end longitude λ e , the end latitude The current value includes the current height h c , the current longitude λ c , the current latitude the current pitch angle θ c , the current time t c , the current speed V c . Calculate the relevant parameters of the dive process according to the following formula: H = h s -h e ΔH = h c -h e Wherein, H is the vertical height difference of the dive, L is the projected distance on the horizontal plane between the dive entry point and the exit point, ΔH is the vertical height difference from the current dive point to the exit point, and ΔL is the projected distance on the horizontal plane between the current dive point and the exit point. is the expected track angle of the current dive.

2. The precise control method for the large dive trajectory of a target drone according to claim 1, characterized in that, Calculate the expected pitch angle signal The specific method is as follows: where k1 is the pitch angle softening coefficient, and θ bal is the pitch angle trim value.

3. The precise control method for the large dive flight path of a target drone according to claim 2, wherein Method for calculating the dive expected altitude tracking signal h of the target aircraft pr and is as follows: Among them, k2 is the altitude softening coefficient, and k3 is the lift rate softening coefficient.

4. The precise control method for the large dive flight path of a target drone according to claim 3, characterized in that, The specific method for calculating the pitch angle program signal θ pr is as follows: θ pr = k θ θ θpr + k h θ hpr If θ pr ≤ 60.0, then θ pr takes the actual value; If θ pr > 60.0, then θ pr is rounded down to 60; Where: θ hpr is the expected pitch angle corresponding to the trajectory tracking loop, k hp is the proportional control coefficient of the altitude loop, k hd is the derivative control coefficient of the altitude loop, k θ is the proportional coefficient of the pitch angle tracking loop, k h is the proportional coefficient of the trajectory tracking loop.

5. The precise control method for the large dive track of a target drone according to claim 4, characterized in that The specific method for calculating the elevator control amount of the target aircraft is: δ e = k θp (θ c - θ pr ) + k θd Q If |δ e | ≤ 15.0, then δ e takes the actual value; If |δ e | > 15.0, then δ e is rounded to 15.0 or -15.0; Where: Q is the pitch rate, k θp is the proportional control coefficient of the pitch angle loop, k θd is the differential control coefficient of the pitch angle loop.

6. The precise control method for the large dive track of a target drone according to claim 1, characterized in that If the current track point satisfies |h c - h e | ≤ 10.0 m or ΔL ≤ 50.0 m, the target drone exits the dive maneuver.

Images