CN103440406A - Method for calculating off-line iteration particle trajectory - Google Patents

Abstract

The invention relates to a method for calculating an off-line iteration particle trajectory. The calculation method comprises the following steps of (1) calculating a high-dimensional interpolation list of angle of attack alpha and balanced rudder deflection angle delta by an off-line iteration method; (2) according to the high-dimensional interpolation list of the angle of attack alpha and the balanced rudder deflection angle delta in the step (1), establishing an interpolation calculation module of the angle of attack alpha and the balanced rubber deflection angle delta in a particle trajectory calculation model; and (3) establishing a particle trajectory model, carrying out ergodic interpolation calculation on the angle of attack alpha and the balanced rudder deflection angle delta by the interpolation model in the step (2), and finally solving the speed and position information of a missile. The method can solve the problems of low iteration efficiency and non-convergent iteration of a conventional particle trajectory calculation method when the missile pneumatic non-linear characteristic is obvious, and the simulation efficiency of a trajectory is improved.

Description

A kind of off-line iteration particle ballistic calculation

Technical field

The present invention relates to a kind of particle ballistic calculation, particularly a kind of off-line iteration particle ballistic calculation.

Background technology

Conventional particle ballistic calculation is in each flight moment of guided missile, based on " equilibrium,transient ", suppose, adopt two nonlinear equations of normal force and pitching moment to resolve angle of rudder reflection and the angle of attack in the mode of line iteration, because the nonlinear iteration of two independents variable solves relevant with solution path and initial value, pneumatic non-linear with conspicuous characteristics at guided missile, easily occur two class problems while having " saddle point " or " limit ": the first, iteration efficiency is very low, and now online iterative manner can't meet the particle of rapidity, requirement of real-time trajectory computation requirement; The second, iteration does not restrain, and now adopts online iterative manner can not calculate the angle of attack and angle of rudder reflection, and will cause trajectory to calculate can't carry out.

Summary of the invention

For above the deficiencies in the prior art, the invention provides a kind of off-line iteration particle ballistic calculation.To solve the pneumatic non-linear problem that conventional particle ballistic calculation iteration efficiency is low when with conspicuous characteristics, iteration does not restrain of guided missile, improve ballistic solution efficiency, realize the quick real-time resolving of trajectory.Purpose of the present invention is achieved through the following technical solutions:

First step off-line iterative computation angle of attack and the list of balance angle of rudder reflection δ higher-dimension interpolation

Before carrying out real-time Ballistic Simulation of Underwater, at first in the full spatial domain of missile flight, according to precision, need to choose height, speed state point (H_i, V_j) i=1,2,3..., j=1,2,3..., each state point of off-line iterative computation (H_i, V_j) meet angle of attack and the angle of rudder reflection δ (δ≤maximum angle of rudder reflection restriction δ of " equilibrium,transient " state_max), and calculate the normal force Y that angle of attack now and angle of rudder reflection δ can provide, and then the normal g-load Ny(Nymax that now can provide≤maximum normal g-load restriction Nymax be provided), obtain one group of angle of attack and angle of rudder reflection δ that meets following condition:

$\left\{\begin{array}{c}{M}_z\left(\mathrm{\α}\right)+M_z\left(\mathrm{\δ}\right)=0\\ \mathrm{Ny}=\mathrm{Ny}(\mathrm{\α},\mathrm{\δ})\end{array}\right.---\left(1\right)$

During iteration do not restrain if occur while with dichotomy, Secant Method etc., carrying out above iterative computation situation, can adopt search procedure to carry out the angle of attack, angle of rudder reflection solves.

Height H using the missile flight spatial domain, in the restriction of speed restriction and normal g-load, speed V, normal g-load Ny are as independent variable, provided the three-dimensional interpolation list of corresponding angle of attack and angle of rudder reflection δ under " equilibrium,transient " state by above-mentioned calculating, the traversal interpolation table that this list will be calculated as real-time trajectory.

Second step is set up angle of attack, angle of rudder reflection δ interpolation calculation module

The higher-dimension interpolation list of the angle of attack that off-line iteration based on the first step obtains and angle of rudder reflection δ, set up angle of attack, angle of rudder reflection δ interpolation calculation module in particle trajectory computation model.It is the input independent variable that the interpolation calculation module be take the current flying height H of guided missile, speed V and normal direction required overload Ny, and angle of attack, the angle of rudder reflection δ list obtained of take in the first step is the traversal interpolation table.

The 3rd step is set up the particle model trajectory

Set up the particle model trajectory according to guided missile center of mass motion system of equations, in model, the angle of attack, angle of rudder reflection are traveled through interpolation calculation by the interpolating module of second step, and no longer the real-time online iterative computation, saved a large amount of computing times.Calculate the stressed of guided missile by the angle of attack, angle of rudder reflection and guided missile aerodynamic parameter etc., and then resolve speed, positional information that motion equation of a missile obtains guided missile.

The invention has the advantages that:

1, providing by a large amount of iteration angle of attack, the list of angle of rudder reflection δ three-dimensional interpolation changed with height H, speed V and normal g-load Ny before Ballistic Simulation of Underwater in real time, in real-time Ballistic Simulation of Underwater process, the method for employing traversal interpolation in list is carried out the angle of attack, angle of rudder reflection calculates.With the online alternative manner of routine, compare, only need one-time calculation provide complete interpolation list can after in real time the list interpolation is solved to the corresponding angle of attack and angle of rudder reflection when demand is arranged, can effectively improve the computing velocity of real-time Ballistic Simulation of Underwater, promote Ballistic Simulation of Underwater efficiency;

2, simultaneously, employing calculated the interpolation list and list is carried out the method for exhaustive traversal in emulation before the trajectory real-time simulation, can effectively avoid adopting being commonly used in the restriction of line iteration method as the necessary strictly monotone of the desired corresponding statess such as dichotomy, Newton method, Secant Method, avoid not restraining due to the non-linear iteration of bringing of the relevant aerodynamic parameter of guided missile the problem that causes trajectory calculating to carry out.

The accompanying drawing explanation

Fig. 1: search procedure solves the angle of attack, angle of rudder reflection process flow diagram.

Embodiment

Below a kind of off-line iteration of the present invention particle ballistic calculation is elaborated, specifically comprise the steps.

First step off-line iterative computation angle of attack and the list of balance angle of rudder reflection δ higher-dimension interpolation

Before carrying out real-time Ballistic Simulation of Underwater, at first in the full spatial domain of missile flight, according to precision, need to choose height, speed state point (H_i, V_j) i=1,2,3..., j=1,2,3..., each state point of off-line iterative computation (H_i, V_j) meet angle of attack and the angle of rudder reflection δ (δ≤maximum angle of rudder reflection restriction δ of " equilibrium,transient " state_max), and calculate the normal force Y that angle of attack now and angle of rudder reflection δ can provide, and then the normal g-load Ny(Nymax that now can provide≤maximum normal g-load restriction Nymax be provided), obtain one group of angle of attack and angle of rudder reflection δ that meets following condition:

$\left\{\begin{array}{c}{M}_z\left(\mathrm{\α}\right)+M_z\left(\mathrm{\δ}\right)=0\\ \mathrm{Ny}=\mathrm{Ny}(\mathrm{\α},\mathrm{\δ})\end{array}\right.---\left(1\right)$

During iteration do not restrain if occur while with dichotomy, Secant Method etc., carrying out above iterative computation situation, can adopt search procedure shown in Fig. 1 to carry out the angle of attack, angle of rudder reflection solves.Concrete grammar is as follows:

A) first choose the initial value α of angle of attack and angle of rudder reflection δ₀, δ₀and using this as the starting point of searching for;

B) calculate M_z(α)+M_z(δ);

C) judge whether to meet M_z(α)+M_z(δ)=0, if meet, jump to d); If do not meet, change δ, even δ=δ+Δ δ, and jump to b);

D) judge whether to meet δ≤δ_maxif, meet, jump to e); If do not meet, change α, even α=α+Δ α, and jump to b);

E) calculate normal force Y=Y(α, δ) and Ny=Ny(α, δ);

F) judge whether to meet Ny≤Ny_maxif meet output (H now_i, V_j, Ny, α, δ), and jump to g); If do not meet, change α, even α=α+Δ α, and jump to b);

G) change α, even α=α+Δ α, and jump to b), repeat above step and calculate, until complete the search in whole angle of attack scope.

Height H using the missile flight spatial domain, in the restriction of speed restriction and normal g-load, speed V, normal g-load Ny are as independent variable, provided the three-dimensional interpolation list of corresponding angle of attack and angle of rudder reflection δ under " equilibrium,transient " state by above-mentioned calculating, the traversal interpolation table that this list will be calculated as real-time trajectory.

Second step is set up angle of attack, angle of rudder reflection δ interpolation calculation module

The higher-dimension interpolation list of the angle of attack that off-line iteration based on the first step obtains and angle of rudder reflection δ, set up angle of attack, angle of rudder reflection δ interpolation calculation module in particle trajectory computation model.It is input that the interpolation calculation module be take the current flying height H of guided missile, speed V and normal direction required overload Ny, and angle of attack, the angle of rudder reflection δ list obtained of take in the first step is the traversal interpolation table.

In powered phase, guided missile quality, barycenter, moment of inertia change in time, therefore when interpolation, by linear change, consider, add correction factor it is revised.

The 3rd step is set up the particle model trajectory

Set up the particle model trajectory according to guided missile center of mass motion system of equations, in model, the angle of attack, angle of rudder reflection are traveled through interpolation calculation by the interpolating module of second step, and no longer the real-time online iterative computation, saved a large amount of computing times.Calculate the stressed of guided missile by the angle of attack, angle of rudder reflection and guided missile aerodynamic parameter etc., and then resolve speed, positional information that motion equation of a missile obtains guided missile.

Should be appreciated that the above detailed description of technical scheme of the present invention being carried out by preferred embodiment is illustrative and not restrictive.Those of ordinary skill in the art modifies reading the technical scheme that can put down in writing each embodiment on the basis of instructions of the present invention, or part technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the spirit and scope of various embodiments of the present invention technical scheme.

Claims (2)

1. an off-line iteration particle ballistic calculation, is characterized in that, these computing method comprise the steps:

1) off-line iterative computation angle of attack and the list of balance angle of rudder reflection δ higher-dimension interpolation;

2) according to the angle of attack in step 1 and the list of balance angle of rudder reflection δ higher-dimension interpolation, set up angle of attack, angle of rudder reflection δ interpolation calculation module in particle trajectory computation model;

3) set up the particle model trajectory, wherein the angle of attack, angle of rudder reflection are traveled through interpolation calculation by the interpolating module in step 2, final by resolving speed and the positional information that obtains guided missile.

2. a kind of off-line iteration particle ballistic calculation according to claim 1, is characterized in that, described step 1 off-line iterative computation angle of attack and the list of balance angle of rudder reflection δ higher-dimension interpolation specifically comprise the steps:

A) first choose the initial value α of angle of attack and angle of rudder reflection δ₀, δ₀and using this as the starting point of searching for;

B) calculate M_z(α)+M_z(δ);

C) judge whether to meet M_z(α)+M_z(δ)=0, if meet, jump to d); If do not meet, change δ, even δ=δ+Δ δ, and jump to b);

D) judge whether to meet δ≤δ_maxif, meet, jump to e); If do not meet, change α, even α=α+Δ α, and jump to b);

E) calculate normal force Y=Y(α, δ) and Ny=Ny(α, δ);

F) judge whether to meet Ny≤Ny_maxif meet output (H now_i, V_j, Ny, α, δ), and jump to g); If do not meet, change α, even α=α+Δ α, and jump to b);

G) change α, even α=α+Δ α, and jump to b), repeat above step and calculate, until complete the search in whole angle of attack scope.

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