Semi-physical simulation system and method for cross-medium weapon
By designing a semi-physical simulation system including simulation controller, inertial measurement device, flight manager, rudder execution device and three-axis turntable, continuous simulation of submarine-launched missile ballistics is realized, and the difficulty and efficiency of control in the prior art are solved. The low problem improves simulation efficiency.
Patent Information
- Application Number
- CN202411623073.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-14
- Publication Date
- 2025-02-18
AI Technical Summary
The existing semi-physical simulation system cannot realize continuous simulation of submarine-launched missile ballistics, resulting in increased control difficulty and reduced efficiency.
A semi-physical simulation system is designed, including a simulation controller, an inertial measurement device, a flight manager, a rudder actuator and a three-axis turntable. By simulating the movement of the missile in the underwater and atmospheric environment, continuous simulation of missile ballistics is achieved.
It realizes precise control of the current operating status of the missile, completes continuous simulation of the entire ballistic of the missile in the underwater environment and atmospheric environment, improves simulation efficiency, and solves the problem that continuous simulation cannot be achieved in the existing technology.
Smart Images
Figure CN119472338A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of semi-physical simulation, and more specifically, to a semi-physical simulation system and method for cross-media weapons. Background Art
[0002] At present, submarine-launched missiles are launched underwater, and their ballistic characteristics are more complicated than those of missiles launched from the ground, ships or the atmosphere. During the launch process, submarine-launched missiles have to go through the tube exit, underwater, water exit and atmospheric sections. The tube exit section is affected by environmental factors such as the hull speed, adapter constraint, ocean currents and waves. Underwater is affected by environmental factors such as ocean currents and waves, cavitation flow, etc. The water exit section is affected by factors such as ocean currents and waves, and water exit posture. These factors make the launch of submarine-launched missiles more complicated than large atmospheric ballistic launches. The physical model modeling, water load, water trajectory, fluid dynamics, and launch methods involved make underwater missiles difficult to control.
[0003] Semi-physical simulation technology can be applied to multiple stages of the weapon system's life cycle, such as demonstration, analysis, design, and evaluation. It can effectively shorten the development cycle and reduce R&D costs. It is an important ground simulation verification method. For submarine-launched missiles, the existing semi-physical simulation system usually adopts a segmented simulation method, that is, a trajectory is divided into two parts, underwater and atmospheric, for simulation verification. The disadvantage of this method is that it cannot achieve continuous simulation of a trajectory. Therefore, it is necessary to study the semi-physical simulation method of submarine-launched missiles to achieve continuous trajectory simulation and improve efficiency. Summary of the invention
[0004] The object of the present invention is to provide a semi-physical simulation method for cross-media weapons to solve at least one of the problems existing in the prior art.
[0005] In order to achieve the above object, the present invention adopts the following technical solutions:
[0006] A first aspect of the present invention provides a semi-physical simulation system for cross-media weapons, comprising:
[0007] A simulation controller is used to generate simulated missile acceleration and also to bring the rudder deflection angle into the preset missile body model for calculation to complete the simulation of the missile trajectory;
[0008] A three-axis turntable is used to simulate the attitude movement of the missile during the entire flight process, and provide the inertial measurement device with a simulated angular motion environment of the missile during the flight process; the simulated angular motion environment includes an atmospheric environment and an underwater environment;
[0009] an inertial measurement device for measuring the missile angular velocity reproduced by the three-axis turntable and providing the missile angular velocity to a flight manager;
[0010] A flight manager, for generating a rudder instruction and driving a rudder actuator according to the missile angular velocity and the simulated missile acceleration;
[0011] A rudder actuator, used for generating a rudder deflection angle according to a rudder instruction, and feeding back the rudder deflection angle to a flight manager and a simulation computer;
[0012] A telemetry controller is used to store the rudder command, the missile angular velocity and the simulated missile acceleration.
[0013] Optionally, the system further comprises a power supply device for supplying power to the semi-physical simulation system.
[0014] Optionally, the inertial measurement device is mounted on the three-axis turntable.
[0015] The second aspect of the present invention provides a method for performing semi-physical simulation using the system provided by the first aspect of the present invention, characterized in that it includes:
[0016] In response to an instruction to simulate the trajectory of a simulated missile, the simulation controller generates simulated missile acceleration and missile attitude angle control instructions according to a preset motion model;
[0017] In response to the missile attitude angle control instruction, the three-axis turntable provides the inertial measurement device with an angular motion simulation environment of the missile during flight;
[0018] The inertial measurement device measures the angular velocity of the missile in the angular motion simulation environment reproduced by the three-axis turntable, and sends the angular velocity of the missile to the flight manager;
[0019] The flight manager generates a rudder instruction and drives a rudder actuator according to the missile angular velocity and the simulated missile acceleration.
[0020] Optionally, the angular motion simulation environment includes an atmospheric environment and an underwater environment;
[0021] When the angular motion simulation environment is an underwater environment, the inertial measurement device measures the first missile angular velocity when the three-axis turntable reproduces the underwater environment, and sends the first missile angular velocity to the flight manager; the flight manager generates a first rudder instruction according to the first missile angular velocity and the simulated missile acceleration and drives the rudder actuator; the rudder actuator generates a first rudder deflection angle according to the first rudder instruction to change the flight motion of the missile; the rudder actuator feeds back the first rudder deflection angle to the flight manager and the simulation computer; the simulation computer introduces the first rudder deflection angle feedback into the missile body model for calculation;
[0022] When the angular motion simulation environment is an atmospheric environment, the inertial measurement device measures the angular velocity of the second missile when the three-axis turntable reproduces the underwater environment, and sends the second missile angular velocity to the flight manager; the flight manager generates a second rudder instruction according to the second missile angular velocity and the simulated missile acceleration and drives the rudder actuator; the rudder actuator generates a second rudder deflection angle according to the second rudder instruction to change the flight motion of the missile; the rudder actuator feeds back the second rudder deflection angle to the flight manager and the simulation computer; the simulation computer introduces the second rudder deflection angle feedback into the missile body model for calculation.
[0023] Optionally, the method further comprises performing a docking test on the semi-physical simulation system before the simulation controller starts generating simulated missile acceleration and missile attitude angle control instructions according to a preset motion model.
[0024] Optionally, the docking test comprises:
[0025] The simulation controller is docked with the flight manager for testing;
[0026] The simulation controller is docked with the inertial measurement device for testing;
[0027] The simulation controller is connected to the rudder actuator for docking test;
[0028] The telemetry controller is tested for docking with the flight manager;
[0029] The telemetry controller is docked with the inertial measurement device for testing;
[0030] The telemetry controller is docked with the rudder actuator for testing;
[0031] The simulation controller is docked with the three-axis turntable for testing;
[0032] The simulation controller, the telemetry controller, the semi-physical simulation device, the three-axis turntable and the power supply are tested together.
[0033] Optionally, the preset motion model is
[0034]
[0035] In the formula, ω x ,ω y and ω z is the angular velocity of the missile in the missile body coordinate system, I x ,I y and I z is the missile's moment of inertia in the missile body coordinate system; and is the angular acceleration component of the missile in the missile body coordinate system; M st is the dynamic torque vector of the atmospheric environment or underwater environment; M d M is the damping torque vector caused by the rotation of the missile relative to the atmospheric environment or underwater environment; c It is the control torque vector acting on the missile in the atmospheric or underwater environment.
[0036] Optionally, the M st 、M d and M c The calculation formulas are
[0037]
[0038] Where q is the dynamic pressure, and q = ρv 2 / 2; ρ is the density of the atmosphere or underwater environment, l is the length of the missile body, v is the speed of the missile, S is the cross-sectional area of the missile body, α is the angle of attack, and β is the sideslip angle; is the pitch angle, ψ is the yaw angle, γ is the roll angle, δ γ , δ ψ and They are the rudder deflection angles in the roll, yaw and pitch directions respectively; m γ 、m ψ and is the angular velocity damping torque coefficient.
[0039] Optionally, the simulation controller uses the missile attitude angle calculated by quaternions q0, q1, q2 and q3 to generate the missile attitude angle control instruction according to the missile attitude angle;
[0040] The calculation formula of the quaternion q0, q1, q2 and q3 is:
[0041]
[0042] The beneficial effects of the present invention are as follows:
[0043] The present invention establishes a semi-physical simulation system for submarine-launched missiles, simulates underwater environments and atmospheric environments, converts parameters of motion models, realizes precise control of the current operating state of the missile, completes continuous simulation of the entire trajectory of the missile in underwater environments and atmospheric environments, and solves the problem that the existing semi-physical simulation method for submarine-launched missiles cannot perform continuous simulation. BRIEF DESCRIPTION OF THE DRAWINGS
[0044] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.
[0045] Figure 1A schematic diagram of a semi-physical simulation system for cross-media weapons according to the present invention is shown.
[0046] Figure 2 A schematic diagram showing a semi-physical simulation method for cross-media weapons according to the present invention. DETAILED DESCRIPTION
[0047] In order to explain the present invention more clearly, the present invention is further described below in conjunction with embodiments and drawings. Similar components in the drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the content specifically described below is illustrative rather than restrictive, and the protection scope of the present invention should not be limited thereto.
[0048] like Figure 1 As shown, a semi-physical simulation system for cross-media weapons includes:
[0049] an inertial measurement device for measuring the missile angular velocity and the simulated missile acceleration reproduced by the three-axis turntable, and providing the missile angular velocity and the simulated missile acceleration to the flight manager;
[0050] A flight manager, for generating a rudder instruction and driving a rudder actuator according to the missile angular velocity and the simulated missile acceleration;
[0051] A rudder actuator is used to generate a rudder deflection angle according to the rudder command and feed it back to the flight manager and the simulation computer;
[0052] a simulation controller for generating simulated missile accelerations;
[0053] The three-axis turntable is used to simulate the attitude movement of the missile during the entire flight process, and provides a simulation environment for the angular movement of the missile during the flight for the inertial measurement device.
[0054] The telemetry controller is used to store telemetry data, such as missile angular velocity, simulated missile acceleration, rudder instructions generated during the simulation process, etc.
[0055] In a specific embodiment, the inertial measurement device is mounted on the three-axis turntable.
[0056] In a specific embodiment, the system further comprises:
[0057] The power supply device is used to supply power to the semi-physical simulation system.
[0058] like Figure 2 As shown, a semi-physical simulation method for cross-media weapons includes:
[0059] In response to an instruction to simulate the trajectory of a simulated missile, the simulation controller generates simulated missile acceleration and missile attitude angle control instructions according to a preset motion model;
[0060] In response to the missile attitude angle control instruction, the three-axis turntable provides the inertial measurement device with an angular motion simulation environment of the missile during flight;
[0061] The inertial measurement device measures the angular velocity of the missile in the angular motion simulation environment reproduced by the three-axis turntable, and sends the angular velocity of the missile to the flight manager;
[0062] The flight manager generates a rudder instruction and drives a rudder actuator according to the missile angular velocity and the simulated missile acceleration.
[0063] In one embodiment, the angular motion simulation environment includes an atmospheric environment and an underwater environment;
[0064] When the angular motion simulation environment is an underwater environment, the inertial measurement device measures the first missile angular velocity when the three-axis turntable reproduces the underwater environment, and sends the first missile angular velocity to the flight manager; the flight manager generates a first rudder instruction according to the first missile angular velocity and the simulated missile acceleration and drives the rudder actuator; the rudder actuator generates a first rudder deflection angle according to the first rudder instruction to change the flight motion of the missile; the rudder actuator feeds back the first rudder deflection angle to the flight manager and the simulation computer; the simulation computer introduces the first rudder deflection angle feedback into the missile body model for calculation;
[0065] When the angular motion simulation environment is an atmospheric environment, the inertial measurement device measures the angular velocity of the second missile when the three-axis turntable reproduces the underwater environment, and sends the second missile angular velocity to the flight manager; the flight manager generates a second rudder instruction according to the second missile angular velocity and the simulated missile acceleration and drives the rudder actuator; the rudder actuator generates a second rudder deflection angle according to the second rudder instruction to change the flight motion of the missile; the rudder actuator feeds back the second rudder deflection angle to the flight manager and the simulation computer; the simulation computer introduces the second rudder deflection angle feedback into the missile body model for calculation.
[0066] Specifically, the simulation controller uses the missile's center of mass height H calculated in real time as a judgment condition to determine whether the angular motion simulation environment is an underwater environment or an atmospheric environment; the missile's center of mass height H is initially set to 0; when H=0, the missile is currently operating in an underwater environment; when H>0, the missile is currently operating in an atmospheric model; the simulation controller sends a water exit signal to the flight manager, switches to the missile's atmospheric flight segment, and ultimately achieves continuous simulation of the missile's trajectory.
[0067] The present invention establishes a semi-physical simulation system for submarine-launched missiles, uses the missile center of mass height calculated in real time by a simulation controller as a judgment condition, switches to realize simulation conversion from an underwater environment to an atmospheric environment, completes continuous simulation of the entire trajectory, realizes precise control of the current operating state of the missile, and solves the problem that the existing semi-physical simulation method for submarine-launched missiles cannot perform continuous simulation.
[0068] In a specific embodiment, the simulated missile acceleration generated by the simulation controller is:
[0069]
[0070] Among them, A x , A y , A z N is the acceleration of the missile in three directions. x , N y , N z are the overloads of the missile in three directions; T a is the period of this link; a is the damping ratio of this link.
[0071] In a specific embodiment, kinematics and dynamics are integrated according to the attitude model of the missile to output the attitude quaternion differential [q0 q1 q2 q3] T Differentiation of the angular velocity of the three axes
[0072] According to the expression of the differential of the attitude quaternion and the differential of the three-axis angular velocity, the Runge-Kutta integration can be performed to simulate the three degrees of freedom of the attitude; the pitch angle at the current moment can be output through the integration algorithm The yaw angle ψ and the roll angle γ.
[0073] In a specific embodiment, the attitude and angular velocity are obtained by integrating the attitude dynamics and the kinematic model, that is, the dynamic model is:
[0074]
[0075] In the formula, ω x ,ω y and ω z is the angular velocity of the missile in the missile body coordinate system, I x ,I y and I z is the missile's moment of inertia in the missile body coordinate system, and is the angular acceleration component of the missile in the missile body coordinate system; M st is the dynamic torque vector of the atmospheric environment or underwater environment acting on the missile, M d M is the damping torque vector caused by the rotation of the missile in the atmospheric environment or underwater environment;c It is the control torque vector acting on the missile in the atmospheric or underwater environment.
[0076] M st 、M d and M c The calculation formulas are
[0077]
[0078] Where q is the dynamic pressure, and q = ρv 2 / 2, ρ is the density of the atmospheric environment or the density of the underwater environment, l is the length of the missile body, v is the speed of the missile, S is the cross-sectional area of the missile body; α is the angle of attack, β is the sideslip angle; δ γ , δ ψ and are the rudder deflection angles in the directions of the roll axis, yaw axis and pitch axis respectively; m γ 、m ψ and is the angular velocity damping torque coefficient, which is determined by the aerodynamic layout properties of the missile itself.
[0079] In a specific embodiment, the simulation controller uses the missile attitude angle calculated by the quaternions q0, q1, q2 and q3 to generate the missile attitude angle control instruction according to the missile attitude angle.
[0080] The calculation formula of the quaternion q0, q1, q2 and q3 is:
[0081]
[0082] The missile's attitude motion is determined by the yaw angle ψ, the pitch angle and roll angle γ, but in order to prevent the occurrence of singularity, the quaternion q0, q1, q2, q3 will be used to describe the missile attitude. The attitude described by the quaternion is related to the yaw angle ψ and pitch angle The attitude described by the roll angle γ has the following conversion relationship
[0083] sinψ=-2(q1q3-q0q2)
[0084]
[0085] In this embodiment, before performing the semi-physical simulation, the power supply supplies power to the flight manager, the inertial measurement device, and the rudder actuator respectively, and selects the trajectory binding parameters.
[0086] In a specific embodiment, during the semi-physical simulation, the simulation controller calculates the motion model, generates the missile attitude angle control command for controlling the motion of the three-axis turntable according to the missile attitude angle calculated by the motion model, thereby controlling the motion of the three-axis turntable; and provides the inertial measurement device installed on the three-axis turntable with an angular motion simulation environment during the missile flight. At the same time, the simulation controller forwards the missile angular velocity actually detected by the inertial measurement device and the missile acceleration calculated by the model to the flight manager according to the agreed period; the flight manager performs navigation, guidance and control calculations through the missile angular velocity and acceleration information detected by the inertial measurement device, generates the rudder command and converts it into a PWM signal to drive the rudder actuator, and forms the telemetry information on the missile and transmits it to the simulation launch control / telemetry controller for storage. The rudder actuator generates the rudder deflection angle according to the rudder command, and the rudder actuator performs servo motion according to the rudder command to control the angle deflection of the rudder surface, change the flight motion trajectory of the missile, and at the same time, the rudder surface deflection angle value is fed back to the flight manager and the simulation computer. The simulation computer introduces the rudder deflection angle feedback into the missile body model calculation to form a closed-loop semi-physical simulation test.
[0087] In a specific embodiment, the method further comprises performing a docking test on the semi-physical simulation system before the simulation starts.
[0088] Specifically, the simulation controller is tested for docking with the flight manager: the simulation controller simulates the data link function and performs a 485 interface communication test with the flight manager. The test contents include: self-test command test, binding command test and periodic acquisition command test.
[0089] Docking test between simulation controller and inertial measurement device: The simulation controller and the inertial measurement device perform 422 interface communication test. The test contents include: inertial navigation information full forwarding test, inertial navigation sensitive acceleration information replacement test and inertial navigation information full replacement test.
[0090] Simulation controller and rudder execution module connection test: The simulation controller and the rudder execution module perform 485 interface communication test, and the test content is the rudder feedback collection test.
[0091] Docking test between telemetry controller and flight manager: The telemetry controller and flight manager conduct telemetry downlink and integrated command docking test. The test contents include: telemetry data acquisition test, self-test command test, binding parameter command test, navigation command test, and rudder system test command.
[0092] Docking test between telemetry controller and inertial measurement device: The telemetry controller and inertial measurement device perform communication command test, the test contents include: self-test command test, initial acquisition command test, information acquisition command test.
[0093] Docking test between telemetry controller and rudder execution module: The telemetry controller and rudder execution module perform communication command test, the test contents include: self-test command test, zeroing command test, triangle wave test, step test.
[0094] Docking test between simulation controller and three-axis turntable and joint test of simulation controller, telemetry controller, semi-physical simulation device, three-axis turntable and power supply.
[0095] The present invention establishes a semi-physical simulation system for submarine-launched missiles, simulates underwater environments and atmospheric environments, converts parameters of motion models, realizes precise control of the current operating state of the missile, completes continuous simulation of the entire trajectory of the missile in underwater environments and atmospheric environments, and solves the problem that the existing semi-physical simulation method for submarine-launched missiles cannot perform continuous simulation.
[0096] In the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.
[0097] It should also be noted that, in the description of the present invention, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.
[0098] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the embodiments here. All obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.
Claims
1. A semi-physical simulation system for cross-media weapons, characterized in that: include: A simulation controller is used to generate simulated missile acceleration and also to bring the rudder deflection angle into the preset missile body model for calculation to complete the simulation of the missile trajectory; A three-axis turntable is used to simulate the attitude movement of the missile during the entire flight process, and provide the inertial measurement device with a simulated angular motion environment of the missile during the flight process; the simulated angular motion environment includes an atmospheric environment and an underwater environment; an inertial measurement device for measuring the missile angular velocity reproduced by the three-axis turntable and providing the missile angular velocity to a flight manager; A flight manager, for generating a rudder instruction and driving a rudder actuator according to the missile angular velocity and the simulated missile acceleration; A rudder actuator, used for generating a rudder deflection angle according to a rudder instruction, and feeding back the rudder deflection angle to a flight manager and a simulation computer; A telemetry controller is used to store the rudder command, the missile angular velocity and the simulated missile acceleration.
2. The system according to claim 1, characterized in that The system also includes a power supply device for supplying power to the semi-physical simulation system.
3. The system according to claim 1, characterized in that The inertial measurement device is mounted on the three-axis turntable.
4. A method for performing semi-physical simulation using the system according to any one of claims 1 to 3, characterized in that: include In response to an instruction to simulate the trajectory of a simulated missile, the simulation controller generates simulated missile acceleration and missile attitude angle control instructions according to a preset motion model; In response to the missile attitude angle control instruction, the three-axis turntable provides the inertial measurement device with an angular motion simulation environment of the missile during flight; The inertial measurement device measures the angular velocity of the missile in the angular motion simulation environment reproduced by the three-axis turntable, and sends the angular velocity of the missile to the flight manager; The flight manager generates a rudder instruction and drives a rudder actuator according to the missile angular velocity and the simulated missile acceleration.
5. The method according to claim 4, characterized in that The angular motion simulation environment includes an atmospheric environment and an underwater environment; When the angular motion simulation environment is an underwater environment, the inertial measurement device measures the first missile angular velocity when the three-axis turntable reproduces the underwater environment, and sends the first missile angular velocity to the flight manager; the flight manager generates a first rudder instruction according to the first missile angular velocity and the simulated missile acceleration and drives the rudder actuator; the rudder actuator generates a first rudder deflection angle according to the first rudder instruction to change the flight motion of the missile; the rudder actuator feeds back the first rudder deflection angle to the flight manager and the simulation computer; the simulation computer introduces the first rudder deflection angle feedback into the missile body model for calculation; When the angular motion simulation environment is an atmospheric environment, the inertial measurement device measures the angular velocity of the second missile when the three-axis turntable reproduces the underwater environment, and sends the second missile angular velocity to the flight manager; the flight manager generates a second rudder instruction according to the second missile angular velocity and the simulated missile acceleration and drives the rudder actuator; the rudder actuator generates a second rudder deflection angle according to the second rudder instruction to change the flight motion of the missile; the rudder actuator feeds back the second rudder deflection angle to the flight manager and the simulation computer; the simulation computer introduces the second rudder deflection angle feedback into the missile body model for calculation.
6. The method according to claim 4, characterized in that The method further comprises performing a docking test on the semi-physical simulation system before the simulation controller starts generating simulated missile acceleration and missile attitude angle control instructions according to a preset motion model.
7. The method according to claim 6, characterized in that The docking test includes: The simulation controller is tested for docking with the flight manager; The simulation controller is docked with the inertial measurement device for testing; The simulation controller is connected to the rudder actuator for docking test; The telemetry controller is tested for docking with the flight manager; The telemetry controller is docked with the inertial measurement device for testing; The telemetry controller is docked with the rudder actuator for testing; The simulation controller is docked with the three-axis turntable for testing; The simulation controller, the telemetry controller, the semi-physical simulation device, the three-axis turntable and the power supply are tested together.
8. The method according to claim 4, characterized in that The preset motion model is: In the formula, ω x ,ω y and ω z is the angular velocity of the missile in the missile body coordinate system, I x ,I y and I z is the missile's moment of inertia in the missile body coordinate system, and is the angular acceleration component of the missile in the missile body coordinate system; M st is the dynamic torque vector of the atmospheric environment or underwater environment, M d M is the damping torque vector caused by the rotation of the missile relative to the atmospheric environment or underwater environment; c It is the control torque vector acting on the missile in the atmospheric or underwater environment.
9. The method according to claim 8, characterized in that The M st 、M d and M c The calculation formulas are Where q is the dynamic pressure, and q = ρv 2 / 2; ρ is the density of the atmosphere or underwater environment, l is the length of the missile body, v is the speed of the missile, S is the cross-sectional area of the missile body; α is the angle of attack, β is the sideslip angle; is the pitch angle, ψ is the yaw angle, γ is the roll angle, δ γ ,δ ψ and They are the rudder deflection angles in the roll, yaw and pitch directions respectively; m γ 、m ψ and is the angular velocity damping torque coefficient.
10. The method according to claim 9, characterized in that The simulation controller uses quaternion q 0 ,q 1 ,q 2 and q 3 The missile attitude angle is calculated, and the missile attitude angle control instruction is generated according to the missile attitude angle; The quaternion q 0 ,q 1 ,q 2 and q 3 The calculation formula is