Flight control device of remote shell

Abstract

The invention provides a remote shell flight control device, which is characterized in that a FLASH unit stores all modes in a working mode unit and starting instructions of all shapes in a shape unit, the working mode unit is provided with different modes, the shape unit comprises shell shapes in different stages, and an instruction control unit controls the shell shapes in different stages according to needed modes and used shapes. The control unit is used for reading corresponding starting instructions in the FLASH unit and sending the starting instructions to the working mode unit and the appearance unit respectively, the working mode unit starts corresponding modes according to the obtained instructions, action instructions in the corresponding modes are sent to the queue unit according to the execution sequence, the action instructions are obtained from a queue single source according to the sequence in the execution process, and the action instructions are sent to the control unit. And sending to flight control software. Various tests of the all-in-one machine are simple and easy to operate, and the maintainability of the system is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft control, and in particular relates to a flight control device for a long-range artillery shell. Background Art

[0002] Although the current flight control technology of long-range artillery shells has made significant progress, there are still some problems and challenges. Verification is complex: During the development of long-range artillery shells, a large number of tests are required to continuously optimize the system based on the test data. Not only do the quality and performance of each sub-component need to be tested, but also the quality and performance of each component and the integrated machine need to be tested after assembly into an integrated machine. When testing the flight control system of the integrated machine, it also includes ground ballistic testing, semi-physical simulation testing and flight testing. For each test, there is a corresponding test method. There are problems with complex test steps and difficult management of test procedures. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a flight control device for a long-range artillery shell. The solution of the present invention can solve the problems existing in the above-mentioned prior art.

[0004] The technical solution of the present invention:

[0005] A flight control device for a long-range artillery shell comprises a command control unit, a working mode unit, a shape unit, a FLASH unit, a queue unit and flight control software. The FLASH unit stores start-up instructions for all modes in the working mode unit and all shapes in the shape unit. The working mode unit sets different modes according to the needs of long-range artillery shell verification and flight. The shape unit includes artillery shell shapes at different stages. The command control unit reads the corresponding start-up instructions in the FLASH unit according to the required mode and the used shape, and sends them to the working mode unit and the shape unit respectively. The working mode unit starts the corresponding mode according to the acquired instructions, sends the action instructions in the corresponding mode to the queue unit according to the execution order, and acquires the action instructions from the queue source in sequence during the execution process, and sends them to the flight control software to control the flight of the artillery shell.

[0006] Furthermore, the shape unit includes aerodynamic shape bombs, flight test state bombs and formal product bombs.

[0007] Furthermore, the working mode unit includes a unit test mode, a comprehensive test mode, a semi-physical simulation test mode, a rudder system test mode and a flight test mode.

[0008] Furthermore, in the unit test mode, rudder instructions are obtained and executed.

[0009] Furthermore, in the comprehensive test mode, the combined navigation information used by the flight control software should be the simulated navigation information injected by the test bench, and the flight control information is sent to the test bench.

[0010] Furthermore, in the semi-physical simulation test mode, the combined navigation information used by the flight control software is data sent by the semi-physical simulation machine.

[0011] Furthermore, in the rudder system test mode, the rudder control instructions used by the flight control software are data sent by the rudder system test software.

[0012] Furthermore, in the flight test mode, the rudder control instructions used by the flight control software are rudder control instructions solved by the flight control software according to the control algorithm.

[0013] Furthermore, when the shape unit is an aerodynamic shape projectile, after the projectile ends the rolling control stage, the flight control software sends a set rudder control instruction to make the projectile fly according to the specified instruction.

[0014] Furthermore, when the outer shape unit is a flight test state projectile, the working state of the projectile is a flight test state, and the mission parameters use the exclusive two FLASH sectors or wirelessly bound parameters.

[0015] Furthermore, when the outer shape unit is in the formal product state, the shell working state is the formal delivery state, and the task parameters are the parameters of the perfect binding.

[0016] Furthermore, the FLASH unit is configured as two exclusive sectors named A and B, and all mode instructions in the storage working mode unit and all shape startup instructions in the shape unit are stored in the two areas respectively, wherein the mode instructions include unit test mode, comprehensive test mode, semi-physical simulation test mode, rudder system test mode and flight test mode, and the startup instructions include aerodynamic shape bombs, flight test status bombs and formal product bomb instructions. Before use, the data in the two areas are compared for consistency. If consistent, the validity of the data in area A is verified. If valid, the data in area A is used. If invalid, the validity of the data in area B is verified. If valid, the data in area B is used. If invalid, the initial preset default value is used.

[0017] The beneficial effects of the present invention compared with the prior art are as follows:

[0018] (1) The present invention integrates various test systems such as the test of various components in the integrated machine, ground ballistic test, semi-physical simulation test and flight test into a flight control system, making various tests of the integrated machine simple and easy to operate, thereby improving the maintainability of the system.

[0019] (2) The various working modes, various working states and safe operability of each component of the integrated machine of the present invention can be realized through parameter configuration. By simply changing the parameter settings through parameter burning, various functions required by the integrated machine can be realized.

[0020] (3) The present invention implements a method for command queue. The flight control system places the generated commands in the command queue in order, and the sub-component system modules obtain the commands in the queue in order for execution. In this way, the two systems can be decoupled, the logic can be simplified, and the workload of code adjustment can be reduced when the command sequence changes.

[0021] (4) The present invention stores system parameters in two FLASH storage areas. If the FLASH area parameters are invalid, the default parameters are used to improve the reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A flow chart of a flight process provided according to an embodiment of the present invention is shown;

[0024] Figure 2 A schematic diagram of the aerodynamic shape missile rudder angle control process provided according to an embodiment of the present invention is shown.

[0025] Figure 3 The FLASH parameter value acquisition process provided by an embodiment of the present invention is shown;

[0026] Figure 4 A schematic diagram of sequential execution instructions provided according to an embodiment of the present invention is shown;

[0027] Figure 5 A schematic diagram of queue timing instructions provided according to an embodiment of the present invention is shown;

[0028] Figure 6 A schematic diagram of a flight control device for a long-range artillery shell provided according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0031] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0032] like Figure 6As shown, according to an embodiment of the present invention, a flight control device for a long-range artillery shell is provided, comprising a command control unit, a working mode unit, a shape unit, a FLASH unit, a queue unit and flight control software, wherein the FLASH unit stores start-up instructions for all modes in the working mode unit and all shapes in the shape unit, wherein the working mode unit sets different modes according to the needs of long-range artillery shell verification and flight, wherein the shape unit comprises artillery shell shapes at different stages, wherein the command control unit reads the corresponding start-up instructions in the FLASH unit according to the mode to be performed and the shape to be used, and sends the instructions to the working mode unit and the shape unit respectively, wherein the working mode unit starts the corresponding mode according to the acquired instructions, sends the action instructions in the corresponding mode to the queue unit in the execution order, and acquires the action instructions from the queue source in sequence during the execution process, and sends the instructions to the flight control software to control the flight of the artillery shell.

[0033] Further in one embodiment, the shape unit includes an aerodynamic shape bomb, a flight test state bomb and a formal product bomb.

[0034] Further in one embodiment, the working mode unit includes a unit test mode, a comprehensive test mode, a semi-physical simulation test mode, a rudder system test mode and a flight test mode.

[0035] Further in one embodiment, in the unit test mode, the rudder instructions are obtained and executed.

[0036] Further in one embodiment, in the integrated test mode, the combined navigation information used by the flight control software should be the simulated navigation information injected by the test bench, and the flight control information is sent to the test bench.

[0037] Further in one embodiment, in the semi-physical simulation test mode, the combined navigation information used by the flight control software is data sent by the semi-physical simulator.

[0038] Further in one embodiment, in the rudder system test mode, the rudder control instructions used by the flight control software are data sent by the rudder system test software.

[0039] Further in one embodiment, in the flight test mode, the rudder control instructions used by the flight control software are rudder control instructions solved by the flight control software according to the control algorithm.

[0040] Furthermore, when the shape unit is an aerodynamic shape projectile, after the projectile has completed the rolling control stage, the flight control software sends the set rudder control instructions to make the projectile fly according to the specified instructions.

[0041] Further in one embodiment, when the outer shape unit is a flight test state projectile, the working state of the projectile is a flight test state, and the mission parameters use the exclusive two FLASH sectors or wirelessly bound parameters.

[0042] Further in one embodiment, when the outer shape unit is in the formal product state, the shell working state is the formal delivery state, and the task parameters are the parameters of perfect binding.

[0043] Furthermore, in one embodiment, the FLASH unit is configured as two exclusive sectors named A and B, and all mode instructions in the storage working mode unit and all appearance startup instructions in the appearance unit are stored in the two areas respectively, wherein the mode instruction unit test mode, comprehensive test mode, semi-physical simulation test mode, rudder system test mode and flight test mode, and the startup instructions include aerodynamic appearance bombs, flight test status bombs and formal product bomb instructions. Before use, compare whether the data in the two areas are consistent. If they are consistent, check the validity of the data in area A. If valid, use the data in area A. If invalid, check the validity of the data in area B. If valid, use the data in area B. If invalid, use the initial preset default value.

[0044] In order to have a further understanding of the flight control device for a long-range artillery shell provided by the present invention, a detailed description is given below in conjunction with specific examples and drawings.

[0045] like Figure 1-5 As shown in the figure, the control system is the core component for realizing the guidance and control of the aircraft. It mainly receives the attitude and position information measured by the integrated navigation system, calculates the attitude control quantity according to the guidance law, and finally forms the rudder control command to control the deflection of the rudder surface, thereby realizing real-time control of the projectile and completing the flight mission.

[0046] The application software is real-time embedded software, with integrated information processing circuit as the operating platform. Its function is to receive the mission parameter information of the wireless binding module, the attitude and position information output by the combined navigation, execute the corresponding control strategy according to the flight mission profile and timing, complete the online real-time solution of the flight control algorithm, solve the servo control quantity, and realize the closed-loop control of the servo, finally complete the attitude control of the projectile, and send the flight control related data to the external recording device. In addition, it should have the functions of all-in-one machine testing and software upgrade.

[0047] Workflow

[0048] The flight control software workflow is as follows. For details of the workflow state transition diagram, see Figure 1 :

[0049] Power-on initialization: After the control system is powered on, the application software initializes the processor hardware configuration, system parameters, etc., checks the parameter status, and enables interrupts;

[0050] Uncontrolled flight: After initialization, the flight enters the uncontrolled phase, performing real-time calculation of flight attitude and determination of missile body descent state, without missile body attitude control;

[0051] Rudder deployment: When the missile is judged to be in a high-speed rotation or sliding state, a rudder deployment command is sent;

[0052] Roll control: When the missile body starts to slide down and the rudder surface is deployed, determine whether roll control is needed based on the set parameters. If roll control is needed, perform the deceleration roll control, otherwise enter the next stage process;

[0053] Glide control: read the integrated navigation data, calculate the missile body attitude in real time according to the glide control strategy, decouple the servo control instructions, and realize the deflection of the rudder surface;

[0054] Target attack: After the target attack conditions are met, the missile body posture is solved according to the target attack stage control strategy, the servo control instructions are decoupled, the rudder surface deflection is achieved, and finally the target attack is completed.

[0055] The flight control software is compatible with five working modes: flight test mode (0x0), unit test (0xAA), integrated test (0xBB), semi-physical simulation test (0xCC), and rudder system test (0xDD), and three working states: aerodynamic shape bomb (0xB), flight test state (0xC), and formal product (0xD). By binding the mode configuration as a FLASH parameter, the flight control software enters the corresponding workflow according to the binding value.

[0056] Five working modes:

[0057] Unit test: After reading the FLASH working mode parameter and determining it as 0xAA, the rudder command will be executed after 5s. The physical rudder commands 1, 2, and 4 are 3s / 10°, 3s / 20°, 3s / -10°, 3s / -20°, 3s / 0°, 1s / 5°, 8Hz, 2s / 8°, 6Hz, 10s / 20°, 1Hz, and 4s / 20°, 3Hz.

[0058] Comprehensive test: After reading the FLASH working mode parameters and determining it to be 0xBB, the combined navigation information used by the flight control software should be the navigation information injected by the test bench, and the data sent to the recorder is also sent to the test bench. The difference is that the navigation information sent by the actual combined navigation cabin is sent to the recorder, and the navigation information injected by the test bench is fed back to the test bench.

[0059] Semi-physical simulation test: After reading the FLASH working mode parameter and determining it to be 0xCC, the combined navigation information used by the flight control software should be the data sent by the semi-physical simulator.

[0060] Rudder system test: After reading the FLASH working mode parameter and determining it to be 0xDD, the rudder control command used by the flight control software should be the data sent by the rudder system test software.

[0061] Flight test mode: After reading the FLASH working mode parameter and determining it to be 0x0, the rudder control command used by the flight control software should be the rudder control command solved by the flight control software according to the control algorithm.

[0062] Three working states:

[0063] Aerodynamically shaped projectile: After the FLASH working status parameter is read and determined to be 0xB, when the projectile ends the roll control stage, the flight control software sends the set rudder control command to make the projectile fly according to the specified command. The detailed control process of the aerodynamically shaped projectile is as follows: Figure 2 shown.

[0064] Flight test status: After reading the FLASH working status parameters and determining it as 0xC, the shell working status is the flight test status, and the mission parameters are the parameters of FLASH or wireless binding.

[0065] Formal product status: After reading the FLASH working status parameters and determining it to be 0xC, the shell working status is the formal delivery status, and the task parameters are the parameters of wireless binding.

[0066] The flight control software also has working switches for controlling the various components of the integrated machine. When the integrated machine is assembled, some components are required not to participate in the test process due to danger or one-time irreversibility. The power supply of each component can be configured through parameter configuration switches as needed to ensure the safety and ease of operation of the integrated machine during the test phase.

[0067] In the process of realizing the function, the realization of communication instruction interaction between the flight control system and each component is involved. If there are multiple instructions between the two systems, and there are conditional constraints for sequential execution between each instruction, the sub-component needs to judge whether the previous instruction has been executed and whether the new quality has been generated when executing the next instruction. The traditional way is to implement it through multiple if...else conditional judgments as shown. The logic is relatively complex. If the order of instructions changes, the workload of code adjustment is also relatively large. This description designs a method to implement the instruction queue. The flight control system puts the generated instructions in the quality queue in order, and the sub-component system module obtains the instructions in the queue in order and executes them as shown. In this way, the decoupling between the two systems can be achieved.

[0068] In summary, the flight control device for a long-range artillery shell provided by the present invention has at least the following advantages over the prior art:

[0069] (1) The present invention integrates various test systems such as the test of various components in the integrated machine, ground ballistic test, semi-physical simulation test and flight test into a flight control system, making various tests of the integrated machine simple and easy to operate, thereby improving the maintainability of the system.

[0070] (2) The various working modes, various working states and safe operability of each component of the integrated machine of the present invention can be realized through parameter configuration. By simply changing the parameter settings through parameter burning, various functions required by the integrated machine can be realized.

[0071] (3) The present invention implements a method for command queue. The flight control system places the generated commands in the command queue in order, and the sub-component system modules obtain the commands in the queue in order for execution. In this way, the two systems can be decoupled, the logic can be simplified, and the workload of code adjustment can be reduced when the command sequence changes.

[0072] (4) The present invention stores system parameters in two FLASH storage areas. If the FLASH area parameters are invalid, the default parameters are used to improve the reliability of the system.

[0073] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0074] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A flight control device for a long-range artillery shell, characterized in that: It includes a command control unit, a working mode unit, a shape unit, a FLASH unit, a queue unit and flight control software. The FLASH unit stores the start-up instructions of all modes in the working mode unit and all shapes in the shape unit. The working mode unit sets different modes according to the needs of long-range artillery shell verification and flight. The shape unit includes artillery shell shapes at different stages. The command control unit reads the corresponding start-up instructions in the FLASH unit according to the required mode and the used shape, and sends them to the working mode unit and the shape unit respectively. The working mode unit starts the corresponding mode according to the acquired instructions, sends the action instructions in the corresponding mode to the queue unit according to the execution order, and acquires the action instructions from the queue source in sequence during the execution process, and sends them to the flight control software to control the flight of the artillery shell.

2. A flight control device for a long-range artillery shell according to claim 1, characterized in that: The shape unit includes aerodynamic shape bomb, flight test state bomb and formal product bomb.

3. A flight control device for a long-range artillery shell according to claim 1, characterized in that: The working mode unit includes a unit test mode, a comprehensive test mode, a semi-physical simulation test mode, a rudder system test mode and a flight test mode.

4. A flight control device for a long-range artillery shell according to claim 3, characterized in that: In the unit test mode, the rudder instructions are obtained and executed; in the comprehensive test mode, the combined navigation information used by the flight control software should be the simulated navigation information injected by the test bench, and the flight control information is sent to the test bench.

5. The flight control device for a long-range artillery shell according to claim 3, characterized in that: In the semi-physical simulation test mode, the combined navigation information used by the flight control software is the data sent by the semi-physical simulation machine; in the rudder system test mode, the rudder control instructions used by the flight control software are the data sent by the rudder system test software.

6. A flight control device for a long-range artillery shell according to claim 3, characterized in that: In the flight test mode, the rudder control instructions used by the flight control software are rudder control instructions solved by the flight control software according to the control algorithm.

7. A flight control device for a long-range artillery shell according to claim 2, characterized in that: When the shape unit is an aerodynamic shape projectile, after the projectile has finished the rolling control stage, the flight control software sends a set rudder control instruction to make the projectile fly according to the specified instruction.

8. A flight control device for a long-range artillery shell according to claim 2, characterized in that: When the outer shape unit is a flight test state projectile, the working state of the projectile is a flight test state, and the mission parameters use the exclusive two FLASH sectors or wirelessly bound parameters.

9. A flight control device for a long-range artillery shell according to claim 2, characterized in that: When the outer shape unit is in the formal product state, the shell working state is the formal delivery state, and the task parameters are the parameters of perfect binding.

10. A flight control device for a long-range artillery shell according to claim 1, characterized in that: The FLASH unit is configured with two exclusive sectors named A and B. All mode instructions in the working mode unit and all appearance start-up instructions in the appearance unit are stored in the two areas respectively, wherein the mode instructions include unit test mode, comprehensive test mode, semi-physical simulation test mode, rudder system test mode and flight test mode, and the start-up instructions include aerodynamic appearance bombs, flight test status bombs and formal product bombs. Before use, the data in the two areas are compared for consistency. If they are consistent, the validity of the data in area A is verified. If valid, the data in area A is used. If invalid, the validity of the data in area B is verified. If valid, the data in area B is used. If invalid, the initial preset default value is used.

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