A virtual experimental teaching system for missile automatic control principles and its use method

Abstract

The present invention relates to a virtual experiment teaching system for missile automatic control principles and its use method. The system comprises a user front-end and a back-end server; the user front-end and the back-end server are connected via the Internet. The user front-end is equipped with multiple virtual components related to missile automatic control principles, including a virtual missile body, a virtual three-axis turntable, a virtual control cabinet, a virtual oscilloscope, a virtual signal source, a virtual laboratory table, and a floating window; the floating window is equipped with virtual control elements required for missile control. The system of the present invention constructs models of specific components individually, allowing students to complete different experiments by simply combining them as needed.

Description

Technical Field

[0001] The present invention relates to the technical field of experimental teaching, in particular to a virtual experimental teaching system of missile automatic control principle and a use method thereof. Background Art

[0002] The course "Principles of Automatic Control" is a course that takes into account both theoretical and engineering aspects. How to perfectly present the application of control theory in practice to students is one of the topics that every control theory educator has been diligently researching, and it is also one of the difficulties in teaching control theory. Currently, the more common practice is to highlight the application characteristics of control theory through case studies in theoretical classes, and to strengthen the understanding of theory in practice and cultivate engineering innovation capabilities through experimental classes. However, in actual operation, due to various objective reasons, this process from intuition to theory, from theory to practice, and from practice to deepen theory has never been able to form a closed loop. This is mainly manifested in:

[0003] 1. Control theory has numerous engineering applications, especially in missiles, aerospace, and other equipment. The engineering examples are so large that they cannot be demonstrated one by one under limited laboratory conditions. This makes the engineering background explained in class become castles in the air, and students cannot have the most intuitive understanding of it at all.

[0004] 2. It's difficult to strike the right balance when integrating engineering cases, such as equipment, into the course. Excessive coverage of engineering background will involve extensive knowledge related to aircraft control, aerodynamics, and missile flight mechanics. Students will find this knowledge too difficult and unable to grasp it, thus losing interest. However, too little coverage of engineering background will simply serve as a "background." The same model, with a different "background," becomes another case study, losing the professional characteristics of the detection and missile programs.

[0005] 3. Currently, the in-class experiments of automatic control principles are generally carried out in the following ways:

[0006] (1) Perform time domain analysis by plugging and unplugging wires to simulate the typical links of the operational amplifier circuit. This type of experiment must clearly explain the transfer function form of the typical links of the simulated circuit. Otherwise, it will just be a series of plugging and unplugging wires for students. Moreover, this type of experiment can only analyze and study simple control systems in the time domain. It is not closely related to the application of automatic control in equipment, and it is difficult to train students to design and correct control systems.

[0007] (2) Virtual simulation experiments using software such as Matlab / Labview. This type of experiment can help students clearly understand the impact of a certain parameter in the control system on system performance and analyze it from the perspectives of time domain, root locus, and frequency domain. However, this type of experiment cannot reflect the intuitive connection between the model and the actual object and is still a theoretical analysis study.

[0008] (3) Semi-physical simulation research based on a certain control object. This type of experiment can help students establish a connection between the physical object and the model, and can apply the control algorithm to the simulation platform to observe the changes in the controlled quantity of the physical object. However, the cost of this type of experimental device is relatively high. Generally, there is only one in the laboratory, which makes it difficult to ensure that all students can conduct sufficient experimental research. Moreover, this type of experimental method generally only focuses on time domain analysis, and rarely uses root locus method and frequency domain method for analysis and verification.

[0009] The above three types of experiments are used in teaching according to their advantages and disadvantages. Although they seem to complement each other, in fact, the experimental objects of different experimental types have changed, which makes it difficult for students to conduct in-depth research on one object and lacks the continuity and systematicness of knowledge. Moreover, the current experimental equipment and experimental cases are not closely related to the equipment, and the adequacy of the experiment is greatly affected by the size of the site, the number of equipment, and time. Summary of the Invention

[0010] The purpose of the present invention is to provide a virtual experiment teaching system of missile automatic control principle and its using method, so as to provide an experimental teaching system which can complete different experiments for the same experimental object, thereby facilitating the coherence and systematic in-depth study and research of knowledge.

[0011] To achieve the above object, the present invention provides the following solutions:

[0012] The present invention provides a virtual experiment teaching system for missile automatic control principles. The system comprises: a user front end and a back end server; the user front end is connected to the back end server via the Internet; the user front end is provided with a plurality of virtual components related to the missile automatic control principle, the virtual components comprising: a virtual missile body, a virtual three-axis turntable, a virtual control cabinet, a virtual oscilloscope, a virtual signal source, a virtual experiment table and a floating window; the floating window is provided with virtual control elements required for missile control; the user front end is used to build a control circuit using the virtual components according to user instructions, set control parameters, and send the control circuit and the control parameters to the back end server; the back end server is provided with a back end calculation library, and the back end server is used to perform calculations according to the control circuit and the control parameters using the back end calculation library to obtain calculation results, and feed the calculation results back to the user front end.

[0013] Optionally, the virtual projectile is constructed using PBR technology based on physical lighting, and the virtual wind tunnel where the virtual projectile is located is constructed using particle effect collision technology.

[0014] Optionally, the control model of the virtual projectile as the controlled object includes a projectile longitudinal model, a projectile heading angle model, and a projectile roll angle model;

[0015] The projectile longitudinal model, the projectile heading angle model and the projectile roll angle model are transfer functions of the pitch angle control, heading angle control and roll angle control of the virtual projectile respectively.

[0016] Optionally, the virtual control element is constructed based on adsorption technology;

[0017] The virtual control elements include an integrated control machine, a hydraulic steering gear, an electric steering gear, a power amplifier, a feedback potentiometer, an inertial navigation system, a barometric altimeter, a radar altimeter, a speed measuring motor, a proportional circuit, an integral circuit, a differential circuit and a delay link.

[0018] Optionally, the integrated control machine includes a comparison link and a control law operation link, the comparison link is a transfer function of the comparison operation, and the control law operation link is a transfer function of the control law operation.

[0019] A method for using a virtual experimental teaching system for missile automatic control principles, the method comprising:

[0020] Drag a single virtual control component in the floating window to the virtual experimental table or virtual three-axis turntable and connect the circuit to form a component observation circuit;

[0021] observing the component observation circuit to obtain a first observation result;

[0022] Drag multiple virtual control components in the floating window to the virtual experimental table or missile, and connect them to form a combined circuit;

[0023] Observing the combined loop to obtain a second observation result;

[0024] Parameters of each virtual control element in the combined loop are adjusted to observe changes in the second observation result.

[0025] Optionally, the first observation result and the second observation result are at least one of a step response curve, a root locus diagram, a Bode diagram, and a Nyquist diagram.

[0026] Optionally, the combined loop includes: a rudder loop, an attitude angle loop and an altitude control loop;

[0027] The rudder circuit includes: a hydraulic rudder circuit, an electric rudder circuit and an electric rudder circuit with disturbance;

[0028] The attitude angle loop includes: a pitch angle loop, a heading angle loop, a heading angle loop with disturbance, and a bank angle loop.

[0029] Optionally, the hydraulic rudder circuit includes: a hydraulic servo, a comparison link, a power amplifier, a feedback potentiometer, a virtual oscilloscope and a virtual signal source;

[0030] The electric steering loop includes: an electric steering gear, a comparison link, a power amplifier, a feedback potentiometer, a virtual oscilloscope and a virtual signal source; the virtual signal source in the electric steering loop is used to generate an input signal of the electric steering loop;

[0031] The electric rudder circuit with disturbance includes: an electric servo, a comparison link, a power amplifier, a feedback potentiometer, a virtual oscilloscope and a virtual signal source. The virtual signal source in the electric rudder circuit with disturbance is used to generate an input signal and an interference signal of the electric rudder circuit.

[0032] Optionally, the pitch angle circuit includes: two comparison links, a proportional circuit, a power amplifier, a hydraulic servo, a longitudinal model of the missile body, an integration circuit, a feedback potentiometer and an inertial navigation system;

[0033] The heading angle loop includes: two comparison links, a proportional circuit, a power amplifier, a hydraulic steering gear, a missile heading angle model, an integration circuit, a feedback potentiometer and an inertial navigation system;

[0034] The perturbation heading angle loop includes: two comparison links, a proportional circuit, a power amplifier, a hydraulic steering gear, a virtual signal source, a missile heading angle model, an integration circuit, a feedback potentiometer and an inertial navigation system; the virtual signal source in the perturbation heading angle loop is used to generate an interference signal;

[0035] The tilt angle circuit includes: two comparison links, a proportional circuit, a power amplifier, a hydraulic steering gear, a missile roll angle model, an integration circuit, a feedback potentiometer and an inertial navigation system;

[0036] The altitude control loop includes: three comparison links, two proportional circuits, a control law operation link, a power amplifier, a hydraulic steering gear, a longitudinal model of the missile body, two integration circuits, a radar altimeter, a feedback potentiometer and an inertial navigation system.

[0037] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0038] This invention discloses a virtual experiment teaching system for missile automatic control principles and its use method. The system comprises a user front-end and a back-end server; the user front-end and the back-end server are connected via the Internet. The user front-end is equipped with multiple virtual components related to missile automatic control principles, including a virtual missile body, a virtual three-axis turntable, a virtual control cabinet, a virtual oscilloscope, a virtual signal source, a virtual laboratory table, and a floating window; the floating window is equipped with virtual control elements required for missile control. The system of the present invention constructs models of specific components individually, allowing students to complete different experiments by simply combining them as needed. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 A layout diagram of a virtual experimental teaching system for missile automatic control principles provided by an embodiment of the present invention;

[0041] Figure 2 A schematic structural diagram of a hydraulic rudder circuit provided by an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of the structure of an electric rudder circuit provided by an embodiment of the present invention

[0043] Figure 4 A schematic structural diagram of an electric rudder circuit with disturbance provided by an embodiment of the present invention;

[0044] Figure 5 A schematic diagram of the structure of a pitch angle loop without speed measurement feedback provided by an embodiment of the present invention;

[0045] Figure 6 A schematic diagram of the structure of a pitch angle loop with speed measurement feedback provided by an embodiment of the present invention;

[0046] Figure 7 A schematic diagram of the structure of a missile pitch angle loop under PD control provided by an embodiment of the present invention;

[0047] Figure 8 A schematic diagram of the structure of a pitch angle loop with PI+speed measurement feedback provided by an embodiment of the present invention;

[0048] Figure 9 A schematic diagram of the structure of a pitch angle loop with series differential correction + velocity measurement feedback provided by an embodiment of the present invention;

[0049] Figure 10 A schematic diagram of the structure of a missile heading angle loop without speed measurement feedback provided by an embodiment of the present invention;

[0050] Figure 11 A schematic diagram of the structure of a missile heading angle loop under speed measurement feedback provided by an embodiment of the present invention;

[0051] Figure 12 A schematic diagram of the structure of a missile heading angle loop under disturbance-based speed measurement feedback provided by an embodiment of the present invention;

[0052] Figure 13 A schematic diagram of the structure of a missile heading angle loop under PI control provided by an embodiment of the present invention;

[0053] Figure 14 A schematic diagram of the structure of a tilt angle loop provided in an embodiment of the present invention;

[0054] Figure 15 A schematic diagram of the structure of a height loop under proportional control provided by an embodiment of the present invention;

[0055] Figure 16 A schematic diagram of the structure of the hysteresis correction of the altitude loop provided by an embodiment of the present invention;

[0056] Figure 17 A schematic diagram of the structure of a PID control height loop provided in an embodiment of the present invention;

[0057] Figure 18 An example diagram of a Bode diagram provided by an embodiment of the present invention;

[0058] Figure 19 This is an example diagram of a root locus diagram provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0060] The purpose of the present invention is to provide a virtual experiment teaching system of missile automatic control principle and its using method, so as to provide an experimental teaching system which can complete different experiments for the same experimental object, thereby facilitating the coherence and systematic in-depth study and research of knowledge.

[0061] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0062] Example 1

[0063] like Figure 1 As shown, embodiment 1 of the present invention provides a virtual experiment teaching system for missile automatic control principle. The missile automatic control principle in the embodiment of the present invention refers to the automatic control principle based on missile control. The system includes: a user front end and a back end server; the user front end and the back end server are connected via the Internet; the user front end is provided with multiple virtual components related to the missile automatic control principle, and the virtual components include: a virtual missile body 1, a virtual three-axis turntable 5, a virtual control cabinet 6, a virtual oscilloscope 31, a virtual signal source 32, a virtual experimental table (the virtual experimental table is Figure 1 The first experimental table 3) and the floating window 4 are provided with virtual control elements required for missile control; the user front end is used to use the virtual components to build a control circuit according to user instructions, set control parameters, obtain control results under different control parameters, and send the control results and the control parameters to the back end server; the back end server is provided with a calculation library, and the back end server is used to perform a solution based on the control results and the control parameters using an analysis method in the calculation library to obtain a solution result, and feed the solution result back to the user front end, wherein the analysis method includes a root locus method and a frequency domain analysis method.

[0064] For example, in Example 1 of the present invention, a virtual scene and a virtual model are constructed using 3DMAX based on the engineering dimensions and layout of a certain type of missile and its test equipment. Each model in the virtual scene basically replicates the actual object in a one-to-one ratio. The objects in the virtual scene include a virtual missile body 1, a virtual three-axis turntable 5, a virtual control cabinet 6, a computer 23, a virtual oscilloscope 31, a virtual signal source 32, and several virtual control components, and their layout can be seen. Figure 1 The computer 23 is set on the second experimental table 2, and is used to set the rotation angle and angular velocity of the inertial navigation.

[0065] Physically based lighting (PBR) technology was used for the virtual missile body 1, making it more natural and realistic. Particle collision technology was used to simulate airflow in the virtual wind tunnel, making it more intuitive to observe the missile's attitude changes through rudder angles. The virtual control components include an integrated control unit 41, a hydraulic servo 42, an electric servo 43, a power amplifier 44, a feedback potentiometer 45, an inertial navigation system 46, a barometric altimeter 47, a radar altimeter 48, a tachometer 49, a proportional circuit 410, an integrator 411, a differential circuit 412, and a delay element 413. Adsorption technology was used for the virtual control components, enabling the dragging, installation, and assembly of components. Furthermore, formulas and parameters were populated for each three-dimensional virtual control component, giving it the computational capabilities of a mathematical model.

[0066] The backend server is built, and the user front end of the virtual experiment teaching system is connected to the calculation library on the backend server via the Internet. When the user selects a component or combines several components, the virtual experiment system transmits the data to the calculation library via network data packets. The calculation library performs the calculation using a pre-written MATLAB program. The backend server then transmits the calculated data back to the user front end, where it is displayed on the user front end computer 23 and virtual oscilloscope 31, or a root locus diagram or other graphics can be displayed by pressing a button.

[0067] In the system, users can arbitrarily combine and drag the missile's virtual control elements according to research needs, and use the time domain analysis method, root locus method, and frequency domain analysis method in the automatic control principle to complete experiments such as observation of missile components, observation of missile attitude angles, design of rudder circuits, design of attitude angle control circuits, and design of altitude control circuits separately or sequentially.

[0068] Among them, the models of each virtual component are:

[0069] (1) Proportional circuit 410: .

[0070] (2) Inertial navigation system 46: Angle input, voltage output corresponding to the angle; angular velocity input, output corresponding to the angular velocity.

[0071] : attitude angle transfer coefficient.

[0072] : attitude angular velocity transfer coefficient.

[0073] (3) Power amplifier 44: .

[0074] (4) Barometric altimeter 47: Note: The default value is 1 and it is usually not adjusted.

[0075] (5) Radar altimeter 48: Note: The default value is 1 and it is usually not adjusted.

[0076] (6) Feedback potentiometer 45: .

[0077] (7) Integrator circuit 411: .

[0078] (8) Hydraulic steering gear 42: .

[0079] (9) Electric servo 43: .

[0080] (10) Differential circuit 412: Differential circuit 412 is divided into three types, namely pure differential, first-order differential and second-order differential.

[0081] ① Pure differential: , in the experimental system, is a pure differential op amp circuit.

[0082] ③ First-order differential: , in the experimental system, it is a first-order differential operational amplifier circuit.

[0083] ④ Second-order differential: , because there is no second-order differential circuit or system in reality, it is only represented by the transfer function in the experimental system.

[0084] (11) Delay link 413: This is also an object that is only observed but not combined. The actual system will have a time lag link, which is generally multiplied by this delay after the transmission function of the specific controlled object. Therefore, it has no specific physical object in the experimental system and is only presented as a transmission function.

[0085] (12) Projectile: During observation, the projectile is placed in a virtual wind tunnel. Under given wind speed and attitude, the rudder angle is adjusted as input, and the change in the projectile's attitude angle is output. It is possible to observe changes in the response curve and the projectile's attitude as the rudder angle changes.

[0086] ① The longitudinal model of the projectile is as follows. The parameters are given in the program. Three groups of characteristic points are taken (at t=2s, t=5s, and t=20s). The group at t=20s is taken by default.

[0087]

[0088] ② The missile heading angle model is the same as the longitudinal model, except that the parameter values ​​are different.

[0089] , the experimental system group still takes three groups of feature points.

[0090] ③ Projectile roll angle model

[0091] , the experimental system group still takes three groups of feature points.

[0092] (13) Integrated control machine

[0093] It plays the role of comparison link and control law operation.

[0094] Comparison is the ability to perform addition and subtraction operations on input signals:

[0095]

[0096] The integrated control machine only serves as a computing unit and does not require observation.

[0097] Example 2

[0098] Embodiment 2 of the present invention provides a method for using a virtual experiment teaching system for missile automatic control principles, the method comprising:

[0099] Drag a single virtual control component in the floating window to the virtual experimental table or virtual three-axis turntable and connect the circuit to form a component observation circuit.

[0100] observing the component observation circuit to obtain a first observation result;

[0101] Drag multiple virtual control components in the floating window onto the virtual lab table or missile, and connect them to form a combined circuit. Specifically, for the rudder circuit, place the components on the lab table; for the attitude and altitude circuits, drag the corresponding components into the missile.

[0102] Observing the combined loop to obtain a second observation result;

[0103] Parameters of each virtual control element in the combined loop are adjusted to observe changes in the second observation result.

[0104] The first observation result and the second observation result are both at least one of a step response curve, a root locus plot, a Bode plot, and a Nyquist plot. The combined loop includes a rudder loop, an attitude angle loop, and an altitude control loop; the rudder loop includes a hydraulic rudder loop, an electric rudder loop, and an electric rudder loop with perturbation; and the attitude angle loop includes a pitch angle loop, a heading angle loop, a heading angle loop with perturbation, and a bank angle loop.

[0105] Specifically, for the observation of a single component, Figure 1Select a virtual control component (except the inertial navigation system) in the floating window 4 and place it on the first experimental table 3. Adjust the parameters of the virtual control component. Connect the input and output terminals of the virtual control component to the input and output terminals of the virtual oscilloscope 31 and the virtual signal source 32. Turn on the switch of the virtual signal source 32 and click the virtual oscilloscope 31 to observe the unit step response of the component.

[0106] By retaining the results of each simulation on the user front end, you can click "Data Comparison" in the experimental system to observe all step response curves under different parameters.

[0107] For inertial navigation observations, Figure 1 Select the inertial navigation system 46 in the floating window 4, place it on the virtual three-axis turntable 5, and connect the wires to the input and output terminals of the virtual three-axis turntable 3. Open the virtual control cabinet 6 and turn on the power of the virtual three-axis turntable 3. Open the computer 23 to display the turntable virtual operation interface, and adjust the parameters of the inertial navigation system 46 on the interface. 、 ,in is the attitude angle transfer coefficient, is the attitude angular velocity transfer coefficient. After determination, observe the changes in the rotation angle and angular velocity of the turntable.

[0108] For observation of combined circuits, based on the prefabricated rudder circuit, attitude angle circuit, and altitude control circuit in the system, the attitude angle circuit includes the pitch angle circuit, heading angle circuit, and roll angle circuit. When you click on a circuit, a corresponding structure diagram will pop up, and you can drag and combine components according to the structure diagram. When the dragged components meet the system requirements, the corresponding part of the structure diagram will be highlighted. After all the components required for the current circuit are selected and connected, you can arbitrarily modify the parameters of any component in the current circuit. Click the oscilloscope to observe the step response. At the same time, depending on the selected analysis method, you can also click the "Root Locus Diagram" button in the system to observe the root locus, click the "Bode Diagram" button to observe the Bode diagram, and click the "Nyquist Diagram" button to observe the Nyquist diagram.

[0109] Root locus diagrams and Bode diagrams have not only analytical functions, but also correction functions, including:

[0110] 1. On the root locus diagram, based on the dominant pole on the root locus diagram, select a point as the characteristic root of the system. At this time, the proportional coefficient value of the system is determined, and the step response of the system is observed to see if it meets the requirements based on the size of this value.

[0111] 2. On the Bode diagram, select a point on the Bode diagram according to the frequency domain index requirements to perform system correction. If it is an advance correction, select a point on the logarithmic amplitude curve of the Bode diagram as the desired cutoff frequency. If it is a lag correction, select a point on the logarithmic phase-frequency curve of the Bode diagram that satisfies the corrected phase margin. Equal to the desired phase margin plus 6°

[0112] According to the analysis and design of the rudder system, the hydraulic steering gear is selected Or electric servo ,in, is the servo gain coefficient, is the inertia coefficient of the servo. , feedback potentiometer Drag them together onto the first experimental table 3 and connect them to the virtual oscilloscope 31 and virtual signal source 32. If the servo is a hydraulic servo, the rudder system is a first-order system and can be studied as an inertia link; if the servo is a hydraulic servo, it can be studied as an oscillation link.

[0113] Turn on the signal source power, click on the oscilloscope, and you can observe the step response curve. For a first-order system composed of hydraulic servos, such as Figure 2 As shown, the adjustment time The relationship between the loop parameters is ; For the second-order system composed of electric servos, such as Figure 3 As shown, its dynamic performance index damping ratio , natural frequency , peak time , overshoot , adjust time The relationship between the loop parameters is 、 、 、 、 Adjust the values ​​of the parameters of each component in the rudder circuit, observe the size of the index on the response curve, and determine the parameters of the rudder circuit by meeting the given index. 、 、 、 .

[0114] On the adjusted electric steering loop, connect another line from the virtual signal source 32 to the steering loop before the electric steering gear and after the power amplifier. At this time, the system response under the disturbance can be studied and the steering loop parameters can be adjusted to meet the steady-state error. requirements, such as Figure 4 shown.

[0115] When the servo circuit is designed, you can click on the "Servo Rear View" in the virtual experiment system to observe the servo rotation angle with the parameters. 、 、 、 's changing trend.

[0116] For analysis and design of the attitude angle loop, use the rudder loop parameters as the inner loop. Based on a specific attitude angle loop block diagram, drag the servo, amplifier, potentiometer, inertial navigation system, and integrated control unit to the corresponding positions on the missile. Each time you drag a component, the corresponding position on the loop block diagram is highlighted, and the position where it needs to be placed in the missile is also highlighted. Click the oscilloscope to observe the step response of the assembled loop.

[0117] At the same time, different correction methods can be selected for the attitude angle loop. The selectable methods include proportional control, RC differential circuit, proportional integral control, speed measurement feedback, proportional differential control, heading correction control under disturbance, and advance correction of the roll loop. Different block diagrams will pop up depending on the correction method selected. Select the corresponding components according to the corresponding block diagram to drag and assemble. Figure 5 For the pitch angle loop without velocity feedback, Figure 5 As shown, the pitch angle loop without velocity feedback includes two comparison links, a proportional circuit 410, a power amplifier 44, a hydraulic servo 42, a longitudinal model of the missile body, an integration circuit 411, a feedback potentiometer 45, and an inertial navigation system 46. Only the hydraulic servo 42, inertial navigation system 46, and integrated control unit 41 are assembled; the missile (virtual missile body 1) is displayed along with the block diagram.

[0118] If the hydraulic servo 42 is dragged, the entire rudder system sub-circuit in the block diagram will light up, and the text "In the missile, the servo, power amplifier, and feedback potentiometer are integrated into the rudder circuit subsystem" will be displayed;

[0119] Drag the inertial navigation, and the integral link 1 / s and angle feedback loop in the block diagram will light up, and the text "In a missile, the inertial navigation can measure the missile's attitude angle and attitude angular velocity" will be displayed;

[0120] When dragging the integrated control machine, the comparison link + proportional link of the outer loop in the block diagram lights up, and the text "The integrated control machine in the missile completes the signal calculation and loop control algorithm through software" is prompted.

[0121] The description of the design requirements is (Default value), draw the root locus; find the stable range, analyze the damping characteristics of the dominant pole, and select a point on the root locus to make the system stable (i.e., the step response converges).

[0122] Pitch angle loop with velocity feedback, such as Figure 6 As shown, Figure 6 Zhongzai Figure 5 On the basis of , the angular velocity feedback signal of the inertial navigation 46 is added.

[0123] The missile pitch angle loop under PD control, such as Figure 7 As shown, Figure 7 Design requirements and Figure 5 and Figure 6 Slightly different than: (default value), (Default value), draw the root locus diagram; from Figure 19 Find out the system stability The damping characteristics of the dominant pole are analyzed and compared with the root locus of the missile pitch angle loop under velocity feedback.

[0124] PI+speed feedback pitch angle loop, such as Figure 8 As shown, Figure 8 Zhongzai Figure 6 On this basis, a control law operation link is added. Figure 8 In the experiment, students mainly adjusted 、 , you can adjust Then finalize it by selecting the site .

[0125] The pitch angle loop of series differential correction + velocity feedback, such as Figure 9 As shown, Figure 9 Zhongzai Figure 6 On the basis of the above, a series differential correction link is added. Figure 9 In the experiment, students mainly adjust 、 , no need to select a point.

[0126] Once the pitch angle loop is designed, the missile's pitch attitude can be observed in the wind tunnel. At the same time, click the "missile side view" and "missile rear view" in the virtual experiment system to observe the changing trend of the pitch angle rotation angle with different control parameters under different control laws in the pitch angle control loop.

[0127] The heading angle loop is mainly analyzed using frequency domain methods (Bode plot and Nyquist plot).

[0128] Among them, the missile heading angle loop without speed measurement feedback, such as Figure 10 As shown, Figure 10 The experiment requires drawing open-loop Nyquist and Bode plots to determine system stability. The system includes two comparison links, a proportional circuit 410, a power amplifier 44, a hydraulic servo 42, a missile heading angle model, an integration circuit 411, a feedback potentiometer 45, and an inertial navigation system 46.

[0129] The missile heading angle loop under speed measurement feedback, such as Figure 11 As shown, Figure 11The experiment requires the drawing of open-loop Bode diagram, system step response diagram (for comparison), and closed-loop Bode diagram. (default value), (Use speed measurement feedback, default value). 、 satisfy , .

[0130] The missile heading angle loop under the disturbance speed measurement feedback, such as Figure 12 , Figure 12 is Figure 11 Directly increase the disturbance, adjust the size of the disturbance input, and observe the steady-state error and open-loop Bode diagram of the system through the response curve.

[0131] The missile heading angle loop under PI control is as follows: Figure 13 As shown, Figure 13 By raising the low frequency band (increasing the proportional integral link), observing the Bode diagram and the response diagram under the disturbance effect, adjusting , analyze its impact on the steady-state error, and make it meet the margin index while meeting the .

[0132] After the heading angle loop is designed, the heading attitude of the missile can be observed in the wind tunnel. Click the "Missile Top View" and "Missile Rear View" in the virtual experiment system to observe the changing trend of the heading angle rotation angle with different control parameters under different control laws in the heading angle control loop.

[0133] The tilt angle loop mainly realizes advance correction in the frequency domain.

[0134] Tilt angle loop Figure 14 As shown, two comparison links, proportional circuit 410, power amplifier 44, hydraulic steering gear 42, missile roll angle model, integration circuit 411, feedback potentiometer 45, inertial guidance 46 and series lead correction network. Here, the series lead correction network is given by the integrated control machine. When the integrated control machine components are dragged, Figure 14 The input signal in The comparison link and the leading network are highlighted.

[0135] Figure 14 In the experiment, the parameters of the correction network are determined by selecting points on the Bode diagram before correction. 、 value, make Figure 14 The tilt angle loop satisfies , , .

[0136] Figure 5-Figure 14The analysis method can be time domain analysis, that is, on the step response diagram, the correction parameters are determined according to the curve required by the index. 、 、 、 、 、 、 ,in Represents the transfer coefficient of the missile's velocity gyro to measure the attitude angular velocity; Represents the transfer coefficient of the integrated gyro attitude angular velocity in the missile; Represents the differential coefficient in attitude angle proportional differential control; 、 Represents the differential coefficient and inertia coefficient in the RC differential circuit; Represents the integral coefficient in attitude angle proportional integral control; is the network time constant for lead correction; is the leading network division coefficient. The root locus method can also be used to determine the above parameters by selecting a point on the root locus, such as Figure 19 As shown; at the same time, the frequency domain analysis method can also be used to determine the parameters based on the frequency domain indicators reflected in the Bode diagram and the Nyquist diagram.

[0137] By retaining the results of each simulation on the user front end, you can click "Data Comparison" in the experimental system to observe all step response curves, root locus diagrams, Bode diagrams, and Nyquist diagrams under different parameters.

[0138] After the tilt angle loop is designed, the missile's tilt posture can be observed in the wind tunnel. Click "Missile Side View" and "Missile Rear View" in the virtual experiment system to observe the changing trend of the tilt angle rotation angle with different control parameters under different control laws in the tilt angle control loop.

[0139] Based on the adjusted control parameters of the attitude angle loop, it can be used as the inner loop to build the height control loop.

[0140] The altitude control loop includes:

[0141] Height loop under proportional control, such as Figure 15 As shown, the block diagram itself highlights the projectile transfer function and ; Drag the rudder, then the entire rudder system sub-circuit in the block diagram lights up, and the text "In the missile, the servo, power amplifier, and feedback potentiometer are integrated into the rudder circuit subsystem" is displayed; drag the inertial navigation, then the angular velocity feedback circuit in the block diagram +1 / s+angle feedback loop The text "In the missile, the inertial navigation can measure the missile's attitude angle and attitude angular velocity" is displayed. When the integrated control unit is dragged, the comparison link + proportional link of the altitude loop in the block diagram +Comparison link of attitude loop +Control law link 、 The light is on, and the text "The integrated control unit in the missile completes the signal calculation and loop control algorithm through software" is displayed. Drag the radar altimeter, and the outermost height feedback branch is lit;

[0142] Figure 15 In the experiment, students are required to perform proportional control on the height loop and select the appropriate value, so that , , By selecting a point on the root locus diagram that meets the index requirements, the changes in the Bode diagram before and after the proportional correction can be analyzed.

[0143] Hysteresis correction of the altitude loop, such as Figure 16 shown.

[0144] Figure 16 The experiment requires students to make hysteresis correction on the height loop to meet the ,

[0145] PID controlled height loop, such as Figure 17 shown.

[0146] like Figure 17 In the experiment, students are required to design a PID controller so that the system satisfies the , ; Satisfy zero-static-error control under disturbance.

[0147] Figure 15-17 The hydraulic servo in the altitude loop shown can also be an electric servo, and the two are selected during the altitude loop construction process.

[0148] For the altitude control loop, you can use proportional control, hysteresis correction, and PID control. Selecting a different control method will display a different structure diagram. Drag the corresponding components according to the structure diagram and place them in the missile to form the missile altitude control loop. As you drag components, the corresponding part in the structure diagram will be highlighted, and the location where you need to place them in the missile will also be highlighted. Click the oscilloscope to observe the step response of the assembled loop.

[0149] The analysis method can be time domain analysis, that is, on the step response graph, the correction parameters are determined according to the curve required by the index. 、 、 、 、 ,in Substitute the proportional coefficient; represents the integral coefficient; represents the differential coefficient; The network time constant for hysteresis correction; is the hysteresis network division coefficient. The root locus method can also be used to determine the above parameters by selecting a point on the root locus; at the same time, the frequency domain analysis method can also be used to determine the parameters based on the frequency domain indicators reflected in the Bode diagram and Nyquist diagram, such as Figure 18 shown.

[0150] For the altitude control loop, gust interference is applied in the wind tunnel. Integral and differential control are added at this time, where the integral coefficient is , the differential coefficient is ,like Figure 16 Adjust To ensure that the system's dynamic performance indicators are maintained under the specified height constant instruction 、 、 Meet the index requirements; adjust , so that it can achieve zero static error control under constant disturbance. 、 The value of .

[0151] By retaining the results of each simulation at the front end, you can click "Data Comparison" in the experimental system to observe all step response curves and root locus diagrams under different parameters (such as Figure 19 ), Bode diagram (as shown in Figure 18 ) and Nyquist plot.

[0152] After the parameters are adjusted, the missile's climbing process can be observed, that is, the change process of the altitude with the altitude loop control law parameters can be observed.

[0153] The data, charts, and conclusions generated during the experiment and design process are stored in a dynamic database using MASQL. Users can access the last saved results by logging into their account.

[0154] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0155] This invention discloses a virtual experiment teaching system for missile automatic control principles and its use method. The system comprises a user front-end and a back-end server; the user front-end and the back-end server are connected via the Internet. The user front-end is equipped with multiple virtual components related to missile automatic control principles, including a virtual missile body, a virtual three-axis turntable, a virtual control cabinet, a virtual oscilloscope, a virtual signal source, a virtual laboratory table, and a floating window; the floating window is equipped with virtual control elements required for missile control. The system of the present invention constructs models of specific components individually, allowing students to complete different experiments by simply combining them as needed.

[0156] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0157] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A virtual experimental teaching system for missile automatic control principles, characterized by: The system includes: a user front end and a back end server; the user front end and the back end server are connected via the Internet; The user front end is provided with a plurality of virtual components related to the automatic control principle of the missile, and the virtual components include: a virtual missile body, a virtual three-axis turntable, a virtual control cabinet, a virtual oscilloscope, a virtual signal source, a virtual laboratory table and a floating window; the floating window is provided with virtual control elements required for missile control; the control model when the virtual missile body is used as the controlled object includes a longitudinal model of the missile body, a heading angle model of the missile body and a roll angle model of the missile body; the longitudinal model of the missile body, the heading angle model of the missile body and the roll angle model of the missile body are respectively the pitch angle control, heading angle control and the roll angle control of the virtual missile body. The transfer function of control and roll angle control; the virtual control element has the calculation function of the mathematical model; the virtual control element includes an integrated control machine, a hydraulic steering gear, an electric steering gear, a power amplifier, a feedback potentiometer, an inertial navigation system, a barometric altimeter, a radar altimeter, a speed measuring motor, a proportional circuit, an integral circuit, a differential circuit and a delay link; the integrated control machine includes a comparison link and a control law operation link, the comparison link is a transfer function of the comparison operation, and the control law operation link is a transfer function of the control law operation; the differential circuit includes pure differential, first-order differential and second-order differential; The transfer function of the inertial navigation system includes: and , the transfer function of the power amplifier includes , the transfer function of the feedback potentiometer includes , the transfer function of the hydraulic servo includes , the transfer function of the electric servo includes ;in, is the transfer function, is the attitude angle transfer coefficient, is the attitude angular velocity transfer coefficient, For the amplification link, is the servo gain coefficient, is the inertia coefficient of the servo; The user front end is used to build a control circuit using the virtual control element according to user instructions, set control parameters, obtain control results under different control parameters, and send the control results and control parameters to the backend server; the control circuit includes: an element observation circuit formed by a single virtual control element and a combination circuit formed by multiple virtual control elements, the combination circuit includes: a rudder circuit, an attitude angle circuit and an altitude control circuit; the rudder circuit includes: a hydraulic rudder circuit, an electric rudder circuit and an electric rudder circuit with disturbance; the attitude angle circuit includes: a pitch angle circuit, a heading angle circuit, a heading angle circuit with disturbance and a bank angle circuit; A backend computing library is provided on the backend server, and the backend server is used to perform a solution based on the control result and the control parameter using an analysis method in the backend computing library to obtain a solution result, and feed the solution result back to the user front end; the analysis method includes a time domain analysis method, a root locus method, and a frequency domain analysis method, and the solution result is at least one of a step response curve, a root locus diagram, a Bode diagram, and a Nyquist diagram.

2. The virtual experiment teaching system of missile automatic control principle according to claim 1 is characterized in that: The virtual control element is constructed based on adsorption technology.

3. The virtual experiment teaching system of missile automatic control principle according to claim 1 is characterized in that: The hydraulic rudder circuit includes: a hydraulic rudder, a comparison link, a power amplifier, a feedback potentiometer, a virtual oscilloscope and a virtual signal source; The electric steering circuit includes: an electric steering gear, a comparison link, a power amplifier, a feedback potentiometer, a virtual oscilloscope and a virtual signal source; The electric steering loop with disturbance includes: an electric steering gear, a comparison link, a power amplifier, a feedback potentiometer, a virtual oscilloscope and a virtual signal source. The virtual signal source is used to generate an input signal and an interference signal of the electric steering loop.

4. The virtual experiment teaching system of missile automatic control principle according to claim 1 is characterized in that: The pitch angle circuit includes: two comparison links, a proportional circuit, a power amplifier, a hydraulic servo, a longitudinal model of the missile body, an integration circuit, a feedback potentiometer and an inertial navigation system; The heading angle loop includes: two comparison links, a proportional circuit, a power amplifier, a hydraulic steering gear, a missile heading angle model, an integration circuit, a feedback potentiometer and an inertial navigation system; The perturbation heading angle loop includes: two comparison links, a proportional circuit, a power amplifier, a hydraulic steering gear, a virtual signal source, a missile heading angle model, an integration circuit, a feedback potentiometer and an inertial navigation system; the virtual signal source in the perturbation heading angle loop is used to generate an interference signal; The tilt angle circuit includes: two comparison links, a proportional circuit, a power amplifier, a hydraulic steering gear, a missile roll angle model, an integration circuit, a feedback potentiometer and an inertial navigation system; The altitude control loop includes: three comparison links, two proportional circuits, a control law operation link, a power amplifier, a hydraulic steering gear, a longitudinal model of the missile body, two integration circuits, a radar altimeter, a feedback potentiometer and an inertial navigation system.

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