Missile out-of-cylinder sinking angular velocity calculation method, electronic equipment and storage medium
By abstracting the missile out-of-tube process as a rotating rigid body, establishing a motion model and integrating the solution, the rapid and low-cost problem of missile sinking angular velocity prediction in the existing technology is solved, and is suitable for cylinder launch weapons and equipment.
Patent Information
- Application Number
- CN202510613303.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-13
- Publication Date
- 2025-08-19
AI Technical Summary
In the prior art, determining the sinking angular velocity of the missile ejection barrel mainly depends on the missile ejection test, which cannot meet the requirements of fast, low cost and optimized overall design, and lacks universal applicability.
The missile's barrel exit process is abstracted into a rotating rigid body, and a rigid body motion model based on the momentum moment theorem and the missile's motion constraint equation are established. The reference value of the missile's sinking angular velocity is obtained through integral solution.
It achieves rapid and low-cost prediction of sinking angular velocity in the early stage of design, reduces the number of missiles' tests, reduces the development cycle and cost, and is suitable for all types of cylinder launch weapons and equipment.
Smart Images
Figure CN120509186A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of missile design, and in particular to a method for calculating the sinking angular velocity of a missile after exiting a missile tube, an electronic device and a storage medium. Background Art
[0002] For missiles using a canister-launched tilted launch system, such as most ground-launched anti-tank and air defense missiles, a rotational angular velocity (called the sinking angular velocity) is generated between the time the missile's center of mass exits the canister and the moment the missile leaves the canister due to its own gravity and the constraints of the canister muzzle. This angular velocity significantly influences the design of the missile's launch elevation angle, engine eccentricity, servo zero error, and attitude control parameters.
[0003] In previous engineering practice, the main method for determining sinking angular velocity was numerical statistics based on missile exit tests. This method is effective for specific missiles, but it does not meet the requirements for rapid, low-cost, and optimized overall design in the early stages of development. It is not universally applicable and has obvious limitations. Summary of the Invention
[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a method for calculating the angular velocity of a missile exiting a tube, an electronic device and a storage medium.
[0005] The object of the present invention is achieved through the following technical solutions:
[0006] A first aspect of the present invention provides a method for calculating the angular velocity of a missile after exiting a missile tube, comprising the following steps:
[0007] The missile in the process of leaving the tube is abstracted as a rotating rigid body, which moves in the longitudinal plane under a single point support, and the gravity, thrust, support force and dynamic friction force are set;
[0008] Based on the angular momentum theorem and the missile motion constraint equation, a rigid body motion model of the missile exiting the tube is established.
[0009] The rigid body motion model is used to substitute the state variable values at the moment the missile leaves the tube, and the motion parameters are solved by integration until the missile completely leaves the tube, thereby obtaining the reference value of the missile's sinking angular velocity.
[0010] Furthermore, the missile in the process of exiting the tube is abstracted as a rotating rigid body, including:
[0011] The missile is abstracted as a rotating rigid body with a radius of R, a mass of m, a center of mass of C, and an equatorial moment of inertia around the center of mass of J.
[0012] The movement in the longitudinal plane under single-point support, setting gravity, thrust, support force and dynamic friction force, includes:
[0013] The rotating rigid body moves in the longitudinal plane under the support of a single point O, and is acted upon by the vertical downward gravity mg, the thrust P along the longitudinal axis of the missile, the supporting force N, and the kinetic friction force f with a kinetic friction coefficient of μ.
[0014] Furthermore, the rigid body motion model of the missile exiting the tube is:
[0015]
[0016] Where v is the missile's velocity; ω is the missile's angular velocity; L is the distance the missile's center of mass deviates from the muzzle. is the missile's sinking angle; g is the acceleration due to gravity.
[0017] Furthermore, the rigid body motion model is used to substitute the state variable values at the moment when the missile leaves the tube, and the motion parameters until the missile completely leaves the tube are solved by integration to obtain the reference value of the missile's sinking angular velocity, including:
[0018] Obtain the state variables at the moment of exiting the tube, including the initial value of the missile speed v0, the initial value of the missile sinking angular velocity w0, the initial value of the distance of the missile center of mass from the tube muzzle L0, and the initial value of the missile sinking angle
[0019] The rigid body motion model of the missile exiting the tube is discretized based on Euler integral, and the discretized rigid body motion model is obtained:
[0020]
[0021] Where Δt is the integration period; variables with a subscript of k are variables at the current instant, and variables with a subscript of k+1 are variables at the next instant to be calculated; parameters without a subscript are constants whose values remain unchanged during the calculation.
[0022] Based on the state variables at the moment of exiting the barrel, the discretized rigid body motion model is iteratively calculated to complete the motion parameter calculation of each moment one by one, where the motion parameters of each moment are That is, it serves as a reference value for the missile's sinking angular velocity.
[0023] Furthermore, the iterative calculation of the discretized rigid body motion model, which successively completes the calculation of motion parameters at each instant, includes:
[0024] Calculate L in the third formula of the discretized rigid body motion model k+1 And the fourth formula
[0025] Calculate N in the fifth formula of the discretized rigid body motion model k ;
[0026] Using the calculated Nk , calculate ω of the second formula in the discretized rigid body motion model k+1 ;
[0027] Using the calculated N k and ω k+1 , calculate v of the first formula in the discretized rigid body motion model k+1 , complete the calculation of the instantaneous motion parameters.
[0028] A second aspect of the present invention provides an electronic device comprising a storage unit and a processing unit, wherein the storage unit stores computer instructions that can be run on the processing unit, and when the processing unit runs the computer instructions, the steps of the method for calculating the angular velocity of a missile exiting the barrel are executed.
[0029] A third aspect of the present invention provides a storage medium having computer instructions stored thereon, which, when executed, execute the steps of the method for calculating the angular velocity of a missile exiting the barrel.
[0030] The beneficial effects of the present invention are:
[0031] This invention can replace existing numerical statistical methods based on missile exit tests, enabling the prediction of sinking angular velocity at the outset of design, laying the foundation for early optimization of the overall design. Furthermore, it can reduce the number of missile exit tests, thereby shortening the missile development cycle and costs, saving both time and money in testing costs. It also has excellent scalability and is applicable to various types of canister-launched missiles, rockets, and other weaponry. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] Figure 1 This is a flow chart of a method for calculating the angular velocity of a missile exiting the tube provided in an exemplary embodiment of the present invention;
[0033] Figure 2 A schematic diagram of a longitudinal plane model of a missile exiting a tube provided in an exemplary embodiment of the present invention;
[0034] Figure 3 This is a comparative curve diagram of the calculation of the missile's sinking angular velocity after leaving the tube provided in an exemplary embodiment of the present invention. DETAILED DESCRIPTION
[0035] The technical solution of the present invention is described clearly and completely below with reference to the accompanying drawings. It is apparent that the embodiments described are only a portion of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.
[0036] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" are based on the directions or positional relationships described in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, terms such as "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0037] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention.
[0038] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
[0039] See also Figure 1 , Figure 1 A flowchart of a method for calculating the angular velocity of a missile after exiting the tube, provided in an exemplary embodiment of the present invention, is shown, comprising the following steps:
[0040] S1: The missile in the process of exiting the tube is abstracted as a rotating rigid body, moving in the longitudinal plane under a single point support, and setting the gravity, thrust, support force and dynamic friction force;
[0041] S2: Based on the angular momentum theorem and the missile motion constraint equations, a rigid body motion model of the missile exiting the tube is established;
[0042] S3: Using the rigid body motion model, substitute the state variable values at the moment the missile leaves the tube, and solve by integration until the motion parameters of the missile are completely out of the tube to obtain the reference value of the missile's sinking angular velocity.
[0043] Specifically, in this exemplary embodiment, the missile is first abstracted, and a motion model is established based on the abstraction result. The motion model and initial parameters (the numerical values of the state variables at the moment the missile leaves the tube) are used to solve the motion parameters by integration until the missile completely leaves the tube, and a reference value of the missile's sinking angular velocity is obtained.
[0044] Therefore, the approach described in this exemplary embodiment can replace existing numerical statistical methods based on missile exit tests, enabling the prediction of sinking angular velocity at the outset of design, laying the foundation for early optimization of the overall design. Furthermore, it can reduce the number of missile exit tests, thereby shortening the missile development cycle and costs, saving both time and money in testing costs. It also offers excellent scalability and is applicable to various types of canister-launched missiles, rockets, and other weaponry.
[0045] More preferably, in an exemplary embodiment, Figure 2 As shown, in step S1, the missile in the process of exiting the tube is abstracted as a rotating rigid body, including:
[0046] The missile is abstracted as a rotating rigid body with a radius of R, a mass of m, a center of mass of C, and an equatorial moment of inertia around the center of mass of J.
[0047] like Figure 2 As shown, the movement in the longitudinal plane under single-point support, setting gravity, thrust, support force and dynamic friction force, includes:
[0048] The rotating rigid body moves in the longitudinal plane under the support of a single point O, and is acted upon by the vertical downward gravity mg, the thrust P along the longitudinal axis of the missile, the supporting force N, and the kinetic friction force f with a kinetic friction coefficient of μ.
[0049] More preferably, in an exemplary embodiment, in step S2, the rigid body motion model of the missile exiting the tube is:
[0050]
[0051] Where v is the missile's velocity; ω is the missile's angular velocity; L is the distance the missile's center of mass deviates from the muzzle. is the missile's sinking angle; g is the acceleration due to gravity.
[0052] Specifically, the rigid body motion model is derived as follows:
[0053] The position of the contact point O' (it should be noted that the contact point O' is on the missile and the single point O is on the launch tube, and the two coincide at any moment. However, the single point O is constant, while the contact point O' changes at any time (its rate of change is used in the derivation). The prime symbol is added here to distinguish this point) is projected in the missile system (b coordinate) as follows:
[0054] (r O′ ) b =[-L -R 0] T
[0055] Due to the support point constraint, the movement direction of the contact point O' can only be along the X axis (x b), so the projections of O' velocity and acceleration in the elastic system are:
[0056] (v O′ ) b =[v 0 0] T
[0057]
[0058] The projections of the rigid body's sinking angular velocity (i.e., the missile's sinking angular velocity) and angular acceleration on the missile system are:
[0059] (ω) b =[0 0 ω] T
[0060]
[0061] According to the calculation formula of the velocity and acceleration of a point on a rigid body, the projection of the velocity and acceleration of the center of mass C in the elastic system can be obtained:
[0062] (v c ) b =(v O′ ) b -(ω) b ×(r O′ ) b
[0063] =[v-ωR ωL 0] T
[0064]
[0065] The projections of the thrust, support force, kinetic friction and gravitational acceleration on the rigid body in the elastic system are
[0066] (P) b =[P 0 0] T
[0067] (N) b =[0 N 0] T
[0068] (f) b =[-μN 00] T
[0069]
[0070] Among them, L bg is the rotation matrix from the ground system to the missile system.
[0071] According to flight dynamics, the dynamic equation of the motion of the center of mass C of the projectile system is:
[0072]
[0073] Substituting the expressions of each vector into the equation and sorting them out, we get:
[0074]
[0075] The dynamic equation of the rigid body moving around the center of mass C in an elastic system is:
[0076]
[0077] After finishing, we can get:
[0078]
[0079] Combined with the kinematic equations of the rigid body:
[0080]
[0081] Finally, the rigid body motion model of the missile exiting the tube is obtained:
[0082]
[0083] More preferably, in an exemplary embodiment, the rigid body motion model in step S3 is used to substitute the state variable values at the moment the missile leaves the tube, and the motion parameters are solved by integration until the missile completely leaves the tube to obtain a reference value of the missile's sinking angular velocity, including:
[0084] Obtain the state variables at the moment of exiting the tube, including the initial value of the missile speed v0, the initial value of the missile sinking angular velocity w0, the initial value of the distance of the missile center of mass from the tube muzzle L0, and the initial value of the missile sinking angle
[0085] The rigid body motion model of the missile exiting the tube is discretized based on Euler integral, and the discretized rigid body motion model is obtained:
[0086]
[0087] Where Δt is the integration period; variables with a subscript of k are variables at the current instant, and variables with a subscript of k+1 are variables at the next instant to be calculated; parameters without a subscript are constants whose values remain unchanged during the calculation.
[0088] Based on the state variables at the moment of exiting the barrel, the discretized rigid body motion model is iteratively calculated to complete the motion parameter calculation of each moment one by one, where the motion parameters of each moment are That is, it serves as a reference value for the missile's sinking angular velocity.
[0089] More preferably, in an exemplary embodiment, the iterative calculation of the discretized rigid body motion model, successively completing the calculation of motion parameters at each instant, includes:
[0090] Calculate L in the third formula of the discretized rigid body motion model k+1 And the fourth formula These two variables are only related to the current instantaneous variable values and can be calculated directly;
[0091] Calculate N in the fifth formula of the discretized rigid body motion model k , this variable is only related to the variables at the current moment and can be calculated directly;
[0092] Using the calculated N k , calculate ω of the second formula in the discretized rigid body motion model k+1 ;
[0093] Using the calculated N k and ω k+1 , calculate v of the first formula in the discretized rigid body motion model k+1 , complete the calculation of the instantaneous motion parameters.
[0094] In a specific exemplary embodiment, the missile-related constants are set as:
[0095] a) Gravitational acceleration corresponding to gravity g = 9.8 m / s 2 b) Coefficient of kinetic friction μ = 0.1; c) Missile mass m = 13.7 kg; d) Missile radius R = 0.7 m; e) Missile equatorial moment of inertia J about its center of mass = 1.5 kg·m 2 .
[0096] Set the missile exiting the tube instantaneous state variable to:
[0097] a) Initial value of missile velocity v0 = 15.9 m / s; b) Initial value of missile sinking angular velocity ω0 = -23.1° / s; c) Initial value of distance from missile center of mass to barrel muzzle L0 = 0.14 m; d) Initial value of missile sinking angle
[0098] Comparison of sinking angular velocity simulation curve and test value is shown in Figure 3 The average deviation does not exceed 2° / s, which shows the effectiveness of the calculation of the missile's sinking angular velocity after leaving the tube according to this exemplary embodiment.
[0099] Having the same inventive concept as the above exemplary embodiment, another exemplary embodiment of the present invention provides an electronic device, including a storage unit and a processing unit, wherein the storage unit stores computer instructions that can be run on the processing unit, and when the processing unit runs the computer instructions, it executes the steps of the method for calculating the angular velocity of a missile leaving the barrel.
[0100] The electronic device is implemented as a general-purpose computing device. Components of the electronic device may include, but are not limited to, the at least one processing unit, the at least one storage unit, and a bus connecting different system components (including the storage unit and the processing unit).
[0101] The storage unit stores program codes that can be executed by the processing unit, so that the processing unit performs the steps according to various exemplary embodiments of the present invention described in the "Exemplary Method" section above. For example, the processing unit can perform the following steps: Figure 1 The method shown in .
[0102] The storage unit may include a readable medium in the form of a volatile memory unit, such as a random access memory unit (RAM) and / or a cache memory unit, and may further include a read-only memory unit (ROM).
[0103] The storage unit may also include a program / utility having a set (at least one) of program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.
[0104] The bus can represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.
[0105] The electronic device may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device, and / or any device that enables the electronic device to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface. Furthermore, the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter. The network adapter communicates with other modules of the electronic device via a bus. It should be understood that other hardware and / or software modules may be used in conjunction with the electronic device, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.
[0106] Through the above description, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented through software or through a combination of software and necessary hardware. Therefore, the technical solution according to this exemplary embodiment can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, a USB flash drive, a mobile hard drive, etc.) or on a network, and includes several instructions to enable a computing device (such as a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to this exemplary embodiment.
[0107] With the same inventive concept as the above exemplary embodiment, another exemplary embodiment of the present invention provides a storage medium having computer instructions stored thereon, which, when executed, execute the steps of the method for calculating the angular velocity of a missile exiting the barrel.
[0108] Based on this understanding, the technical solution of this embodiment, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product (program product). The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention.
[0109] The program product may be implemented in any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.
[0110] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.
[0111] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
[0112] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, and the like, as well as conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).
[0113] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications can be made based on the above descriptions. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications derived therefrom remain within the scope of protection of the present invention.
Claims
1. A method for calculating the angular velocity of a missile after exiting the tube, characterized in that: The following steps are involved: The missile in the process of leaving the tube is abstracted as a rotating rigid body, which moves in the longitudinal plane under a single point support, and the gravity, thrust, support force and dynamic friction force are set; Based on the angular momentum theorem and the missile motion constraint equation, a rigid body motion model of the missile exiting the tube is established. The rigid body motion model is used to substitute the state variable values at the moment the missile leaves the tube, and the motion parameters are solved by integration until the missile completely leaves the tube, thereby obtaining the reference value of the missile's sinking angular velocity.
2. The method for calculating the angular velocity of a missile exiting the tube according to claim 1, wherein: The missile in the process of exiting the tube is abstracted as a rotating rigid body, including: The missile is abstracted as a rotating rigid body with a radius of R, a mass of m, a center of mass of C, and an equatorial moment of inertia around the center of mass of J. The movement in the longitudinal plane under single-point support, setting gravity, thrust, support force and dynamic friction force, includes: The rotating rigid body moves in the longitudinal plane under the support of a single point O, and is acted upon by the vertical downward gravity mg, the thrust P along the longitudinal axis of the missile, the supporting force N, and the kinetic friction force f with a kinetic friction coefficient of μ.
3. The method for calculating the angular velocity of a missile exiting the tube according to claim 2, wherein: The rigid body motion model of the missile exiting the tube is: Where v is the missile's velocity; ω is the missile's angular velocity; L is the distance the missile's center of mass deviates from the muzzle. is the missile's sinking angle; g is the acceleration due to gravity.
4. The method for calculating the angular velocity of a missile exiting the tube according to claim 3, wherein: The rigid body motion model is used to substitute the state variable values at the moment when the missile leaves the tube, and the motion parameters until the missile completely leaves the tube are solved by integration to obtain the reference value of the missile's sinking angular velocity, including: Obtain the state variables at the moment of exiting the tube, including the initial value of the missile speed v0, the initial value of the missile sinking angular velocity w0, the initial value of the distance of the missile center of mass from the tube muzzle L0, and the initial value of the missile sinking angle The rigid body motion model of the missile exiting the tube is discretized based on Euler integral, and the discretized rigid body motion model is obtained: Where Δt is the integration period; variables with a subscript of k are variables at the current instant, and variables with a subscript of k+1 are variables at the next instant to be calculated; parameters without a subscript are constants whose values remain unchanged during the calculation. Based on the state variables at the moment of exiting the barrel, the discretized rigid body motion model is iteratively calculated to complete the motion parameter calculation of each moment one by one, where the motion parameters of each moment are That is, it serves as a reference value for the missile's sinking angular velocity.
5. The method for calculating the angular velocity of a missile exiting the missile tube according to claim 4, wherein: The iterative calculation of the discretized rigid body motion model, which successively completes the calculation of motion parameters at each instant, includes: Calculate L in the third formula of the discretized rigid body motion model k+1 And the fourth formula Calculate N in the fifth formula of the discretized rigid body motion model k ; Using the calculated N k , calculate ω of the second formula in the discretized rigid body motion model k+1 ; Using the calculated N k and ω k+1 , calculate v of the first formula in the discretized rigid body motion model k+1 , complete the calculation of the instantaneous motion parameters.
6. An electronic device comprising a storage unit and a processing unit, wherein the storage unit stores computer instructions that can be executed on the processing unit, characterized in that: When the processing unit runs the computer instructions, the processing unit executes the steps of a method for calculating the angular velocity of a missile exiting the tube as described in any one of claims 1 to 5.
7. A storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed, the steps of the method for calculating the angular velocity of a missile exiting the tube as described in any one of claims 1 to 5 are executed.