关于弹道板块

1.

JB变量

2.导引控制

q_old_y = atan((pos_Target[1] - y[8]) / (pos_Target[0] - y[7]));
q_old_z = atan((pos_Target[2] - y[9]) / (pos_Target[0] - y[7]));

if (flag4 == 1 && y[0] > T5)
{
q_new_y = atan((pos_Target[1] - y[8]) / (pos_Target[0] - y[7]));
q_new_z = atan((pos_Target[2] - y[9]) / (pos_Target[0] - y[7]));

 q_dot_y = (q_new_y - q_old_y) / h;
q_dot_z = (q_new_z - q_old_z) / h;

q_old_y = q_new_y;
q_old_z = q_new_z;
    }

if (flag4 == 1 && y[0]>T5)
{
dy[14] = y[15];
dy[15] = q_dot_y (4 / Km) ws * ws - 2 * ws * es * y[15] - ws * ws * y[14];

}


//侧向控制器 y[19]   偏航舵  y[17] y[18]   因为y,x不是套路出牌，所以是负的
if (flag4 == 1 && y[0]>T5)
{
    dy[17] = y[18];
    dy[18] = -q_dot_z *(10 / Km) * ws * ws - 2 * ws * es * y[18] - ws * ws * y[17];        
}

if (y[0] >= T2)       //开始控制滚转
{
    y[20] = -(-0.1*dy[12] - y[12]);   //delta_x      滚转舵增益为负！
}
    dy[20] = 0;

具体开始分析：
Km N 纵向弹体增益，导引系数
Ks ws es 舵机增益 舵机频率 舵机阻尼