Pitching control method for vehicle-mounted lodging servo launcher

Abstract

The invention discloses a pitching control method for a vehicle-mounted lodging servo launcher, which comprises the following steps: firstly, measuring a heeling angle and a trim angle of a vehicle body, establishing a trim angle and heeling angle coordinate conversion matrix according to the measured vehicle body attitude information, secondly, establishing a conversion equation of a left and right launcher body pointing vector from a vehicle-carrying stable coordinate system to a vehicle-carrying unstable coordinate system, and finally, carrying out pitching control on the vehicle-mounted lodging servo launcher. And finally, calculating to obtain a pointing angle of the frame body under a vehicle-carrying stable system, and conveying the pointing angle to a servo control box to accurately control the space correct pointing of the left frame body and the right frame body. According to the method, the principle is clear, the problem of the spatial pointing angle of the vehicle-mounted servo launcher caused by the posture change of the vehicle body is effectively solved, the control stability of the vehicle-mounted servo launcher is improved, and a reference is provided for the pitching control method of the vehicle-mounted lodging servo launcher.

Description

Technical Field

[0001] The invention belongs to the technical field of launch system fire control, in particular to a pitch control method of a vehicle-mounted lodging servo launcher. Background Art

[0002] A vehicle-mounted servo launcher is a versatile platform for launching fixed-wing drones. Often mounted on a highly maneuverable off-road chassis, it frees drone launchers from terrain constraints. Its primary function is to impart a specific launch angle to fixed-wing drones before launch, ensuring the initial velocity and lift required. Currently, vehicle-mounted servo launchers are widely used in various drone launch technologies. The servo launcher's pitch motion is regulated by a servo control system. However, as the chassis's attitude changes, the vehicle platform loses its parallelism to the horizontal plane, compromising the launcher's spatial pointing stability. Depending on the specific use case and mission requirements, drones do not require pre-aiming before launch; only the launcher's preset heading and elevation angles are set in the control system. Compared to azimuth, azimuth is often less critical during the initial launch phase, as drones can be controlled in real time by ground personnel. The angle is generally adjusted roughly based on the vehicle's movement. In contrast, elevation plays a crucial role in drone launch, directly impacting the initial lift and safety of the launch.

[0003] Currently, there is little introduction in the literature on controlling the spatial pointing stability of a vehicle-mounted retractable servo launcher. It is of great significance to improve the spatial pointing stability of a vehicle-mounted retractable servo launcher during the pitching process. Summary of the Invention

[0004] The problem solved by the present invention is that for a servo launcher on a vehicle platform, as the vehicle posture changes, the angle between the frame pointing angle and the earth changes accordingly. The present invention provides a pitch control method for a vehicle-mounted lodging servo launcher.

[0005] The technical solution to realize the present invention is:

[0006] A pitch control method for a vehicle-mounted lodging servo launcher comprises the following steps:

[0007] Step 1: Input the height angles of the left and right frames in the vehicle stable coordinate system;

[0008] Step 2: Obtain the initial angles of the left and right frames and the inclination and pitch angles of the vehicle plane in the unstable coordinate system of the vehicle;

[0009] Step 3, solving the lateral and longitudinal coordinate conversion matrices between the unstable coordinate system of the vehicle and the stable coordinate system of the vehicle;

[0010] Step 4: After a lateral and longitudinal transformation, the pointing vectors of the left and right frames under the unstable system of the vehicle are obtained, and the preset pointing angles of the left and right frames are calculated;

[0011] Step 5: Based on the preset pointing angles of the left and right frames obtained in step 4, determine whether they are equal to the initial shooting angles of the frames. If they are equal, re-enter the height angles in step 1. If they are not equal, the motor drives the left and right frames to reach the preset pointing angles.

[0012] Furthermore, in step 1, the left and right frames each have only one pitch degree of freedom, and the pitch axis is parallel to the longitudinal axis of the vehicle. The vehicle's stable coordinate system OXYZ is fixed to the vehicle, with the coordinate origin O located at the center of the vehicle. The OY axis points in the direction of travel, the OX axis points to the right side of the vehicle, the OX axis and the OY axis are perpendicular and parallel to the horizontal plane, and the OZ axis, the OX axis, and the OY axis form a right-handed rectangular coordinate system.

[0013] Furthermore, in step 2, the vehicle's unstable coordinate system OX'Y'Z' is fixed to the vehicle body, with the coordinate origin O located at the center of the vehicle body. The OY' axis is parallel to the vehicle's longitudinal axis, with the positive axis pointing toward the front of the vehicle. OX' points to the right of the vehicle body, and the OZ' axis, along with the axes OX' and OY', forms a right-handed rectangular coordinate system. The initial left and right frame angles in the vehicle's unstable coordinate system are obtained using motor encoders, and the vehicle's plane roll and pitch angles are measured using inertial navigation equipment.

[0014] Furthermore, in step 3, the transverse and longitudinal coordinate conversion matrices are:

[0015] Among them, the heel angle transformation matrix is:

[0016]

[0017] The pitch angle transformation matrix is:

[0018]

[0019] Among them, β and α are the roll angle and pitch angle of the vehicle body to the horizontal plane, respectively.

[0020] Furthermore, in step 4, the frame vector M in the vehicle stable coordinate system i After a transverse and longitudinal transformation, the frame pointing vector M of the unstable coordinate system of the vehicle is obtained. i ′, the conversion equation is:

[0021] M i ′=T y (β)×T x (α)×M i

[0022] in:

[0023] The specific pointing vector of the frame in the vehicle stable coordinate system is:

[0024]

[0025] Among them, ξ i ,θ i is the elevation and azimuth of the i-th frame in the stable coordinate system of the vehicle, looking from the rear to the front of the vehicle. When i is equal to 0, it represents the left frame, and when i is equal to 1, it represents the right frame.

[0026] Furthermore, the height and direction angles of the left and right frames in the unstable coordinate system of the vehicle are:

[0027]

[0028] The beneficial effects of the present invention are:

[0029] (1) The present invention establishes a functional relationship from the input shooting angle in the stable coordinate system of the vehicle to the output shooting angle in the unstable coordinate system of the vehicle based on the inertial navigation attitude measurement data through the rectangular coordinate transformation relationship. The pitch angle of the frame in the stable coordinate system of the vehicle can be quickly calculated to the target pitch angle in the unstable coordinate system of the vehicle, effectively solving the problem of unstable pointing of the pitch angle of the launch frame caused by the change of the vehicle body attitude.

[0030] (2) The coordinate change method effectively solved the problem of the change in the pointing angle of the frame caused by the change in the vehicle posture, so that the pitch movement of the vehicle-mounted inverted servo launcher can be stably controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a flow chart of a pitch control method for a vehicle-mounted lodging servo launcher according to an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of the conversion relationship between a stable vehicle coordinate system and an unstable vehicle coordinate system according to an embodiment of the present invention;

[0033] Figure 3 Schematic diagram of the conversion relationship between the rectangular coordinate system and the spherical coordinate system according to an embodiment of the present invention;

[0034] Figure 4 Schematic diagram of an unstable rectangular coordinate system of a vehicle according to an embodiment of the present invention;

[0035] Figure 5 A schematic diagram of a vehicle-mounted transmitting system according to an embodiment of the present invention;

[0036] Figure 6 This is a rear view of the launch system when the vehicle body is tilted according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0038] Combine Figures 1-6 , this embodiment describes a pitch control method for a vehicle-mounted lodging servo launcher.

[0039] As an embodiment, the method specifically comprises the following steps:

[0040] Step 1: Input the height angles of the left and right frames in the vehicle stable coordinate system;

[0041] Step 2: Obtain the initial angles of the left and right frames and the inclination and pitch angles of the vehicle plane in the unstable coordinate system of the vehicle;

[0042] Step 3, solving the lateral and longitudinal coordinate conversion matrices between the unstable coordinate system of the vehicle and the stable coordinate system of the vehicle;

[0043] Step 4: After a lateral and longitudinal transformation, the pointing vectors of the left and right frames under the unstable system of the vehicle are obtained, and the preset pointing angles of the left and right frames are calculated;

[0044] Step 5: Based on the preset pointing angles of the left and right frames obtained in step 4, determine whether they are equal to the initial shooting angles of the frames. If they are equal, re-enter the height angles in step 1. If they are not equal, the motor drives the left and right frames to reach the preset pointing angles.

[0045] Combine Figure 1 In step 1 of the pitch control method for a vehicle-mounted, inverted servo launcher described in this embodiment, the left and right frames have only one pitch degree of freedom, and the pitch axis is parallel to the longitudinal axis of the vehicle. Furthermore, in step 2, the roll and pitch angles of the vehicle plane are measured by inertial navigation equipment.

[0046] Combine Figure 2 In step 3 of the pitch control method for a vehicle-mounted retractable servo launcher described in this embodiment, the vehicle-mounted stable coordinate system OXYZ is fixed to the vehicle body, with the coordinate origin O located at the center of the vehicle body, the OY axis pointing in the direction of vehicle travel, the OX axis pointing to the right side of the vehicle body, the OX axis and the OY axis being perpendicular and parallel to the horizontal plane, and the OZ axis, the OX axis, and the OY axis forming a right-handed rectangular coordinate system. Similarly, the vehicle-mounted unstable coordinate system OX′Y′Z′ is fixed to the vehicle body, with the coordinate origin O located at the center of the vehicle body, the OY′ axis being parallel to the longitudinal axis of the vehicle body, pointing to the front of the vehicle as positive, and OX′ pointing to the right side of the vehicle body. The OZ′ axis, the axes OX′ and OY′ forming a right-handed rectangular coordinate system. Furthermore, the process of converting the vehicle-mounted stable coordinate system OXYZ to the vehicle-mounted unstable coordinate system OX′Y′Z′ is as follows:

[0047] The vehicle stable coordinate system OXYZ rotates around the Y axis by an inclination angle β to obtain the coordinate system OX a Y a Za , then the heel angle coordinate transformation matrix is:

[0048]

[0049] Furthermore, the coordinate system OX a Y a Z a Around X a The axis rotates the longitudinal inclination angle α to obtain the unstable coordinate system OX′Y′Z′ of the vehicle, and the longitudinal inclination angle transformation matrix is:

[0050]

[0051] Among them, β and α are the inclination angle and pitch angle of the vehicle body to the horizontal plane respectively.

[0052] Combine Figure 3 and Figure 4 In step 4 of the pitch control method of a vehicle-mounted servo launcher according to this embodiment, the frame body vector M in the vehicle-mounted stable coordinate system OXYZ is i After a transverse and longitudinal transformation, the frame pointing vector M of the unstable coordinate system OX′Y′Z′ of the vehicle is obtained. i ′, the conversion equation is:

[0053] M i ′=T y (β)×T x (α)×M i

[0054] in:

[0055] The specific pointing vector of the frame in the vehicle stable coordinate system is:

[0056]

[0057] Among them, ξ i ,θ i is the elevation and azimuth of the i-th frame in the stable coordinate system of the vehicle, looking from the rear to the front of the vehicle. When i is equal to 0, it represents the left frame, and when i is equal to 1, it represents the right frame.

[0058] like Figure 4 As shown, combining the coordinate conversion formulas of step 3 and step 4, the left and right frame height angles in the unstable coordinate system of the vehicle are obtained as follows:

[0059]

[0060] As an example,

[0061] like Figure 5As shown, the left and right frames in the vehicle-mounted launch system are pointed perpendicular to the longitudinal axis of the vehicle body, and the pitch angles of the left and right frames are 0° to 80° respectively. The upper end of the servo motor is hinged to the launch frame, and the lower end is hinged to the vehicle body. The electric cylinder of the servo motor is extended and retracted to realize the rotation of the launch frame.

[0062] like Figure 6 As shown, the vehicle body has a roll angle β, and the current firing angles of the left and right frames in the unstable coordinate system of the vehicle are γ0′ and γ1′ respectively. The preset input values of the firing angles of the left and right frames are ξ0 and ξ1, as shown in Figure 1 As shown in the figure, the specific process of calculating the binding angle in the unstable coordinate system of the frame vehicle is as follows:

[0063] Step 1: Input the launch angles ξ0 and ξ1 of the left and right frames in the vehicle stable coordinate system;

[0064] Step 2: Obtain the initial angles γ0′ and γ1′ of the left and right frames in the unstable coordinate system of the vehicle, and measure the current vehicle body roll angle β and pitch angle α according to the vehicle-mounted inertial navigation.

[0065] Step 3: Calculate the transformation matrix T from the stable coordinate system of the vehicle to the unstable coordinate system of the vehicle y (β), T x (α);

[0066] Step 4: After a lateral and longitudinal transformation, the left and right frame pointing vectors are transformed from the stable coordinate system of the vehicle to the unstable coordinate system of the vehicle. The transformation equation is:

[0067]

[0068] Among them, M0 and M1 are the left and right frame pointing vectors in the stable coordinate system of the vehicle, respectively, and M0′ and M1′ are the left and right frame pointing vectors in the unstable coordinate system of the vehicle, respectively.

[0069] Furthermore, the pitch angles of the left and right frames in the unstable coordinate system of the vehicle are obtained:

[0070]

[0071] Among them, γ0 and γ1 are the pitch angles of the left and right frame in the unstable coordinate system of the vehicle, respectively.

[0072] Furthermore, the servo control program determines whether the current frame pitch angles γ0′ and γ1′ are equal to the target pitch angles γ0 and γ1. If the angles are not equal, the servo motor drives the launch frame to perform pitch movement until it is equal to the target pitch angle, and the motor stops working. When the servo system receives the newly bound pitch angle, the above process is repeated.

[0073] The above is only a preferred embodiment of the present invention. According to the technical essence of the present invention, within the spirit and principles of the present invention, any simple modification, equivalent replacement and improvement of the above embodiment shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A pitch control method for a vehicle-mounted lodging servo launcher, characterized in that: The specific steps include Step 1: Input the height angles of the left and right frames in the vehicle stable coordinate system; Step 2: Obtain the initial angles of the left and right frames and the inclination and pitch angles of the vehicle plane in the unstable coordinate system of the vehicle; Step 3, solving the lateral and longitudinal coordinate conversion matrices between the unstable coordinate system of the vehicle and the stable coordinate system of the vehicle; Step 4: After a lateral and longitudinal transformation, the pointing vectors of the left and right frames under the unstable system of the vehicle are obtained, and the preset pointing angles of the left and right frames are calculated; Step 5: Based on the preset pointing angles of the left and right frames obtained in step 4, determine whether they are equal to the initial shooting angles of the frames. If they are equal, re-enter the height angles in step 1. If they are not equal, the motor drives the left and right frames to reach the preset pointing angles.

2. The method according to claim 1, characterized in that In step 1, the left and right frames each have only one pitch degree of freedom, and the pitch axis is parallel to the vehicle's longitudinal axis. The vehicle's stable coordinate system, OXYZ, is fixed to the vehicle, with the origin O located at the center of the vehicle. The OY axis points in the direction of travel, the OX axis points to the right, and the OX and OY axes are perpendicular and parallel to the horizontal plane. The OZ axis, OX, and OY axes form a right-handed rectangular coordinate system.

3. The method according to claim 1, characterized in that In step 2, the vehicle's unstable coordinate system OX'Y'Z' is fixed to the vehicle body, with the coordinate origin O located at the center of the vehicle body. The OY' axis is parallel to the vehicle's longitudinal axis, with the positive axis pointing toward the front of the vehicle. OX' points to the right of the vehicle body, and the OZ' axis, along with the OX' and OY' axes, forms a right-handed rectangular coordinate system. The initial left and right frame angles in the unstable coordinate system are obtained using the motor encoder, and the vehicle's pitch and roll angles are measured using inertial navigation equipment.

4. The method according to claim 1, wherein In step 3, the transverse and longitudinal coordinate conversion matrices are: Among them, the heel angle transformation matrix is: The pitch angle transformation matrix is: Among them, β and α are the roll angle and pitch angle of the vehicle body to the horizontal plane, respectively.

5. The method according to claim 1, wherein In step 4, the frame vector M in the vehicle stable coordinate system i After a transverse and longitudinal transformation, the frame pointing vector M of the unstable coordinate system of the vehicle is obtained. i ′, the conversion equation is: M i ′=T y (b)×T x (a)×M i in: The specific pointing vector of the frame in the vehicle stable coordinate system is: Among them, ξ i ,θ i is the elevation and azimuth of the i-th frame in the stable coordinate system of the vehicle, looking from the rear to the front of the vehicle. When i is equal to 0, it represents the left frame, and when i is equal to 1, it represents the right frame.

6. The method according to claim 1, characterized in that In step 4, the left and right frame height angles in the unstable coordinate system of the vehicle are: Where β and α are the inclination angle and pitch angle of the vehicle body to the horizontal plane, respectively, i ,θ i is the elevation and azimuth of the i-th frame in the stable coordinate system of the vehicle, looking from the rear to the front of the vehicle. When i is equal to 0, it represents the left frame, and when i is equal to 1, it represents the right frame.

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