Efficient and stable patrolling bomb parachute opening and recycling method
By realizing the parachute recycling method in the cruise missile, the problems of cruise missile recycling and reuse are solved, efficient and stable recycling and reuse of cruise missiles are achieved, and the development costs and cycles are reduced.
Patent Information
- Application Number
- CN202411515706.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-29
- Publication Date
- 2025-02-25
AI Technical Summary
In flight tests, it is difficult to achieve the recycling and reuse of cruise missiles, resulting in large amounts of missiles used in flight tests, high development costs and cycles.
By implementing the parachute recovery method in the cruise missile, the parachute missile adjusts the flight status to the optimal state after receiving the parachute opening instruction, and performs the parachute opening operation according to the preset process to complete the recovery.
It has realized the reuse of cruise missiles, reduced the amount of ammunition used in flight tests, improved the efficiency and cycle of weapon system development, and reduced technical risks and costs.
Smart Images
Figure CN119512220A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the field of cruise missile design, and in particular relates to an efficient and stable cruise missile parachute opening and recovery method. Background Art
[0002] As a new type of weapon equipment, cruise missiles have the characteristics of beyond visual range, high precision, integrated reconnaissance and strike, and fast response speed. They can carry out precise strikes on important military targets such as armored vehicles, fire points and personnel, as well as monitor, reconnaissance, and damage assessment. They are a key node in the OODA (observation, judgment, decision-making, and action) loop of informationized warfare and have attracted much attention from the world's current military powers.
[0003] During the development process, cruise missiles are based on tactical and technical indicators, so a large number of flight tests are required to verify the performance corresponding to the indicators. The number of cruise missiles used is determined according to different test purposes. If there are requirements for cluster combat in the indicators, more ammunition will be required. If new test ammunition is used for each flight test, a large amount of economic loss will be generated, which is not conducive to cost reduction and efficiency improvement. Therefore, it is necessary to reuse the cruise missiles used for flight tests, reduce the actual amount of ammunition used in flight tests, and reduce the cost and cycle of cruise missile development. Summary of the invention
[0004] The purpose of the present invention is to provide an efficient and stable method for parachute recovery of cruise missiles, so as to solve the problem of recovery and reuse of cruise missiles in flight tests, thereby improving the development efficiency and cycle of cruise missile weapon systems, and reducing technical risks and the amount of missiles used in flight tests.
[0005] In order to achieve the above tasks, the present invention adopts the following technical solutions:
[0006] An efficient and stable parachute opening and recovery method for a cruise missile comprises: after the cruise missile is launched and flies along a pre-planned route and completes various flight tasks, it enters the recovery route and waits for receiving a parachute opening command; after receiving the parachute opening command sent from the ground, it is judged whether various parameters in the current flight state of the cruise missile meet the design values of the corresponding parachute opening conditions; when all parameters are met, the cruise missile adjusts the flight state to a preset optimal flight state, performs the parachute opening operation according to a preset process, and completes the recovery of the cruise missile by judging the changes in forward overload and downward overload; if the design values of the parachute opening conditions are not met, the current flight state of the cruise missile is adjusted until the parachute opening conditions are met.
[0007] Furthermore, various parameters in the current flight state of the cruise missile include flight speed, flight altitude, pitch angle, roll angle, pitch angular velocity, roll angular velocity, forward overload and downward overload.
[0008] Furthermore, each parameter in the current flight state of the cruise missile is calculated through the six-degree-of-freedom model and the overload model of the missile body motion, and then judged based on the design value of the preset parachute opening condition. When each parameter in the flight state satisfies the corresponding design value of the parachute opening condition, it is considered that the cruise missile can adjust to the optimal flight state at this time; wherein, the design value of the parachute opening condition refers to the range from the minimum to the maximum value of each parameter in the current flight state.
[0009] Furthermore, the six-degree-of-freedom model of the projectile motion is expressed as follows:
[0010]
[0011]
[0012]
[0013]
[0014]
[0015]
[0016] in is the velocity change, t is the time parameter, V is the cruise missile speed, P is the cruise missile thrust, α is the cruise missile attack angle, β is the cruise missile sideslip angle, X is the resistance, m is the cruise missile mass, and θ is the ballistic inclination angle; is the height change, y is the cruise missile height; is the pitch angle change, is the pitch angle of the cruise missile, ω y is the yaw angular velocity, ω z is the pitch angular velocity; is the roll angle change, γ is the roll angle of the cruise missile, ω x is the rolling angular velocity, ω z is the pitch angular velocity, is the pitch angle; is the change of pitch angular velocity, J x , J y , J z is the moment of inertia in the roll, yaw and pitch directions, M z is the pitching moment; is the change in rolling angular velocity, M x is the rolling moment.
[0017] Furthermore, the overload model is expressed as:
[0018]
[0019] Where Nx Indicates forward overload, N y It represents downward overload, G is gravity, P is thrust, X is drag, Y is lift, and X is lateral force.
[0020] Furthermore, the optimal flight state is the optimal values of flight speed, flight altitude, pitch angle, roll angle, pitch angular velocity, roll angular velocity, forward overload and downward overload during parachute opening and recovery; wherein the pitch angle and roll angle in the optimal flight state are 0.
[0021] Furthermore, when the cruise missile adjusts its flight status, the flight speed is closed-loop controlled by adjusting the thrust, and the flight altitude is closed-loop controlled by an altitude control loop; the pitch channel uses PID control of the pitch angle and pitch angular velocity to adjust it to the optimal value, and the roll channel uses PID control of the roll angle and roll angular velocity to adjust it to the optimal value.
[0022] Furthermore, when the cruise missile is adjusted to the optimal flight state, the parachute opening operation is performed according to the preset process; the time when the cruise missile is adjusted to the optimal flight state is recorded as T kszy , with T kszy Based on the time, the cruise missile performs the following operations:
[0023] (1)T kszy +t1, output PWM wave corresponding to 0% throttle to the cruise missile power system, the motor and propeller stop working so that the cruise missile has no thrust;
[0024] (2)T kszy +t2, output the PWM wave corresponding to the zero position to the cruise missile control servo, so that all the rocker arms of the control servo return to the structural zero position;
[0025] (3)T kszy +t3, output PWM wave to drive the rocker arm of the parachute opening servo of the cruise missile to rotate so that the parachute cabin top plate is released from the restriction and separated from the parachute cabin, the guide parachute is released immediately and the deceleration parachute is pulled to be ejected under the action of the spring mechanism, the deceleration parachute is inflated and the connecting belt is straightened;
[0026] (4)T kszy +t4~T kszy +t5, determine whether the forward overload and downward overload at this time meet the conditions for normal parachute opening. If both meet the conditions, it means that the guide parachute on the cruise missile is successfully released and the deceleration parachute is pulled out, and the parachute is opened normally; if they do not meet the design values, it means that the guide parachute on the cruise missile is not successfully released, and the parachute is opened abnormally;
[0027] (5)T kszy +t6, when the parachute is opened normally, it outputs a command to control the lithium battery to power down; when the parachute is opened abnormally, it outputs a command to increase the positive angle of attack and maintain the flight state of the positive angle of attack;
[0028] (6) After the parachute opens normally, the cruise missile decelerates and stabilizes under the guidance of the deceleration parachute, and lands at a predetermined speed; after the parachute opens abnormally, the cruise missile glides down and completes the landing;
[0029] (7) Recovering loitering munitions;
[0030] Among them, t1~t6 are preset times.
[0031] Compared with the prior art, the present invention has the following technical features:
[0032] This method can judge the flight status after the cruise missile enters the recovery route and receives the parachute opening command. When the conditions are met, the cruise missile performs the parachute opening operation in the optimal flight state and completes the deceleration and stable landing during the descent process, so as to achieve the goal of intact cruise missile structural parts, undamaged electronic components, and normal functions. The demand for reuse of cruise missiles in flight tests and the purpose of reducing costs and increasing efficiency are achieved. The method is simple to operate, easy to implement and apply in engineering, and has great room for promotion and application in the field of cruise missile weapon systems. BRIEF DESCRIPTION OF THE DRAWINGS
[0033] Figure 1 It is the process step of the parachute recovery method of the cruise missile;
[0034] Figure 2 is a recovery route of a cruise missile in one embodiment of the present invention;
[0035] Figure 3 It is a normal recovery scheme of a cruise missile with parachute opening in one embodiment of the present invention, wherein (a) is a height change curve after parachute opening, (b) is a speed change curve after parachute opening, (c) is a pitch angle change curve after parachute opening, (d) is a roll angle change curve after parachute opening, (e) is a pitch angle velocity change curve after parachute opening, (f) is a roll angle velocity change curve after parachute opening, (g) is a downward overload change curve after parachute opening, and (h) is a forward overload change curve after parachute opening;
[0036] Figure 4 It is a recovery scheme for a cruise missile descent in one embodiment of the present invention, wherein (a) is a descent height change curve, (b) is a descent speed change curve, (c) is a descent pitch angle change curve, (d) is a descent roll angle change curve, (e) is a descent pitch angle velocity change curve, (f) is a descent roll angle velocity change curve, (g) is a descent downward overload change curve, and (h) is a descent forward overload change curve. DETAILED DESCRIPTION
[0037] See attached Figure 1 and Figure 2The present invention provides an efficient and stable parachute opening and recovery method for a cruise missile, comprising: after the cruise missile is launched, it flies along a pre-planned route and completes various flight tasks, then enters the recovery route and waits to receive a parachute opening command; after receiving the parachute opening command sent from the ground, it determines whether various parameters in the current flight state of the cruise missile meet the design values of the corresponding parachute opening conditions, and when all parameters are met, the cruise missile adjusts the flight state to a preset optimal flight state, performs the parachute opening operation according to a preset process, and completes the recovery of the cruise missile by determining the changes in forward overload and downward overload; if the design values of the parachute opening conditions are not met, the current flight state of the cruise missile is adjusted until the parachute opening conditions are met.
[0038] 1. Determination of current flight status
[0039] The parameters of the current flight state of the missile include flight speed, flight altitude, pitch angle, roll angle, pitch angular velocity, roll angular velocity, forward overload and downward overload. The design value of the parachute opening condition can be calculated and verified by building a six-degree-of-freedom model of the missile body motion and an overload model.
[0040] After receiving the parachute opening command, the cruise missile uses the inertial navigation device on board to obtain information such as angular rate, attitude angle, overload, altitude, speed, etc. and brings them into the six-degree-of-freedom model equation group and the overload model equation group to calculate the current flight state of the cruise missile, that is, the specific values of flight speed, flight altitude, pitch angle, roll angle, pitch angular velocity, roll angular velocity, forward overload and downward overload, and then makes a judgment based on the preset design value of the parachute opening condition. When all parameters in the flight state meet the corresponding design value of the parachute opening condition, it is considered that the cruise missile can adjust the optimal flight state at this time; wherein, the design value of the parachute opening condition refers to the minimum to maximum value interval of each parameter in the current flight state, as shown in Table 1:
[0041] Table 1 Flight state quantities and design values corresponding to parachute opening conditions
[0042]
[0043] Taking a certain type of cruise missile as an example, through actual flight tests, based on the specific state at the time of parachute opening and recovery, the value ranges of speed, altitude, pitch angle, roll angle, pitch angular velocity, roll angular velocity, forward overload and downward overload can be obtained.
[0044] Minimum speed V min The value is between 25m / s and 29m / s, and the maximum speed is V max The value is between 33m / s and 37m / s; H min The value is between 90m and 110m, H max The value is between 140m and 160m; The value ranges from -3.5° to -1.5°. The value is between 1.5° and 3.5°; γ min The value is between -5.0° and -1.0°, γ max The value is between 1.0° and 5.0°; ω zmin The value is between -10° / s and 5° / s, ω zmax The value is between 5° / s and 10° / s; ω xmin The value is between -15° / s and 5° / s, ω xmax The value is between 5° / s and 15° / s; N xmin The value is between -0.8g and -0.5g, N xmax The value is between 0.5g and 0.8g; N ymin The value ranges from -1.0g to -0.4g, N ymax The value ranges from 0.4g to 1.0g.
[0045] The six-degree-of-freedom model equations for building a cruise missile are as follows:
[0046]
[0047]
[0048]
[0049]
[0050]
[0051]
[0052] in is the velocity change, t is the time parameter, V is the cruise missile speed, P is the cruise missile thrust, α is the cruise missile attack angle, β is the cruise missile sideslip angle, X is the resistance, m is the cruise missile mass, and θ is the ballistic inclination angle; is the height change, y is the cruise missile height; is the pitch angle change, is the pitch angle of the cruise missile, ω y is the yaw angular velocity, ω z is the pitch angular velocity; is the roll angle change, γ is the roll angle of the cruise missile, ω x is the rolling angular velocity, ω z is the pitch angular velocity, is the pitch angle; is the change of pitch angular velocity, J x , J y , J z is the moment of inertia in the roll, yaw and pitch directions, Mz is the pitching moment; is the change in rolling angular velocity, M x is the rolling moment.
[0053] The cruise missile overload model equations are as follows:
[0054]
[0055] Where N x Indicates forward overload, N y It represents downward overload, G is gravity, P is thrust, X is drag, Y is lift, and X is lateral force.
[0056] 2. Optimal flight status
[0057] The optimal flight state is the optimal values of flight speed, flight altitude, pitch angle, roll angle, pitch angular velocity, roll angular velocity, forward overload and downward overload during parachute opening and recovery, which can be obtained through pre-theoretical design or experiments; wherein the pitch angle and roll angle in the optimal flight state are taken as 0.
[0058] After all parameters in the current flight state meet the design values of the corresponding parachute opening conditions, and after controlling all parameters in the current flight state of the cruise missile to adjust to the corresponding values of the optimal flight state, the parachute opening operation can be performed.
[0059] When adjusting the flight status, the flight speed is controlled in a closed loop by adjusting the thrust (throttle), and the flight altitude is controlled in a closed loop by the altitude control loop. The pitch channel uses the PID control of the pitch angle and pitch angular velocity to adjust it to the optimal value, and the roll channel uses the PID control of the roll angle and roll angular velocity to adjust it to the optimal value.
[0060] 3. Control of cruise missile after parachute opening
[0061] When the cruise missile is adjusted to the optimal flight state, the parachute opening operation is performed according to the preset process; the time when the cruise missile is adjusted to the optimal flight state is recorded as T kszy , with T kszy Based on the time, the cruise missile performs the following operations:
[0062] (1)T kszy +t1, output PWM wave corresponding to 0% throttle to the cruise missile power system, the motor and propeller stop working to make the cruise missile have no thrust, the purpose is to prevent the propeller from interfering with the release of the parachute during rotation;
[0063] (2)T kszy +t2, output the PWM wave corresponding to the zero position to the cruise missile control servo, so that all the rocker arms of the control servo return to the structural zero position, in order to prevent the control servo from affecting the attitude stability of the drag parachute;
[0064] (3)T kszy +t3, output PWM wave to drive the rocker arm of the parachute opening servo of the cruise missile to rotate so that the parachute cabin top plate is released from the restriction and separated from the parachute cabin, the guide parachute is released immediately and the deceleration parachute is pulled to be ejected under the action of the spring mechanism, the deceleration parachute is inflated and the connecting belt is straightened;
[0065] (4)T kszy +t4~T kszy +t5, determine whether the forward overload and downward overload at this time meet the conditions for normal parachute opening. If both meet the conditions, it means that the guide parachute on the cruise missile is successfully released and the deceleration parachute is pulled out, and the parachute is opened normally; if they do not meet the design values, it means that the guide parachute on the cruise missile is not successfully released, and the parachute is opened abnormally;
[0066] The normal condition for parachute opening is forward overload N x and downward overload N y are greater than the preset threshold N x_ks 、N y_ks ,The preset threshold is obtained through theoretical design or experiment, as shown in Table 2.
[0067] Table 2 Design values of normal forward overload and downward overload for parachute opening
[0068] Current flight status parameters Preset Threshold Forward Overload <![CDATA[N x >N x_ks ]]> Downward Overload <![CDATA[N y >N y_ks ]]>
[0069] (5)T kszy +t6, when the parachute is opened normally, it outputs a command to control the lithium battery to power down, in order to prevent the cruise missile from being powered on for a long time after the parachute is opened normally and landing, causing hidden dangers to the cables on the missile; when the parachute is opened abnormally, it outputs a command to increase the positive angle of attack and maintain a certain positive angle of attack flight state;
[0070] (6) After the parachute is opened normally, the cruise missile decelerates and stabilizes under the guidance of the deceleration parachute, and lands at a predetermined speed; after the parachute is opened abnormally, the cruise missile glides down and completes the landing. Figure 3 , Figure 4 As shown;
[0071] (7) Recover cruise missiles.
[0072] Among them, t1~t6 are preset moments, obtained through theoretical design or experiments; in one embodiment of the present invention, moment t1 is 1.5s~2.5s, moment t2 is 3s~4s, moment t3 is t2+0.1s, moment t4 is 5s~7s, moment t5 is 10s~12s, and moment t6 is t5+2s.
[0073] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.
Claims
1. An efficient and stable parachute recovery method for cruise bombs, characterized in that: include: After the cruise missile is launched and flies along the pre-planned route and completes various flight missions, it enters the recovery route and waits to receive the parachute opening command; after receiving the parachute opening command sent by the ground, it determines whether the various parameters in the current flight state of the cruise missile meet the design values of the corresponding parachute opening conditions. When all of them are satisfied, the cruise missile adjusts the flight state to the preset optimal flight state, performs the parachute opening operation according to the preset process, and completes the recovery of the cruise missile by determining the changes in the forward overload and downward overload; if the design values of the parachute opening conditions are not met, the current flight state of the cruise missile is adjusted until the parachute opening conditions are met.
2. The efficient and stable parachute opening and recovery method of cruise bomb according to claim 1 is characterized in that: The parameters in the current flight state of the cruise missile include flight speed, flight altitude, pitch angle, roll angle, pitch angular velocity, roll angular velocity, forward overload and downward overload.
3. The efficient and stable parachute recovery method for cruise bombs according to claim 1 is characterized in that: The various parameters in the current flight state of the cruise missile are calculated through the six-degree-of-freedom model and the overload model of the missile body motion, and then judged based on the preset design values of the parachute opening conditions. When the various parameters in the flight state meet the corresponding design values of the parachute opening conditions, it is considered that the cruise missile can adjust to the optimal flight state at this time; wherein, the design value of the parachute opening condition refers to the range from the minimum to the maximum value of each parameter in the current flight state.
4. The efficient and stable parachute opening and recovery method of cruise bomb according to claim 1 is characterized in that: The six-degree-of-freedom model of the projectile motion is expressed as follows: in is the velocity change, t is the time parameter, V is the cruise missile speed, P is the cruise missile thrust, α is the cruise missile attack angle, β is the cruise missile sideslip angle, X is the resistance, m is the cruise missile mass, and θ is the ballistic inclination angle; is the height change, y is the cruise missile height; is the pitch angle change, θ is the pitch angle of the cruise missile, ω y is the yaw angular velocity, ω z is the pitch angular velocity; is the roll angle change, γ is the roll angle of the cruise missile, ω x is the rolling angular velocity, ω z is the pitch angular velocity, v is the pitch angle; is the change of pitch angular velocity, J x , J y , J z is the moment of inertia in the roll, yaw and pitch directions, M z is the pitching moment; is the change in rolling angular velocity, M x is the rolling moment.
5. The efficient and stable parachute opening and recovery method of cruise bomb according to claim 1 is characterized in that: The overload model is expressed as: Where N x Indicates forward overload, N y It represents downward overload, G is gravity, P is thrust, X is drag, Y is lift, and X is lateral force.
6. The efficient and stable parachute recovery method for cruise bombs according to claim 1 is characterized in that: The optimal flight state is the optimal values of flight speed, flight altitude, pitch angle, roll angle, pitch angular velocity, roll angular velocity, forward overload and downward overload during parachute opening and recovery; wherein the pitch angle and roll angle in the optimal flight state are 0.
7. The efficient and stable parachute recovery method for cruise bombs according to claim 1 is characterized in that: When the cruise missile adjusts its flight status, the flight speed is controlled in a closed loop by adjusting the thrust, and the flight altitude is controlled in a closed loop by an altitude control loop. The pitch channel uses PID control of the pitch angle and pitch angular velocity to adjust it to the optimal value, and the roll channel uses PID control of the roll angle and roll angular velocity to adjust it to the optimal value.
8. The efficient and stable parachute opening and recovery method of cruise bomb according to claim 1 is characterized in that: When the cruise missile is adjusted to the optimal flight state, the parachute opening operation is performed according to the preset process; the time when the cruise missile is adjusted to the optimal flight state is recorded as T kszy , with T kszy Based on the time, the cruise missile performs the following operations: (1)T kszy +t1, output PWM wave corresponding to 0% throttle to the cruise missile power system, the motor and propeller stop working so that the cruise missile has no thrust; (2)T kszy +t2, output the PWM wave corresponding to the zero position to the cruise missile control servo, so that all the rocker arms of the control servo return to the structural zero position; (3)T kszy +t3, output PWM wave to drive the rocker arm of the parachute opening servo of the cruise missile to rotate so that the parachute cabin top plate is released from the restriction and separated from the parachute cabin, the guide parachute is released immediately and the deceleration parachute is pulled to be ejected under the action of the spring mechanism, the deceleration parachute is inflated and the connecting belt is straightened; (4)T kszy +t4~T kszy +t5, determine whether the forward overload and downward overload at this time meet the conditions for normal parachute opening. If both meet the conditions, it means that the guide parachute on the cruise missile is successfully released and the deceleration parachute is pulled out, and the parachute is opened normally; if they do not meet the design values, it means that the guide parachute on the cruise missile is not successfully released, and the parachute is opened abnormally; (5)T kszy +t6, when the parachute is opened normally, it outputs a command to control the lithium battery to power down; when the parachute is opened abnormally, it outputs a command to increase the positive angle of attack and maintain the flight state of the positive angle of attack; (6) After the parachute opens normally, the cruise missile decelerates and stabilizes under the guidance of the deceleration parachute, and lands at a predetermined speed; after the parachute opens abnormally, the cruise missile glides down and completes the landing; (7) Recovering loitering munitions; Among them, t1~t6 are preset times.