弹道跟踪镜技术研究
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摘要
在兵器研究过程中,爆炸、燃烧、穿甲、外弹道飞行姿态等的研究都离不开高速摄影,它已成为兵器靶场测试领域不可缺少的重要手段。采用高速摄影设备、同步摄影装备对弹丸在外弹道段的飞行姿态和速度进行跟踪和分析一直是研究的热点内容。本论文针对外弹道弹丸影像的连续记录技术,研究采用平面转镜配合CCD高速相机构成的弹道同步跟踪镜系统,实现飞行弹丸影像在一段弹道上的连续记录。
文中推导了跟踪转镜的数学模型,对弹道跟踪镜系统的总体方案、组成结构、工作原理进行了研究,计算和设计了转镜系统关键参数,主要有元器件的摆放位置、转镜扫描速率的计算、可跟踪速度的最大离散间隔计算和天幕靶到起始跟踪位置的最优计算等。并利用MATLAB软件对转镜的扫描速率曲线进行了仿真演算,验证了转镜速度、位置与被跟踪目标的运动学关系。
系统采用伺服电机控制系统驱动转镜对弹丸进行实时跟踪,选取步进电机,采用PI方式实施控制,能够实现高精度、高动态性能、大范围调速及定位控制,且鲁棒性好,因此能够满足系统所需高控制精度和高可靠性的要求。
利用SIMULINK软件建立跟踪镜系统电机的仿真控制模型,分析了电机的跟踪性能,分别在理想与带动负载的状态下,对电机的实时响应能力和跟踪能力做了对比曲线。通过光电扫描的照相方法,验证了所设计弹道同步跟踪反射转镜系统是可行的。在高速CCD相机帧频为38400fps或以上的条件试验,系统可达到的跟踪指标为：跟踪视场角的有效范围为90°,跟踪响应时间为毫秒级,弹丸飞行速度为1600m／s。
In the process of weapon research, explosion, combustion, and armor pierce, the flying attitude of the projectile in external ballistic needed to be measured by mean of the high-speed photography. It has become an indispensable means in the field of weapon range test. Using the high-speed photography equipment and synchronized photography equipment carries on the track and the analysis to the flying attitude and the speed in the exterior ballistics is one of the hottest spot in the research content. Aiming at photography continuous record technology of exterior ballistic, the synchronous tracking reflector system that made up of the reflector and high-speed CCD camera is studied, and the flight projectile trajectory on the video in a continuous record is achieved in this thesis.
In present thesis, a mathematical model of track rotating mirror is established, the overall program, the structure and the working principle of reflector vehicle tracking system are investigated in detail. The key parameters of the reflector is calculated such as the location parameters of electronic components, scan rate of reflector, the most discrete intermission of tracking speed and the initiative tracing position. At last, the kinematics relationship between the rotating mirror speed and the position has been obtained.
The servo motor-driven rotating mirror control system was used for real-time tracking of the projectile. The permanent magnet synchronous motor was chose and the PI control method was adopted. The system can achieve high precision, high dynamic performance, a wide speed range of positioning control and have a well robustness. Therefore, the system meets the high control precision and high reliability requirements.
The motor emulational control model of the synchronous tracking reflector system is established by the SIMULINK. The tracking capability is analyzed, the curve of motor real-time response and tracking ability in the ideal and load condition is compared. Through the method of optoelectronic scanning photography, the ballistics synchronous tracking system has been verified. In the condition of high-speed CCD camera frame rate is 38400fps or more, the effective tracking range is 90°, the track response time is milliseconds level and the flight speed of projectile is 1600m/s.
文中推导了跟踪转镜的数学模型,对弹道跟踪镜系统的总体方案、组成结构、工作原理进行了研究,计算和设计了转镜系统关键参数,主要有元器件的摆放位置、转镜扫描速率的计算、可跟踪速度的最大离散间隔计算和天幕靶到起始跟踪位置的最优计算等。并利用MATLAB软件对转镜的扫描速率曲线进行了仿真演算,验证了转镜速度、位置与被跟踪目标的运动学关系。
系统采用伺服电机控制系统驱动转镜对弹丸进行实时跟踪,选取步进电机,采用PI方式实施控制,能够实现高精度、高动态性能、大范围调速及定位控制,且鲁棒性好,因此能够满足系统所需高控制精度和高可靠性的要求。
利用SIMULINK软件建立跟踪镜系统电机的仿真控制模型,分析了电机的跟踪性能,分别在理想与带动负载的状态下,对电机的实时响应能力和跟踪能力做了对比曲线。通过光电扫描的照相方法,验证了所设计弹道同步跟踪反射转镜系统是可行的。在高速CCD相机帧频为38400fps或以上的条件试验,系统可达到的跟踪指标为：跟踪视场角的有效范围为90°,跟踪响应时间为毫秒级,弹丸飞行速度为1600m／s。
In the process of weapon research, explosion, combustion, and armor pierce, the flying attitude of the projectile in external ballistic needed to be measured by mean of the high-speed photography. It has become an indispensable means in the field of weapon range test. Using the high-speed photography equipment and synchronized photography equipment carries on the track and the analysis to the flying attitude and the speed in the exterior ballistics is one of the hottest spot in the research content. Aiming at photography continuous record technology of exterior ballistic, the synchronous tracking reflector system that made up of the reflector and high-speed CCD camera is studied, and the flight projectile trajectory on the video in a continuous record is achieved in this thesis.
In present thesis, a mathematical model of track rotating mirror is established, the overall program, the structure and the working principle of reflector vehicle tracking system are investigated in detail. The key parameters of the reflector is calculated such as the location parameters of electronic components, scan rate of reflector, the most discrete intermission of tracking speed and the initiative tracing position. At last, the kinematics relationship between the rotating mirror speed and the position has been obtained.
The servo motor-driven rotating mirror control system was used for real-time tracking of the projectile. The permanent magnet synchronous motor was chose and the PI control method was adopted. The system can achieve high precision, high dynamic performance, a wide speed range of positioning control and have a well robustness. Therefore, the system meets the high control precision and high reliability requirements.
The motor emulational control model of the synchronous tracking reflector system is established by the SIMULINK. The tracking capability is analyzed, the curve of motor real-time response and tracking ability in the ideal and load condition is compared. Through the method of optoelectronic scanning photography, the ballistics synchronous tracking system has been verified. In the condition of high-speed CCD camera frame rate is 38400fps or more, the effective tracking range is 90°, the track response time is milliseconds level and the flight speed of projectile is 1600m/s.
引文
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