Accurate navigation is important for long-range rocket projectile＇s precise striking. To obtain stable and high-per- formance navigation result, a ultra-tight global positioning system/inertial navigation system （GP...Accurate navigation is important for long-range rocket projectile＇s precise striking. To obtain stable and high-per- formance navigation result, a ultra-tight global positioning system/inertial navigation system （GPS/INS） integration based nav- igation approach is proposed. The accurate short-time output of INS is used by GPS receiver to assist in acquisition of signal, and output information of INS and GPS is fused based on federated filter. Meanwhile, the improved cubature Kalman filter with strong tracking ability is chosen to serve as the local filter, and then the federated filter is enhanced based on vector sharing theory. Finally, simulation results show that the navigation accuracy with the proposed method is higher than that with traditional methods. It provides reference for long-range rocket projectile navigation.展开更多
By analyzing the deficiencies of the method, a measurement system with the technologies of photoelectricity, laser and digital image processing to synthetically measure these two parameters has been developed. A tradi...By analyzing the deficiencies of the method, a measurement system with the technologies of photoelectricity, laser and digital image processing to synthetically measure these two parameters has been developed. A traditional method to measure the swaying quantity and multi-barrel parallelism of rocket launcher is introduced. Meanwhile, the principle, executive plan and the accuracy analysis are also presented. The photoelectric measurement system has been applied in the swaying quantity and multi-barrel parallelism measurement for Φ122 mm and Φ302 mm rocket launcher. The metrical errors are both 16^th.展开更多
A scheme is proposed,of that the axis of directional barrel is simulated by a laser beam and an electro-optical axial angle encoder is using to measure the swaying of rocket launcher or artillery. The measuring princi...A scheme is proposed,of that the axis of directional barrel is simulated by a laser beam and an electro-optical axial angle encoder is using to measure the swaying of rocket launcher or artillery. The measuring principle is stated,and an electro-optical measuring system is designed,including automatic force-applying device,angle-measurement device and photodetecting screen. The measurement accuracy of the system is analyzed. The measuring error of system is less then 17.3″(0.08 mil).展开更多
The dynamics of a coupled rigid-flexible rocket launcher is reported. The coupled rigid-flexible rocket launcher is divided into two subsystems, one is a system of rigid bodies, the other a flexible launch tube which ...The dynamics of a coupled rigid-flexible rocket launcher is reported. The coupled rigid-flexible rocket launcher is divided into two subsystems, one is a system of rigid bodies, the other a flexible launch tube which can undergo large overall motions spatially. First, the mathematical models for these two subsystems were established respectively. Then the dynamic model for the whole system was obtained by considering the coupling effect between these two subsystems. The approach, which divides a complex system into several simple subsystems first and then obtains the dynamic model for the whole system via combining the existing dynamic models for simple subsystems, can make the modeling procedure efficient and convenient.展开更多
An adaptive backstepping sliding mode control approach is introduced to control the pitch motion of a rocket launcher. Its control law is proposed to guarantee that the control system is ultimately bounded in a Lyapun...An adaptive backstepping sliding mode control approach is introduced to control the pitch motion of a rocket launcher. Its control law is proposed to guarantee that the control system is ultimately bounded in a Lyapunov sense and make the servo system track the instruction of reference position globally and asymptotically. In addition, the sliding mode control can restrain the effects of parameter uncertainties and external disturbance. The functions of adaptive mechanism and sliding mode control are analyzed through the simulation in the different conditions.The simulation results illustrate that the method is applicable and robust.展开更多
The transmission mechanism of a jack is required to support the combat vehicle reliably within a very short time. So reliability research is very important because the mechanism completes motions required under the co...The transmission mechanism of a jack is required to support the combat vehicle reliably within a very short time. So reliability research is very important because the mechanism completes motions required under the conditions within limited time. If the transmission mechanism of the jack supports the rocket launcher steadily, it needs to go through several stages as follows ： unlocking, starting, operating, braking, stopping, fixing position and locking. The transmission mechanism of the jack is a complicated and single degree of freedom mechanical system; it can be considered an imaginary mechanical model that has an equivalent moment of inertia and equivalent torque. According to the characteristics of each supporting stages, dynamics equations of the mechanism are established. At the stages of starting and operating, a driving moment and resistance moment are dealt with for a Normal distribution. The design principles for movement reliability of completing action are established and the design principles for time reliability of completing action within a limited time are established. Finally, movement reliability of the transmission mechanism of the jack is 0. 9 852, according to our calculation. Reliability of time to complete action is 0. 9 943.展开更多
The active control theory and methods of initial disturbances for rockets and missiles are investigated. The rocket or missile/launcher is simplified as a flexible beam excited by a moving varying velocity rigid body ...The active control theory and methods of initial disturbances for rockets and missiles are investigated. The rocket or missile/launcher is simplified as a flexible beam excited by a moving varying velocity rigid body which has two points in contact with the beam. The control force is applied at the supporting point on the beam. Active control strategies based on optimal control theory are proposed and computer simulation is carried out. Simulation results are consistent with the theoretical results, and show that the active control strategies proposed can accomplish the purpose to control the initial disturbances actively. The results show that active control of initial disturbances for rockets and missiles is feasible for application.展开更多
In the range of the rockets/launcher system itself, the dynamic equations for rocket and directional tube during semi-constraint period have been constructed by using Newton-Ether method. Considering the interaction o...In the range of the rockets/launcher system itself, the dynamic equations for rocket and directional tube during semi-constraint period have been constructed by using Newton-Ether method. Considering the interaction of rockets and directional tubes when clearances exist, the method of estimating initial disturbances for the rocket by using vibration data of the directional tube has been given. The estimated results have been compared with the simulation results computed by the dynamic simulating software ADAMS. Results computed by the two methods are basically consistent and the computing errors do not increase with the variation of the clearance. The validity of the proposed method has been proved.展开更多
With the improvement of the accuracy of the inertial system,the influence of the disturbing gravity field on the accuracy of long-range rocket has become increasingly prominent.However,in actual engineering,there are ...With the improvement of the accuracy of the inertial system,the influence of the disturbing gravity field on the accuracy of long-range rocket has become increasingly prominent.However,in actual engineering,there are problems of low accuracy and being time-consuming for disturbing gravity field compensation.In view of this,this paper proposes a set of online comprehensive solutions combining disturbing gravity reconstruction and stellar correction.According to the pre-launch binding parameters,the net function assignment method is used in the navigation system to calculate disturbing gravity in the boost phase online.In the guidance system,a closed-loop guidance online compensation method is proposed based on the state-space perturbation method for the disturbing gravity in the coast phase.At the same time,the vertical deflection can also be corrected by stellar guidance.The calculation results are simulated and verified under different circumstances.Simulation results show that the proposed online compensation algorithm has an accuracy improvement compared with the element compensation algorithm on ground.And the stellar guidance algorithm can further correct the impact deviation.The impact deviation after comprehensive compensation does not exceed 50 m,and the compensation percentage is greater than 65%.展开更多
基金Project Funded by Chongqing Changjiang Electrical Appliances Industries Group Co.,Ltd
文摘Accurate navigation is important for long-range rocket projectile＇s precise striking. To obtain stable and high-per- formance navigation result, a ultra-tight global positioning system/inertial navigation system （GPS/INS） integration based nav- igation approach is proposed. The accurate short-time output of INS is used by GPS receiver to assist in acquisition of signal, and output information of INS and GPS is fused based on federated filter. Meanwhile, the improved cubature Kalman filter with strong tracking ability is chosen to serve as the local filter, and then the federated filter is enhanced based on vector sharing theory. Finally, simulation results show that the navigation accuracy with the proposed method is higher than that with traditional methods. It provides reference for long-range rocket projectile navigation.
文摘By analyzing the deficiencies of the method, a measurement system with the technologies of photoelectricity, laser and digital image processing to synthetically measure these two parameters has been developed. A traditional method to measure the swaying quantity and multi-barrel parallelism of rocket launcher is introduced. Meanwhile, the principle, executive plan and the accuracy analysis are also presented. The photoelectric measurement system has been applied in the swaying quantity and multi-barrel parallelism measurement for Φ122 mm and Φ302 mm rocket launcher. The metrical errors are both 16^th.
文摘A scheme is proposed,of that the axis of directional barrel is simulated by a laser beam and an electro-optical axial angle encoder is using to measure the swaying of rocket launcher or artillery. The measuring principle is stated,and an electro-optical measuring system is designed,including automatic force-applying device,angle-measurement device and photodetecting screen. The measurement accuracy of the system is analyzed. The measuring error of system is less then 17.3″(0.08 mil).
文摘The dynamics of a coupled rigid-flexible rocket launcher is reported. The coupled rigid-flexible rocket launcher is divided into two subsystems, one is a system of rigid bodies, the other a flexible launch tube which can undergo large overall motions spatially. First, the mathematical models for these two subsystems were established respectively. Then the dynamic model for the whole system was obtained by considering the coupling effect between these two subsystems. The approach, which divides a complex system into several simple subsystems first and then obtains the dynamic model for the whole system via combining the existing dynamic models for simple subsystems, can make the modeling procedure efficient and convenient.
基金Sponsored by the National Ministries Foundation(A2620061288)
文摘An adaptive backstepping sliding mode control approach is introduced to control the pitch motion of a rocket launcher. Its control law is proposed to guarantee that the control system is ultimately bounded in a Lyapunov sense and make the servo system track the instruction of reference position globally and asymptotically. In addition, the sliding mode control can restrain the effects of parameter uncertainties and external disturbance. The functions of adaptive mechanism and sliding mode control are analyzed through the simulation in the different conditions.The simulation results illustrate that the method is applicable and robust.
文摘The transmission mechanism of a jack is required to support the combat vehicle reliably within a very short time. So reliability research is very important because the mechanism completes motions required under the conditions within limited time. If the transmission mechanism of the jack supports the rocket launcher steadily, it needs to go through several stages as follows ： unlocking, starting, operating, braking, stopping, fixing position and locking. The transmission mechanism of the jack is a complicated and single degree of freedom mechanical system; it can be considered an imaginary mechanical model that has an equivalent moment of inertia and equivalent torque. According to the characteristics of each supporting stages, dynamics equations of the mechanism are established. At the stages of starting and operating, a driving moment and resistance moment are dealt with for a Normal distribution. The design principles for movement reliability of completing action are established and the design principles for time reliability of completing action within a limited time are established. Finally, movement reliability of the transmission mechanism of the jack is 0. 9 852, according to our calculation. Reliability of time to complete action is 0. 9 943.
文摘The active control theory and methods of initial disturbances for rockets and missiles are investigated. The rocket or missile/launcher is simplified as a flexible beam excited by a moving varying velocity rigid body which has two points in contact with the beam. The control force is applied at the supporting point on the beam. Active control strategies based on optimal control theory are proposed and computer simulation is carried out. Simulation results are consistent with the theoretical results, and show that the active control strategies proposed can accomplish the purpose to control the initial disturbances actively. The results show that active control of initial disturbances for rockets and missiles is feasible for application.
文摘In the range of the rockets/launcher system itself, the dynamic equations for rocket and directional tube during semi-constraint period have been constructed by using Newton-Ether method. Considering the interaction of rockets and directional tubes when clearances exist, the method of estimating initial disturbances for the rocket by using vibration data of the directional tube has been given. The estimated results have been compared with the simulation results computed by the dynamic simulating software ADAMS. Results computed by the two methods are basically consistent and the computing errors do not increase with the variation of the clearance. The validity of the proposed method has been proved.
基金supported by National Basic Research Program of China(No.613222)。
文摘With the improvement of the accuracy of the inertial system,the influence of the disturbing gravity field on the accuracy of long-range rocket has become increasingly prominent.However,in actual engineering,there are problems of low accuracy and being time-consuming for disturbing gravity field compensation.In view of this,this paper proposes a set of online comprehensive solutions combining disturbing gravity reconstruction and stellar correction.According to the pre-launch binding parameters,the net function assignment method is used in the navigation system to calculate disturbing gravity in the boost phase online.In the guidance system,a closed-loop guidance online compensation method is proposed based on the state-space perturbation method for the disturbing gravity in the coast phase.At the same time,the vertical deflection can also be corrected by stellar guidance.The calculation results are simulated and verified under different circumstances.Simulation results show that the proposed online compensation algorithm has an accuracy improvement compared with the element compensation algorithm on ground.And the stellar guidance algorithm can further correct the impact deviation.The impact deviation after comprehensive compensation does not exceed 50 m,and the compensation percentage is greater than 65%.
