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Research on Optimization Strategy of Missile Preliminary Design
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作者 SUZi-jian ZHONGYi-fang 《Computer Aided Drafting,Design and Manufacturing》 2004年第1期1-6,共6页
Two system optimization architectures are proposed for missile system preliminary design, taking into account aerodynamics, weights and sizing, propulsion and trajectory. Approximation methods are investigated in orde... Two system optimization architectures are proposed for missile system preliminary design, taking into account aerodynamics, weights and sizing, propulsion and trajectory. Approximation methods are investigated in order to reduce problem dimensionality and to improve the efficiency of optimization process. 展开更多
关键词 system optimization missile design APPROXIMATION missile analysis
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Sliding mode control for an aerodynamic missile based on backstepping design 被引量:8
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作者 WenjinGU HongchaoZHAO ChangpengPAN 《控制理论与应用(英文版)》 EI 2005年第1期71-75,共5页
In order to solve the mismatched uncertainties of a class of nonlinearsystems, a control method of sliding mode control (SMC) based on the backstepping design isproposed. It introduces SMC in to the last step of backs... In order to solve the mismatched uncertainties of a class of nonlinearsystems, a control method of sliding mode control (SMC) based on the backstepping design isproposed. It introduces SMC in to the last step of backstepping design to modify the backsteppingalgorithm. This combination not only enables the generalization of the backstepping design to beapplied to more general nonlinear systems, but also makes the SMC method become effective in solvingthe mismatched uncertainties. The SMC based on the backstepping design is applied to the flightcontrol system design of an aerodynamic missile. The control system is researched throughsimulation. The simulation results show the effectiveness of the proposed control method. 展开更多
关键词 mismatched uncertainties sliding mode control backstepping design aerodynamic missile
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Multidisciplinary integrated design of long-range ballistic missile using PSO algorithm 被引量:6
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作者 ZHENG Xu GAO Yejun +1 位作者 JINGWuxing WANG Yongsheng 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2020年第2期335-349,共15页
In the case of the given design variables and constraint functions, this paper is concerned with the rapid overall parameters design of trajectory, propulsion and aerodynamics for long-range ballistic missiles based o... In the case of the given design variables and constraint functions, this paper is concerned with the rapid overall parameters design of trajectory, propulsion and aerodynamics for long-range ballistic missiles based on the index of the minimum take-off mass.In contrast to the traditional subsystem independent design, this paper adopts the research idea of the combination of the subsystem independent design and the multisystem integration design.Firstly, the trajectory, propulsion and aerodynamics of the subsystem are separately designed by the engineering design, including the design of the minimum energy trajectory, the computation of propulsion system parameters, and the calculation of aerodynamic coefficient and dynamic derivative of the missile by employing the software of missile DATCOM. Then, the uniform design method is used to simplify the constraint conditions and the design variables through the integration design, and the accurate design of the optimized variables would be accomplished by adopting the uniform particle swarm optimization(PSO) algorithm. Finally, the automation design software is written for the three-stage solid ballistic missile. The take-off mass of 29 850 kg is derived by the subsystem independent design, and 20 constraints are reduced by employing the uniform design on the basis of 29 design variables and 32 constraints, and the take-off mass is dropped by 1 850 kg by applying the combination of the uniform design and PSO. The simulation results demonstrate the effectiveness and feasibility of the proposed hybrid optimization technique. 展开更多
关键词 BALLISTIC missile independent design MULTIDISCIPLINARY integrated design uniform design particle SWARM optimization(PSO)
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A METHOD IN SYSTEM DESIGN OF EJECTING DEVICES OF MISSILES 被引量:8
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作者 DaiLongcheng XuanYimin 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2002年第1期44-52,共9页
Anew method in system design of ejecting devices of missiles is first presented.Some important points are dis-cussed,which guid the research and development of new ejecting devices of missileg,amd provid the foundatio... Anew method in system design of ejecting devices of missiles is first presented.Some important points are dis-cussed,which guid the research and development of new ejecting devices of missileg,amd provid the foundation flr thw design of mew ejecting device is provided.The system design includes the distribution of techmology specifica-tion,3-D solid modeling of ejecting devices of missiles im-ported from abroad,the design of pmeumatic device sys-tem,the design of ejecting mechanism system,the predic-tion of reliability and the experimental analysis,etc. 展开更多
关键词 WORDS ejecting DEVICES of missile system design dynamic simulation WAVELET optimization 导弹 发射装置 总体设计 动态仿真 小波优化
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Trajectory design and simulation in injection phase for hyper-velocity kinetic energy missile 被引量:1
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作者 于剑桥 梅跃松 韩朝 《Journal of Beijing Institute of Technology》 EI CAS 2011年第1期18-22,共5页
A movement law of laser beam facula is designed for the injection trajectory of hyper-ve- locity kinetic energy missile to eliminate the influence of motor exhaust smoke on laser signal trans mission. Taking guidance... A movement law of laser beam facula is designed for the injection trajectory of hyper-ve- locity kinetic energy missile to eliminate the influence of motor exhaust smoke on laser signal trans mission. Taking guidance loop of hyper velocity kinetic energy missile as plant, a closed loop control system with desired step response characteristics is constructed and the movement law of laser beam facula for the missile injection trajectory is designed based on the output signal of the closed loop controller under a step input. Six degree of freedom trajectory simulations show that by the guidance of the laser beam facula moving with designed law, the missile can finish transition from the initial trajectory to a stable tracking trajectory without overshoot within the required time. 展开更多
关键词 trajectory design trajectory simulation missile control hyper velocity kinetic energymissile
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Intelligent Design and Implementation of Missile Fire Control System
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作者 谢春思 王敏庆 +2 位作者 李卫海 刘喜作 金良安 《Defence Technology(防务技术)》 SCIE EI CAS 2006年第4期297-300,共4页
Missile fire control system is the core of ship-based missile weapon system, whose safeguard level has direct relation with the attack ability of naval vessels. After a long period of deep investigation and research, ... Missile fire control system is the core of ship-based missile weapon system, whose safeguard level has direct relation with the attack ability of naval vessels. After a long period of deep investigation and research, it was found that, in one missile fire control system, there are such problems as single safeguard system, low ratio of cost to efficiency, etc. By adopting intelligent control techniques and many measures to multiple securities, the new type of assistant system is designed, some difficult problems are solved, such as fixed project channel and unitary means of missiles, which can make the equipment carry out combat mission reliably and continuously. 展开更多
关键词 海基导弹武器系统 火力控制系统 智能设计 智能控制 费效比
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Optimization of three-loop missile autopilot gain under crossover frequency constraint 被引量:1
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作者 M.A.ABD-ELATIF Long-jun QIAN Yu-ming BO 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2016年第1期32-38,共7页
The open-loop crossover frequency is pointed as an important parameter for practical autopilot design. Since different gain designs may achieve the same open-loop crossover frequency, it should be neither considered a... The open-loop crossover frequency is pointed as an important parameter for practical autopilot design. Since different gain designs may achieve the same open-loop crossover frequency, it should be neither considered as a performance objective of the optimal autopilot design-schemes nor neglected. Besides, the main assignment of the autopilot is to drive the missile to track the acceleration commands, so the autopilot gain design should be evaluated directly according to the resultant tracking performance. For this purpose, an optimal design methodology of the three-loop missile autopilot is introduced based on constraint optimization technique, where the tracking performance is established analytically as the design objective and the open-loop crossover frequency is formed as inequality constraint function, both are manipulated in terms of stable characteristic parameters of the autopilot closed-loop. The proposed technique is implemented with the assistance of a numerical optimization algorithm which automatically adjusts the design parameters. Finally, numerical simulation results are provided to demonstrate the effectiveness and feasibility of the proposed approach compared with that in some references. 展开更多
关键词 导弹自动驾驶仪 频率约束 优化技术 三回路 增益 设计方法 跟踪性能 数值模拟
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CFD Investigation of Compressible Low Angles of Attack Flow over the Missile
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作者 Artit Ridluan 《Journal of Physical Science and Application》 2014年第6期339-347,共9页
In modem missile design, the operation of a missile aerodynamics with angles of attack is required to serve a demand on the maneuverability. The key aero-physics is the development of vortices and its interaction to t... In modem missile design, the operation of a missile aerodynamics with angles of attack is required to serve a demand on the maneuverability. The key aero-physics is the development of vortices and its interaction to the control surface such as wing and fins. This paper thus presents the investigation of the missile flow field at 4° and 8° degrees of angles of attack. The Mach numbers for both case were varied from 0.6 to 5.5. Here, the Steady Reynolds-Averaged Navier-Stokes (SRANS) equations with standard κ-ε turbulence model were selected. The numerical results of aerodynamics coefficients (both force and moment) were compared against semi-empirical data computed using Missile DatCOM. The results revealed the development of vortices observed and their interaction with fin at the rear part of the missile. 展开更多
关键词 missile platforms and design computational fluid dynamics missile aerodynamics.
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Surrogate-assisted optimization for anti-ship missile body configuration considering high-velocity water touching 被引量:2
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作者 Nianhui YE Teng LONG +2 位作者 Junhui MENG Renhe SHI Baoshou ZHANG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2023年第12期268-281,共14页
As a crucial weapon in the sea battle,anti-ship missiles generally employ a sea-skimming penetration strategy to reduce the probability of being detected by the target radar,which greatly increases the risk of touchin... As a crucial weapon in the sea battle,anti-ship missiles generally employ a sea-skimming penetration strategy to reduce the probability of being detected by the target radar,which greatly increases the risk of touching water caused by sensor errors or random sea conditions.To alleviate the large impact load by high-velocity water touching,a novel anti-ship missile body configuration is proposed in this paper,which is inspired by the idea of hydroplaning.A parametric geometry model is first developed to modify the configuration of the anti-ship missile body.Subsequently,a structured arbitrary Lagrange-Eulerian based Fluid-Structure Interaction(FSI)model is established to analyze the kinematics parameters of the missile body during the hydroplaning process.A missile body configuration optimization problem is then formulated to minimize the impact load considering several constraints,e.g.,horizontal velocity loss,pitch angle after touching water,and inside capacity for payload.Due to the time-consuming FSI simulation,a Kriging-assisted constrained differential evolution method is utilized to optimize the missile body configuration for reducing the impact load.During the optimization process,radial basis function and Kriging are combined with evolutionary operators to lead the search to the vicinity of the optimum rapidly.The result shows that the proposed missile body configuration can reduce the impact load by 18.8%compared with the ordinary configuration.Additionally,the optimized configuration can further yield a 17.4%impact load decrease subject to all the constraints and avoid structural damage by the high-velocity water touching,which demonstrates the effectiveness and practicability of the proposed anti-ship missile body configuration and corresponding optimization framework for reducing the impact load. 展开更多
关键词 Surrogate-assisted optimiza-tion Fluid-structureinteraction Arbitrary Lagrange-Eulerian missile Conceptual design
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基于MBSE的地空导弹总体方案设计 被引量:3
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作者 粟华 方施喆 +1 位作者 田昆效 龚春林 《图学学报》 CSCD 北大核心 2024年第2期268-276,共9页
为了适应未来大型复杂系统设计与功能分析需求,在导弹设计中引入基于模型的系统工程(MBSE)思想,提出了基于MBSE的地空导弹总体设计流程。首先,明确地空导弹利益相关者的需求,定义导弹任务场景;基于设计需求开展功能分析,利用导弹任务场... 为了适应未来大型复杂系统设计与功能分析需求,在导弹设计中引入基于模型的系统工程(MBSE)思想,提出了基于MBSE的地空导弹总体设计流程。首先,明确地空导弹利益相关者的需求,定义导弹任务场景;基于设计需求开展功能分析,利用导弹任务场景进行功能分解,完成需求到功能的转化;根据导弹的系统功能映射出导弹架构组成,开展地空导弹系统的逻辑架构设计和物理架构设计,最终得到导弹总体设计方案,并针对导弹方案进行验证及优化,初步实现了地空导弹的总体设计过程。 展开更多
关键词 MBSE 需求分析 架构设计 导弹设计
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某防空导弹尾焰对弹箱损伤分析及优化设计 被引量:1
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作者 樊赫 张利明 +3 位作者 寇钰 罗定 陈磊 李银河 《火炮发射与控制学报》 北大核心 2024年第4期89-94,100,共7页
针对导弹发射时导弹尾焰导致弹箱损伤的问题,根据弹箱的结构组成和导弹尾焰的作用工况,利用ANYSYS有限元计算软件,采用单向流固耦合方法进行研究与分析,得出了导弹尾焰的温度是导致弹箱损伤的根本原因,其中弹箱护盖不能承受导弹尾焰的冲... 针对导弹发射时导弹尾焰导致弹箱损伤的问题,根据弹箱的结构组成和导弹尾焰的作用工况,利用ANYSYS有限元计算软件,采用单向流固耦合方法进行研究与分析,得出了导弹尾焰的温度是导致弹箱损伤的根本原因,其中弹箱护盖不能承受导弹尾焰的冲击,是导弹发射流程试验中弹箱发生损伤问题的直接原因。提出了弹箱的优化设计方案,对弹箱护盖采取增加隔热板和结构强度加强的两方面措施。通过有限元软件模拟计算分析了提出的优化设计方案的有效性,并进行了试验方案的设计。通过试验验证优化后的弹箱护盖对解决导弹尾焰冲击造成弹箱损伤问题的可靠性。 展开更多
关键词 导弹 尾焰 弹箱损伤 弹箱护盖 优化设计
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线列式破片战斗部对导弹目标毁伤效能分析 被引量:1
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作者 罗俊豪 张克钒 +1 位作者 王硕 李翔宇 《火箭军工程大学学报》 2024年第3期26-37,共12页
为探究线列式破片战斗部对导弹目标的毁伤效能,通过数值计算方法,研究了线列式战斗部破片排布方式及炸药材料类型对破片威力场分布特性的影响规律,分析了不同着靶姿态对破片侵彻导弹舱段等效靶板的影响,得到破片侵彻不同厚度靶板的极限... 为探究线列式破片战斗部对导弹目标的毁伤效能,通过数值计算方法,研究了线列式战斗部破片排布方式及炸药材料类型对破片威力场分布特性的影响规律,分析了不同着靶姿态对破片侵彻导弹舱段等效靶板的影响,得到破片侵彻不同厚度靶板的极限速度;对导弹目标整体及各舱段毁伤程度进行定义,并对不同弹目交会条件下线列式战斗部对导弹目标的毁伤效能进行了研究。结果表明:弹目交会时,战斗部俯仰角的变化主要影响破片场命中导弹时的轴向位置;战斗部偏航角的变化会影响破片聚焦带的方向;弹目距离主要影响导弹目标附近的破片密度。 展开更多
关键词 破片毁伤 战斗部设计 导弹防御 毁伤效能评估 破片威力场 数值模拟
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基于需求-功能-结构关系矩阵的导弹模块划分方法
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作者 田昆效 粟华 +2 位作者 龙永松 杨予成 龚春林 《系统工程与电子技术》 EI CSCD 北大核心 2024年第10期3398-3406,共9页
模块化导弹能够利用分系统的灵活装配快速形成典型作战单元以适应复杂多样化的作战任务,是未来导弹武器系统的重要发展方向之一。针对传统的导弹模块划分方法无法充分发挥导弹模块化特性带来的架构优势问题,提出一种基于需求-功能-结构... 模块化导弹能够利用分系统的灵活装配快速形成典型作战单元以适应复杂多样化的作战任务,是未来导弹武器系统的重要发展方向之一。针对传统的导弹模块划分方法无法充分发挥导弹模块化特性带来的架构优势问题,提出一种基于需求-功能-结构关系矩阵的导弹模块划分方法。首先,基于质量功能展开(quality function deployment,QFD)和公理设计方法提出连接设计需求、设计功能与物理组件相互作用关系的设计结构矩阵(design structure matrix,DSM)构建方法,并引入约束矩阵描述物理组件在机械、电气和功能上的关联度,以此形成基于遗传算法的导弹模块划分流程。最后,以一防空导弹为应用实例进行模块划分,并通过需求回溯分析验证模块划分结果的合理性和可行性。 展开更多
关键词 模块划分 模块化导弹 设计结构矩阵 需求分析 公理设计 质量屋
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成像制导导弹试验鉴定半实物仿真系统设计与应用
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作者 豆建斌 王小兵 +1 位作者 杨红坚 高玉龙 《系统仿真学报》 CAS CSCD 北大核心 2024年第2期522-532,共11页
围绕陆军常规红外成像制导导弹试验鉴定仿真实验需求,对仿真系统进行了特点分析,设计了红外成像制导导弹试验鉴定半实物仿真实验系统。解决了系统通用化设计、异构通讯数据快速迭代开发、高辐射红外干扰双通道耦合仿真、高精度定时与时... 围绕陆军常规红外成像制导导弹试验鉴定仿真实验需求,对仿真系统进行了特点分析,设计了红外成像制导导弹试验鉴定半实物仿真实验系统。解决了系统通用化设计、异构通讯数据快速迭代开发、高辐射红外干扰双通道耦合仿真、高精度定时与时间同步、复杂战场环境生成等关键技术。通过典型反坦克和直升机机载导弹等试验,进行了应用验证。系统可用于红外成像制导导弹鉴定仿真实验,为武器系统实战化考核、极限边界性能和抗干扰性能试验等提供有力支撑。 展开更多
关键词 成像制导 导弹 半实物仿真 试验鉴定 系统设计
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并联导弹挂架结构减重优化设计
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作者 张鹏程 雷征 +3 位作者 赵冠臣 李青松 韩召辉 王延生 《机械科学与技术》 CSCD 北大核心 2024年第8期1454-1461,共8页
为实现某新型并联导弹挂架的减重需求,以并联挂架的转接梁为典型对象,利用有限元进行了转接梁的强度分析,确定了最大应力位置和应力分布。通过等效静态载荷法和子模型技术相结合的方式,进行了转接梁子模型的多工况拓扑优化,获取了材料... 为实现某新型并联导弹挂架的减重需求,以并联挂架的转接梁为典型对象,利用有限元进行了转接梁的强度分析,确定了最大应力位置和应力分布。通过等效静态载荷法和子模型技术相结合的方式,进行了转接梁子模型的多工况拓扑优化,获取了材料最佳分布。对几何重建模型进行了尺寸优化,在同时考虑质量、变形和应力的基础上,实现了转接梁结构的详细设计。结果表明,优化后的结构在满足强度条件下,重量减少了43.1%,最大应力下降了13.1%,可为同类产品的减重设计提供参考。 展开更多
关键词 并联导弹挂架 强度分析 等效静载荷法 子模型技术 减重优化设计
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美国KEI导弹发展研究及性能分析
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作者 张旭 曾鹏 +3 位作者 魏明英 李旭 薛建恒 王超 《现代防御技术》 北大核心 2024年第5期31-39,共9页
动能拦截弹(kinetic energy interceptor,KEI)主要用于拦截在助推段、上升段以及中段飞行的中远程和洲际弹道导弹,具有高速、高加速的特点。通过文献资料的研究分析和建模仿真,对KEI导弹的总体参数、气动参数、动力参数进行了反设计和研... 动能拦截弹(kinetic energy interceptor,KEI)主要用于拦截在助推段、上升段以及中段飞行的中远程和洲际弹道导弹,具有高速、高加速的特点。通过文献资料的研究分析和建模仿真,对KEI导弹的总体参数、气动参数、动力参数进行了反设计和研究,并对KEI导弹的飞行性能和拦截性能进行了仿真,结果表明:KEI导弹能够在约60 s内加速至6 km/s,并对典型目标具备在助推段/上升段拦截弹道导弹的能力,对国内拦截武器的发展和研究具有参考意义。 展开更多
关键词 弹道导弹防御 助推段拦截 动能拦截弹 动能拦截 反设计
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基于三维空间的激光驾束炮射导弹设计及外弹道仿真
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作者 李冬青 朱胤 +2 位作者 朱元武 王倩 黄海英 《火力与指挥控制》 CSCD 北大核心 2024年第3期156-164,共9页
在激光驾束炮射导弹外弹道半实物仿真,以装备模拟器为核心的军事仿真训练系统的研究背景下,建立炮射导弹的外弹道运动学方程和动力学方程;以“芦笛”炮射导弹为参考模型,对导弹进行总体结构设计,并进行三维建模;并用Missile Datcom软件... 在激光驾束炮射导弹外弹道半实物仿真,以装备模拟器为核心的军事仿真训练系统的研究背景下,建立炮射导弹的外弹道运动学方程和动力学方程;以“芦笛”炮射导弹为参考模型,对导弹进行总体结构设计,并进行三维建模;并用Missile Datcom软件编程对炮射导弹的气动力系数和气动力矩系数进行计算;最后运用MATLAB软件建立炮射导弹的仿真模型,通过函数提取气动特性计算得到炮射导弹在打击目标时外弹道及飞行姿态随时间变化的曲线,并对其进行分析,实现在三维空间下运用三点法对任意运动目标进行精准打击。 展开更多
关键词 炮射导弹 三维空间 结构设计 气动特性 三点法 弹道仿真
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基于巡飞弹全设计周期的弹载锂原电池应用研究
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作者 冯文韬 张彬 +2 位作者 李欢丽 李倩 黄超凡 《电源技术》 CAS 北大核心 2024年第6期1142-1146,共5页
作为中小型电动力巡飞弹的主要能量来源,弹载锂原电池是确保巡飞弹稳定作战和性能提升的关键因素。基于上述背景,将弹载锂原电池特性与巡飞弹全设计周期相结合,开展了基于巡飞弹全设计周期的弹载锂原电池应用研究。介绍了典型巡飞弹全... 作为中小型电动力巡飞弹的主要能量来源,弹载锂原电池是确保巡飞弹稳定作战和性能提升的关键因素。基于上述背景,将弹载锂原电池特性与巡飞弹全设计周期相结合,开展了基于巡飞弹全设计周期的弹载锂原电池应用研究。介绍了典型巡飞弹全设计周期及应用工况;在此基础上,分析了弹载锂原电池在巡飞弹方案设计、装配阶段、试验阶段等环节的应用特性及应用方法,以期为相关研究和工程设计提供参考和借鉴。 展开更多
关键词 巡飞弹 锂原电池 应用研究 全设计周期
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导弹大离轴角发射导引律优化设计
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作者 李瑞康 陈淼 钟永建 《航天控制》 CSCD 2024年第1期58-64,共7页
对中远距空空导弹大离轴角发射导引规律进行了研究。导弹在转弯阶段采用BTT控制模式,分析了实现快速转弯的机理及要求,研究了实现快速转弯的最佳升力面,确定了导弹滚转控制指令,建立了导弹转弯动力学模型,利用剩余转弯角度关系,设计攻... 对中远距空空导弹大离轴角发射导引规律进行了研究。导弹在转弯阶段采用BTT控制模式,分析了实现快速转弯的机理及要求,研究了实现快速转弯的最佳升力面,确定了导弹滚转控制指令,建立了导弹转弯动力学模型,利用剩余转弯角度关系,设计攻角控制指令;提出旋转坐标系方法对滚转控制指令进行了优化,解决了指令跳变问题,实现了转弯过程最小滚转偏差控制,利用最佳升力面法向矢量投影关系,进一步判定攻角指令控制逻辑,实现与最小滚转偏差控制指令的匹配。最后通过数字仿真验证了设计方法的正确性和有效性。 展开更多
关键词 中远距空空导弹 大离轴角发射 导引律设计 快速转弯
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某系列化导弹试训多任务模拟设备设计与实现
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作者 单时卓 《计算机测量与控制》 2024年第1期127-132,149,共7页
为构建内外场虚实结合试训环境,提升导弹装备试验鉴定水平和部队防空反导训练效果,设计研制了某系列化导弹试训多任务模拟设备,创新提出了兼容系列化弹型、兼容不同工作模式、多通道相互独立、检测与故障定位的设计方案,综合采用嵌入式... 为构建内外场虚实结合试训环境,提升导弹装备试验鉴定水平和部队防空反导训练效果,设计研制了某系列化导弹试训多任务模拟设备,创新提出了兼容系列化弹型、兼容不同工作模式、多通道相互独立、检测与故障定位的设计方案,综合采用嵌入式微系统电路设计技术、基于ARM+FPGA的多功能软硬件集成方法、PHM实时管理技术、数字采集与识别技术,实现了导弹模拟设备多功能、多用途的试验与训练保障能力,解决了现有常规导弹模拟器模拟武器型号单一、状态单一、数量单一的技术问题,成功应用于导弹装备试验鉴定与部队训练演练中,成果经验可推广设计研制其他系列化导弹模拟设备;文章详细介绍了该设备的总体方案、系统功能、关键技术设计、软硬件设计以及实验结果分析等内容。 展开更多
关键词 某系列化导弹 试训多任务 模拟设备 设计与实现 试验与训练
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