DE1448305C - Self-adapting plug regulator. - Google Patents

Description

The invention relates to a self-adapting one Flight controller, where the between your actual flight attitude value and a calculated flight attitude target value existing deviation periodically continuously from the actual value measurement in the period under consideration and from the setpoint values contained in a memory in a first Calculator determined, and from the deviation and from the variable gain factor of the flight controller the manipulated variable is formed in a second computing device by multiplication.

It is known that the response of the aircraft when operating a rudder with a certain manipulated variable from the dynamic properties of the aircraft itself and also from external ones Disturbance variables, e.g. B. the atmospheric pressure and the airspeed is dependent. About the contact To keep the aircraft constant, it is necessary that the manipulated variable for actuation, for example of the rudder of the aircraft depending on changes in external disturbances and with regard to on the dynamic properties of the aircraft is generated. Such calculations lead Flight data computers, for the operation of which a large amount of data is necessary to the outer To record disturbance variables. In addition, a precise knowledge of the dynamic properties of the aircraft is essential necessary. Nevertheless, the results determined by the flight data computers can only be approximate values its accuracy with increasing aircraft speed by changing the external disturbances decreases very strongly.

This is particularly the case with missiles and missiles too, in which the disturbance variables as a result of the high speeds and distances covered are very high are very different. The flight of a rocket closes the earth's atmosphere and the vacuum, very high accelerations as well as the complete absence of an acceleration. About it in addition, the static behavior of rockets or spaceships in flight is outside the atmosphere not stable. In addition to the high speeds and long flight routes, there is also the re-entry into the earth's atmosphere, which should be done with great accuracy, and the need to steer the spaceship by hand with small and large acceleration values. The known Flight controllers are not up to these tasks.

In this regard, self-adapting flight controllers are now known (Control Engineering, March 195 '), p. 22 to 24). Accordingly, it is known to supply the actual value representing the flight attitude to a model and from this to calculate an actual / target value deviation. A circuit is connected to the model, the purpose of which is to keep the actual / target value deviation to a minimum. By doing The model stores the dynamic characteristics of the aircraft. It is also known the Change the manipulated variable by changing the gain factor. The disadvantage of this flight controller is ordered in the fact that only existing current deviations are to be corrected.

There is also an automatically operating device known (US Pat. No. 2,829,322) to reduce the dead time control of control devices, d. H. the time between the initiation of a correction process and sensing the effect of this corrective action elapses. There is also a control device known (U.S. Patent 2842311) to Zu

to regulate standing variables, these facilities in parallel to the process to be controlled with a Working model. This control device has a computer, the separate output sections for has a minimum output signal, the setpoint signal, and a maximum signal. After all, it is an optimizing one Control unit known (U.S. Patent 2972447). in which several automatically resetting timers, polarized relay and a blocking relay is used. The time sequence of the control steps is regulated by another control unit. After a certain time delay, see the regulated in tier To stabilize the system canoe, the sequence of control processes begins again at step 1. The entire The sequence of steps is repeated -> o periodically.

In contrast, the tier invention is based lying task is to train the control device so that a precalculation is carried out, the Provides information about the future behavior of the aircraft. Furthermore, the establishment of a large number of disturbance variables and flight data as well as the precise consideration of the dynamic properties ties to be controlled missile are omitted, thereby simplifying the very complicated Flight data calculator and a higher accuracy should be achieved.

With the device of the type described above, this object is achieved in that an actual-target value deviation E _{n M} for the next following period t " _{M is} precalculated from the actual value measurement in the observed period t" and the stored target value data under the assumption is that in the meantime no adjusting process has taken place, and that the manipulated variable 1 A '"for the period i" under consideration by multiplying the pre-calculated actual-target value deviation E ₁ , _hl with the gain factor Kit calculated during the previous period i " ,, .. ι is formed, and that the gain factor Kd _n for the formation of the manipulated variable IX _{11 + 1} in the next following period t " _n from the quotient of the manipulated variable in the previous period IY ,,., and the difference between the actual Target value deviation E _n in the period under consideration and the actual target value deviation E _n calculated in advance in the previous period is determined.

It is therefore unnecessary for the external disturbance variables to be constantly measured and calculated. Through this many known difficulties and inaccuracies are eliminated.

Furthermore, it is superfluous to define the dynamic properties of the aircraft to be controlled to be determined with accuracy, since the calculated according to the requirements Manipulated variable is directly dependent on the manipulated variable in the previous period. This is increases accuracy and simplifies setup. It is also advantageous that the duration of each period is not constant, but rather different, since the duration of each period depends on the Device itself is determined, which only supplies a manipulated variable if certain criteria are met are. Especially at high airspeeds, the pre-calculation of the Isl target value deviation is important Determination of the manipulated variables is a great advantage.

As already mentioned, in a certain period, namely the period under consideration, in the case of the invention the manipulated variable acting on the missile of

I 448 305

derived from the manipulated variable brought into effect in the previous period. The manipulated variable LV ₁₁ for the point in time of the period under consideration is obtained from the multiplication of the actual / target value deviation E _n n for the next following period f _hl by the gain factor KiI _n . ., for the previous period r "_, formed. This expresses the following equation- _

IA ',, = /:' „ _rl · KiI _n -I ■

The gain factor for the period under consideration ("is equal to the quotient of the manipulated variable IA ,, ι for the previous periodj ,,, and the difference between the actual-target value deviations E ₁₁ in the previous period /". Ι and the actual target -Value deviation E ₁ , in the considered period i ". The following equation therefore applies:

Kd _n = J ^A "* ⁷ '■

An exemplary embodiment of the invention is shown below explained in more detail with reference to the drawing. It shows

I 'ι g I a BL ^ circuit diagram of the entire flight control circuit.

Fig. 2 is a block diagram of the in Fig. I with (0 designated self-adapting controller.

FIG. 3 is a circuit diagram of the controller according to FIG.

Ii g. 4 is a timing diagram of the programming unit according to FIGS. 2 and 3.

5 is a table showing, as an example, gain values shows different stages of the digital * 'counting device and the associated gates.

FIG. 6 shows a partial diagram of the animal in FIG. 2 and 3 gate circuit designated as block 19.

In Fig. List the airframe symbolically shown as block 7, it being assumed that the behavior or the inclination of the cell 7 is around one of its main axes is to be regulated. The regulation can also be carried out on two or all three axes instead, devices similar to those to be described are then used for these axes and some of the sub-units for the two or three axes are shared be able.

The cell carries a top 7f. which measures the changes in behavior around the pitch axis and emits an electrical signal \ H which represents the change in the longitudinal inclination angle of the cell around the axis within one period. Using the manually operated control device 7, / can do this. Signal \ (-> for the deviation in the angular position can be introduced by hand if desired in order to cause a desired change in position.

A speed index Ib carried by the cell measures the angular speed of the position _: change about the selected axis. This speed, which determines the response of the aircraft to the control command transmitted during a previous period, is denoted by (->.

A command signal (-> _c is transmitted to a model 8, which generates a signal (->, " that represents the desired speed of the change in position according to the setpoints stored in the model 8, in particular according to a desired natural response frequency. And a desired damping factor The model 8 can be an analog computer known per se, which simulates the desired values of the natural frequency and the attenuation.

Thus tlas represents the Signa! W _{111 represents} the value that corresponds to the speed of the change in position of the cell if it is assumed that the peculiar dynamic operating characteristic of the cell has the prescribed values (although this assumption is not necessarily true) and if it is assumed that the external factors, such as e.g. . B. the altitude, the airspeed and the acceleration have constant values (although this assumption is not truell · .;).

The two signals for the change in status, namely the actual value (■ ') and the setpoint value W ₁₁₁ . are both transmitted to a prediction unit '), which derives two further signals by means of generally known automatic computing processes, namely the actual / target value deviation E _n . which ile sub

> o differentiates between the actual value and the nominal value of the aircraft in the period under consideration If ₁₁ ) represents and the pre-calculated actual-nominal value deviation £ "n, which represents the difference, which under the prerequisite that in tier intermediate

At the time no setting process has been transferred to the cell. occurs in the next period (/; _lH ) between the still value and the actual value.

The two signals are then transmitted to a self-adapting controller 10. By multiplying the actual / target value deviation E ₁ , _M by a variable gain factor Kj, the value of which was calculated in the previous period, the controller develops. a signal I .V ₁₁ for the manipulated variable. This signal, tlas z. B. has the form of an electrical voltage. is transmitted to a servomotor 7, to which in this case a servo speed servo is assigned, which is effective on the corresponding rudder (or the beam deflector) of the aircraft. Each manipulated variable I .V _{1 is} added to the previous manipulated variable. m> that the sum Λ 'I X _x arises, which leads to a certain Uiiiler deflection> \ _v .

The controller 10 also uses the difference between the actual-soli-value deviation / ·. '"And the actual-target value deviation /:" calculated in advance in the previous period f ". to calculate a new value of the factor K _d , so that the product of the new gain factor and the difference is equal to the previous manipulated variable 1.V ₁₁ -. Which

s "carried over during the previous period would. In this way, the gain factor in the jetler period is dependent on the response of the Corrected to the correcting size. woe during the previous period was carried over,

so the rate of change of the flight attitude to reverberate at a prescribed value, which is essentially due to the presetting of the model 8 and not through the cell's own dynamic operating characteristic and which are highly variable

ι «'external conditions is determined.

The theory of this mode of operation is made understandable through a mathematical analysis.

During a period f which is the η-th sampling instant begins and in the next or

^h .s (; i ι-1) -th sampling instant ends (f "<f < I _{n rl} ), tier Rudcranschlay <\ _Y remains at a constant value, tier equal to the sum of the previously transmitted manipulated variable growth rates, ie equal to {! ' 1.Y) ₁₁ , is

Hence it is during a period of time

'"+,"< I < '"+", +1
the constant value <\., equal

/.■li-l) _ ρ, \ / ι y »

i-Il.

where "m" in turn denotes the total number of periods, the upper designation "/" represents a variable from 1 to the y-th derivative and L ₁ equals l '(f " _{+ m} - f" i. ", - j) . If in a period; ,,

E = -4,

is required. where "" 1 "again denotes the total number of periods," 1 "denotes a variable from 1 to y," v "is less than or equal to ρ + 1. "/>" Is the order of magnitude of the differential equation of the system and .4, a constant variable. then equation (2) for the required quantities (IX) _n . (IX) _{n + 1} ... (IX) " _{+ m} -, solved. To explain this solution, reference is made to a simple dynamic system whose La Place-

Transition function _ _ the initial rest

I ₁ Λ ■ + ■ 1

represents state.

It is assumed that the response is A. Then the transition function zero applies to maintain equation (3) takes the form:

U-IX) _{n +} ,,, = [ZAX) _n

where "/" is a variable with a value between 1 and / n. "" I "is the total number of periods, and (IA ')" _{+) is} an incremental quantity. which is added to the sum (Σ ΙΚ) _{π4 /} · _, at the point in time l “ _{+ j} .

The following equations can be simplified by making a distinction between system errors at the point in time i " _{+ m} with and without an additional variable (IX) after the point in time f". With additional size (1 X) system errors and their derivatives with £ """" £ "'+" ■ · E _n + _m ^an d _n without additional size Fj ₁ ⁰ I. F _n ¹ J _n, ... F _{n +} ¹ _m denotes where "/ 1" denotes the total number of periods, the upper denotation "y" denotes the _ \ - th derivative and £ "" equals £. U, is a unit of measurement for the total response of the cell with respect to a total input variable (IA) _1. If in a period r "for a cell, which can be represented by a series of linear differential equations, the deviations F _n4 ,,,. F _n ¹ J _1n ... F" ₊ '", Are calculated in advance, then the following general equation applies:

Since; i = 0, / H = I, / = 1, / = 1, E ₁ "" = Ai and F ₁ "" = 0. will

(IX) ,, = --4L ₁ -. 1 - e ' ¹ '

Assume that the system is to maintain the response from an equilibrium position for a period "i" which is equal to two sampling periods 2 T with / ₀ = 0. then equation (3) reads:

A _x = 0 + (IX) ₀ L /, + (IX) ₁ [/ ,; (8th)

0 = 0 + (IX) ₀ L ⁷ J "+ (IX) ₁ U _1. (9)

Since η = 0, / η = 2. £, '"» = A _1. F ₁ '"= 0, F ₁ ""= 0 and F ₁ ¹ " = 0

and

(IX) (i - "'y ~ 1 -C ¹ ''

-7

(IX) ₁ = ^{A - x} - '-.
1 -e ^T <

(10)

(M)

The solution requires that the normal response behavior, the pre-calculated and the considered actual-target value deviation as well as their derivatives for the period "f" are known, where "f" is equal to a single sampling period Γ and two sampling periods 2T .

The amounts for the total speech behavior of the system and the derivatives L ',. L | ". U _1. L'J" etc. can be determined in the following manner. Let it be assumed that at the point in time 7 "_, a set of _{incremental quantities (IX) n +} ,,,., Are calculated

should, where the value "/ '" due to unadjusted values of L'J'"" is from ί to m and "/" is a variable between 1 and y and the value "7" is between 1 and hi. At the point in time f ", the deviation and its derivatives E _n . £ "" etc.

measured. The correct values of the overall response behavior the plant and its descendants must be given by

L ₁ "" =

Ii-Il _ C-Ii-Il

H 'Il

(12)

- / τ
j = 1 - e ^T <

-JT

idi ~~ γ ^c

where "1" is again a variable derivative from I to y and (IX) _n -! is not zero. Using equation (12) at the time ^(<0 point i " _{+ m)} , the entire response behavior is calculated as follows:

I Ii Il

Γ Ii-It _ f If -Il ■ "· - 1 f I Vl /" If-Il

_ ^ i ⁺ j "_ '" -m_7 / -' I ^ΙΛ '»11 * 111 - / ^L j _

where "7 '" is the sampling period and e is the base of the natural logarithm.

I am assuming that it is desired. There is a deviation at the least of each sampling period T, where "1" is again a variable derivative of I to r and "m" is between I and Λ / moves

The description focuses on the gradual reduction of only the deviation. If it were necessary to regulate the derivation of errors, then supplementary procedures similar to those to be dealt with would be used for the corresponding calculations. It should be noted that the precalculated deviation E _{n + 1} is derived from F _n , which is equal to E _n . As a result, all designations have now been recorded and mathematically derived, apart from the variable gain factor K _d . The gain factor K _d is set in the controller 10 in such a way that it prevents the change in the normal response behavior U _{1 of} the airframe as a result of changes in the flight conditions and can be calculated as follows:

Cl

Ul

(14)

where C is a constant which will be assumed to be -1 in the following discussion. Since £ ", E _n and (IA") "_! Are known when equations (12) and (14) are used, K _{d is} calculated as follows:

K _d = ^ ^X ^ f. (15)

and the desired gain factor K _d is achieved if at the point in time J _n

K _d (E _H - E _n ) =

(16)

It is now on the F i g. 2, in which the controller 10 consists of seven blocks, namely input and output scanners 12 and 14 for scanning and storing using capacitive storage devices, a logic circuit 13, a zero voltage measuring circuit 15. a gain computer 16. a program unit 18 and a gate 19. that can be switched to arithmetic or non-arithmetic. As shown in FIG. 4, the controller 10 has two operating modes A and B , each of which has a sequence of operations of approximately 30 milliseconds. The controller changes from one operating mode to the other every 100 milliseconds. The logic circuit 13 must satisfy two criteria in the last two intervals of an operating mode before the computer 16 operates in the following operating mode. The first criterion is met if the difference between the absolute value of the predicted deviation for the period under consideration and the following period minus the absolute value of the current deviation times the constant ί is greater than zero. This is given by E _{n + 1} | -; £ "| > 0 shown. This criterion makes the precalculated deviation E _{n + 1} valid by indicating a sufficient desired difference between the precalculated deviations Έ _η and E _{n + 1.}

The second criterion is met if the absolute value of the deviation E _{n + 1 is} less than the maximum permissible value and more than the permissible minimum value. This criterion is made by

t-rnux > I »'n + I'> E _min

shown. The second criterion is bilateral, in that for a value of E _{m (IJt} > | £ _{n + 1} the deviation /. "., Is below saturation and for a value of / ·. '".,> £, ", "There is a sufficient deviation to precisely calculate a new value for K _d . To meet both criteria, the absolute value of the deviations E _{n + 1} and / or E _{n should be} used.

The in the F i g. The controller 10 shown in FIGS. 3 and 4 generally provides a manipulated variable (AX) _n for the servo device, not shown. In operating mode A , a synchronization pulse SP passes from the program unit 18 to the input and output scanners

ίο 12 and 14 a synchronization interval / one that lasts from 0 to 10 milliseconds. During the interval SI , a memory Cl of the input scanner 12 is set up to the value of the deviation E _n and a further memory C 2 is set to the value of the precalculated '

neten deviation in the next period E _{n + 1} -charged. The precalculated deviation E _{n + 1} is also transferred to the computer 16, which was set during the previous mode of operation, multiplied by the existing gain factor K _d and transferred to the output scanner 14 as K _d E " _{+ i.} The signal K _d E " _{+ 1} is modified by ρ , which represents the fraction of the deviation to be corrected, and the resulting signal QK ^ _{n + 1} or (. 1 X) _n is stored in a memory C 5 in the output circuit 14. All of the recording of information in circuits 12 and 14 is accomplished by memories, which in the preferred embodiment are shown as capacitors. The controller 10 remains at a zero value from 10 to 11 milfi seconds until the program unit 18 begins a command transmission interval CTI , a command transmission pulse CTP being transmitted to the circuit 14.

From 11 to 13 milliseconds, the stored manipulated variable (AX) _n , which was transferred to the circuit 14 during the synchronization period SI, is transferred to the servo device Ta in response to the command transfer pulse and added to the previous manipulated variables in order to add the signal (IWX) _n form; the variable i) _ec represents the sum of the manipulated variables (ΣΑΧ) _η acting on the rudder. The interval CTl is the only period during both operating modes that must be kept as unchangeable as possible from one operating mode to the other.

This is necessary because the actuating speed servo is dependent on the value of each actuating variable (AX) _n and its transmission time.

The CTI interval ends at 13 milliseconds and the controller returns to the zero position.

At 16 milliseconds, a computing pulse CPI enters the circuits 12 and 14 from the program unit 18 and allows the gate 19 to initiate the computation interval CI. The circuit 12 now feeds _{the deviations Έ Η} and E _{n to} the computer 10, where they are added and multiplied by K _{d in} order to derive a signal K _d (E _n - £ _n ) which is transmitted to the zero voltage measuring circuit 15. At the same time, the circuit 14 transmits the quantity (IX) _n -! the previous operating mode according to 15,

where the signals K _d (E _n -E _n ) and (AX) _n -I are added. The gate 19, which was qualified during the intervals CCl ₁₁ and CCI _h of the calculation criteria, leads the calculation pulse CPl to the zero voltage measuring circuit 15 and the computer 16. Der

f> 5 Computer 16 has a counting circuit 63 (see Fig. 3) on. which is set by the calculation pulse CPl, and a delay circuit 64, the one delayed calculation pulse CP2 forms to a gate

009 625/178

72 to activate. The program unit 18 performs zoom simultaneously with the calculation pulse CPL pulse TP for setting the time at which the computer 63 Ziihlschaltung sixteenth The timing pulses TP are passed through the gate 72 to actuate the counting circuit 63 and to form the value K _d. If the value K _{d is} such that the sum of the signals K ₁₁ (E _n - E _n ) - (AX) _n ^ ₁ = 0, then generates 15 a stop pulse SCP which is transmitted to the computer 16 to the To keep value K _{d constant.} The stop pulse CSP is always generated before the expiry of 25 milliseconds, calculated from the start of such an operating mode, and ends the calculation interval C1.

After 25 milliseconds have elapsed, the program unit 18 initiates the first calculation criteria interval CCl ′ “ by transmitting the calculation criteria pulse CCPl to the circuit 12 and to the gate 19. In response to the pulse CCPl, the stage 12 adds the stored deviations E _{n + 1} and E _n , which are transmitted by themselves to the logic circuit 13 simultaneously with the transmission of the stored deviation E _n. The logic circuit 13 modifies the sum of the deviations E _{n +} i - E _n with the constant ΐ and derives the absolute value at the same time as der_Derivation of the absolute value of the deviation E _n . The two derived absolute signal values are added to form a signal L _d which is transmitted simultaneously with the calculation criterion pulse CCPI in order to partially activate the gate 19 only if the signal L _{d meets the calculation criterion}

Fulfills. ^ ^{1 + 1} ~ ^ "l ~ ^" i ^> °

At about 28 milliseconds, the program unit 18 ends the calculation criterion interval CCl ₁₁ and initiates a second calculation criterion interval CCI _h with a second calculation criterion pulse CCPl , which ends at 30 milliseconds by transmitting a calculation criterion pulse CCPI to the circuit 12 and the gate 19. In response to the pulse CCPl , the stored deviation £ “ _{+1 is transferred} from the circuit 12 to the logic circuit 13, where its absolute value £ is derived and compared with a maximum permissible value E,“ _ux and a minimum value B _min To form signals L ", [and L _m2. The signals L, _nl and L _ml are transmitted to the gate 19 simultaneously with the pulse CCP2. After the gate 19 has been partially activated by the signal L _d , it is fully activated if the ^ signals L _ml and L _{ml meet} the second criterion E, nax> | E _{n + 1} 1> £ “,,,, fulfill. The in the F i g. 4 pulses SP, CTP, CPl, CCPl and CCP2 control various diode gates that are listed below the time line in the associated operating intervals. Operating mode B is the same as operating mode A, except that memories are used alternately to generate TZ _{n + 1} in circuit 12 and 'JK _d E _nk . _x or (AX) _n to be stored in the circuit 14. <> o

In the controller shown in FIG. 3, the circuit 12 has lines 20 and 21 which receive the deviation E _n and the precalculated deviation E _{n + 1.} The line 20 has two series-connected diode gates Gl and Gl and ^ft 5 a capacitor or a storage device Cl, which are connected between the gates and to a point with the voltage zero.

The line 21 has a diode gate G 3 and two capacitors as memories C 2 and Ci , which are connected through the diode gates G4 and G5 to the output of the gate G3 and to a point with the voltage zero. The input of a diode gate G 6 is connected between the capacitor C2 and the gate G4, the output being connected to the output of a diode gate G 7, the input of which is connected between the capacitor C3 and the gate G5.

The logic circuit 13 is provided with two phase-insensitive demodulators 30 and 31 in order to derive the absolute sigmoid values transmitted thereon. The input of the demodulator 30 is connected to the output of the gate G3 with the line 21, and the input of the demodulator 31 is connected through a potentiometer 32 to the interconnected outputs of the gates G6 and G7. The potentiometer 32 provides a signal (E _{n + 1} - E _n ) I /; to the demodulator 31. The outputs of the demodulators 30 and 31 are connected to adding stages 33, the output of which is connected to the gate 19 in order to transmit the signals L _d. The output of the demodulator 30 is also connected to an adder 34 which is connected to a signal source 36 which generates the signal E _nmx , which represents the highest permissible value of the predicted deviation £ "+. Furthermore, there is a connection to an adder 35 which is connected to the signal source 37, which generates a signal £, "," which represents the minimum permissible value. The outputs of the adder 34 and 35 are connected to the gate 19 in order to transmit the signals L _ml and L _1n , respectively.

The input line 40 of the circuit 14 is connected to the computer 16 in order to receive a signal K ₁ , E _{n + [during the synchronization interval S /.} The output line 41 of this circuit is connected in such a way as to transmit the manipulated variable (LV) to the servo device Iu during the command transfer interval CTI. The input line 40 has a potentiometer 42 in order to form the signal " K _d £" _{+ 1} and is connected to the output line 41 by two diode gates G 8 and G 9 connected in series. Two capacitors C4 and C5 are connected to the connection between gates G8 and G9, which capacitors are also connected to a point with zero voltage through diode gates GIO and GU, respectively.

The connection between the gates G8 and G9 is also connected to the Nullspannungsmeßkreises 15 an adder 50 to form the manipulated variable (IV) _n _ during the computation interval Cl. The output of this adder stage is connected to the input of a diode gate G12, which is controlled by an FHp-flop circuit FF1, and the output of which is connected through an amplifier 51 to a flip-flop circuit FF2. All of the mentioned flip-flop circuits are bistable multivibrators provided with transistors and are identified by reference symbols provided with the prefix FF. The flip-flop circuit FF2 has two output lines 52 and 53 including FLC elements 56 and 57, the negative transmission diodes 58 and 59 being connected to the connections of the associated capacitors and resistors of the elements. The diodes 58 and 59 connect the lines 52 and 53 in parallel with the

Line 54 connected to the computer 16 and the reset connection the flip-flop circuit FFl is connected.

The zero voltage measuring circuit 15 generates a stop pulse SCP _% when the sum of the signals K _d (E _{n -E n} ) from the computer 16 and (IΛΓ) "_ _t from the circuit 14 is equal to zero. This is achieved in the following way: If a signal K ₁₁ (E _n - £ ") - (. LY) _n - is present at the input of the flip-flop circuit FFl , then one of the lines 52 or 53 is located on a positive and the other on a negative potential. The capacitors of members 56 and 57 pass a pulse when a DC voltage is applied to them, while each diode 58 and 59 only blocks positive pulses. If the signal transmitted to the input of the flip-flop circuit FF2 changes its polarity, then the potentials of the output lines 52 and 53 reverse, and the one line which changes from positive to negative transmits a negative stop pulse SCP to the Line 54 to reset the flip-flop circuit FFl and to stop the computer 16, which is described below.

The computer 16 has an adder 60 which is connected to an amplifier and receives signals from the lines 20 and 21 of the circuit 12. An output line 62 of the amplifier 61, which has two series-connected resistors R 1 and R 2 , is connected to the input line 40 of the circuit 14 and to the adder 50 of the zero voltage measuring circuit 15. Two resistors R 3 and R 4 are connected to the line 62 between the resistors R1 and R2 and through diode gates G13 or G! 4 connected to the voltage value zero. A resistor R 5 is connected between the resistor R 2 and the connection of the line 62 to the line 40 and the adder 50 as well as to the line 62 and through a diode gate G15 with the voltage value zero. In addition, a shunt resistor R 6 connects the resistor R 5 to the voltage value zero. The diode gate G13, G14 and G15 are controlled by the counter 63 and, together with the resistors Rl to R6 is a variable voltage divider network or a damping -15 for calculating the gain K. ₁₁

The counter 63 consists of cascade flip-flop circuits FF3, FF4, FF5, which control the diode gates G13, G14 and G15, in dependence on the time setting pulses TP during the computation interval C /. The flip-flop circuits FFi. FF4, FF5 are connected by lines 70 and 71 so that when flip-flop FF3 moves from 1 to 0, flip-flop FF4 is triggered and flip-flop FF5 is triggered, when the flip-flop circuit FF4 moves from 1 to 0. The counter 63 also comprises an AND gate 72, which is connected to the triggering of the flip-flop circuit FF3, and it lets pulses TP from the output line 80 of the program unit 18 through when this is due to a voltage from the output line 65 of a flip-flop circuit FF6 in the computer 16 is activated. An output line 90 from the gate 19 transfers the pulse CPI and deceleration network through a comparison ⁽⁾ 5 64 with the return connection of the flip-flop circuits FF3, FF4, FF5 the release compound of the flip-flop FFI and the trigger connection of the flip -Flop circuit FF6 connected. The pulse CP1 is transmitted to the delay network 64. At the low time it resets the flip-flop circuits FF3, FF4 and FF5 with the first time setting pulse which is transmitted to the AND gate 72. The delay network 64 transmits a delayed calculation pulse CP2 in response to the pulse CPl to trigger the flip-flop circuit FF6 and apply a voltage to the AND gate 72 after the first timing pulse TP has been blocked to ensure that the flip -Flop circuits FF3, FF-X and FF5 can be set before they are switched.

In order to change Kj, the transmission states of the gates G13, G14 and G15 are changed to predetermined patterns by the flip-flop circuits FF3, FF4 and FF5, respectively. The value K _d is 1,000 when the gates GI3, GI4 and G15 are not in the transmission state, since the flip-flop circuits FF3, FF4 and FF5 are in the zero position. This value gradually decreases over the values 0.616, 0.380, 0.232, 0.146, 0.089 and 0.055 to 0.000 when all three gates transmit, because all flip-fiop circuits are in position 1. This becomes clear when looking at FIG. 5, better understood, which shows a table of the gates G13, G14 and G15, as well as their associated flip-flop circuits FFX FF4 and FF5. If there is a 0 state, then the flip-flop circuit is "reset" and the associated gate does not transmit. Conversely, if a! State is given, the flip-flop circuit is "triggered" and allows the associated gate to transmit.

The program unit 18 is a pulse generator which, according to FIG. 4 through its output line 80 timing pulses TP to the AND gate 72, computation pulses CPl through its output line 81 to the gate 19, synchronization pulses SP, command transmission pulses CTP and computation criterion pulses CCPl and CCP2 to the various gates Gl to G8 through the lines 84, synchronization pulses SP, Command transmission pulses CTP and calculation pulses CP1 through output line 85 and calculation criterion pulses CCPl and CCP2 likewise to gate 19 through lines 82 and 83, respectively.

The F i g. 6 shows the gate 19 which initiates the arithmetic operation, has two AND gates 91 and 92, the outputs of which are connected to the setting side of the corresponding flip-flop circuits FF7 and FF8 and the corresponding outputs 94 and 95 in turn both with an AND -Gate 97 are connected. The reset sides of the flip-flop circuits FF7 and FF8 are connected to the line 81 via an RC element 98, whereby calculation pulses CPl are generated, the RC element 98 delaying the pulse CPl and transmitting the delayed pulse CP3. The line 81 is also connected to the AND gate 97. During the calculation criterion interval CCI ₁ , the signal L _d and the pulses CCPl are transmitted from the line 82, UTn to activate the AND gate 91, so as to transmit a pulse to the flip-flop circuit FF7 for setting the same and thus a Bring voltage to AND gate 97. During the calculation criterion interval CCI _h , the pulse CCP2 from the line 83 is sent to the AND gate 92

transmitted, which simultaneously receives the signals L _m2 and L _m and is activated by them. The activated gate 92 transmits a pulse for setting the flip-flop circuit FF8 and supplies the AND gate 97 with voltage. When a voltage is transmitted from the two flip-flow circuits FF1 and FFS , the AND gate 97 is activated in order to allow a computation pulse CP1 to pass through when this is transmitted to it through the line 81 during the computation interval CI . The arithmetic pulse C / 'I is simultaneously transmitted through the line 81 via the KC-Glicd 98 as a delayed pulse CF3 to the reset Füp-Flop circuits FF1 and / "/" 8.

If both flip-flop circuits FFl and FFS are not "set" by the activation signals L _d , L ₁₇₁ , and L _m2 , then gate 97 is not activated and no computing pulse CPl is transmitted through gate 19. However, the delayed calculation pulse CP3 resets either the flip-flop circuit FFl or FFS , which was previously set, via the element 98.

The automatically adapting controller, which is used in an aircraft, receives the change in position from the gyro 7c during the flight. from the hand control Id or from another point to a signal M ₁ . which is transferred to the model 8 in order to derive _{the setpoint M n.} The target value is added in the prediction device 9 to the actual value of the speed of change of position <■) , which is obtained from the speed gyro Ib in order to calculate the actual target value deviation E _n , which is fed to the controller IO via line 20. The prediction device 9 also uses the deviation E _{n in} order to calculate in advance the deviation E _{n λ} , which is fed to the controller 10 through the line 21.

At the beginning of each mode of operation .4 the program unit 18 delivers a synchronizing pulse SP. around the diode gate CJl. Gl and G4 in circuit 12 and gates G8 and (ill in circuit 14 to open. The synchronizing pulse SP initiates the synchronizing interval SI in the operating mode .4, which ends at 10 milliseconds. If the diode gate Gl is in the transmission state, The line 20 carries the deviation E _n in order to charge the capacitor Gl. If the diode gates G3 and G4 are in the conductive state, the deviation E _n . ,, is carried on the line 21 in order to charge the capacitor C2 and at the same time the The signal is transmitted to the adding stage 60 of the computer 16. The deviation E _{n + 1} is transmitted by the amplifier 61 from the adding stage 60 to the line 62 with its associated resistors Rl and Rb , where it _is multiplied by K d and transferred to the Line 40 of stage 14. Line 40 contains a potentiometer 42 for multiplying signal K ₁₁ T _{n + 1} by ο, the fraction of the deviation to be corrected, and when diode gates G8_and CiIl are in the conductive state, then η K _d E _{n + i} or <*> (.IX) _n charges the capacitor C5. At 10 milliseconds. the end of the synchronization interval SI. close the diode gate Eq. G 3. G4 and G8 and Eq. and the charged capacitors CI. C2 and C5 store the quantities E _n . E _{n + 1} or , _. K ₁ , E _n . , or < ^% 5

From M) bi> Il milliseconds, the Reder Kl is in dci zero. and the Proeraninieinhcit 18 transmits a Befehlsübcrtragungsimpuls CTP to open the diodes gate G9 and Gil and to initiate the command transmitting CTL which ends at 13 milliseconds. When the gates G9 and GIl are open, the stored variable ( _{ά ά} Έ _{η + χ} or (AX) _n is transmitted through the output line 41 to the servo device la , added to the previous manipulated variable, so that the entire manipulated variable (ΣAX) _n operated the rudder, the deflection for \. _{r is} equal to (Σ \ X) " . Cell 7 responds to the new StClIgTOBeUMX) _n , and gyros Ib and Ic supply the actual value signals (-) or .IM. The duration of the command transmission signal CTI from one operating mode to the other must be kept as invariable as possible, since the actuating speed-dependent servo device and its actuation respond to both the value and the duration of the manipulated variable (IX) _n .

The controller 10 is in the zero position from 13 to 16 milliseconds, and the program unit 18 transmits a computing pulse CPl to open the diode gates G2 and G5 in the circuit 12 and GIO in the circuit 14. The computing pulse CPl is transmitted to the gate 19 at the same time , which can be set to arithmetic or non-arithmetic and which was activated during the calculation criterion intervals CCI ₁ and CCI _{b of} the previous mode of operation to transmit the calculation pulse CPI through the line 90 to the zero voltage measuring circuit 15 and the computer 16 in order to initiate the calculation interval CI . The capacitor C3 was charged during the previous operation by the pre-calculated deviation L _n + : therefore the stored deviation in the current operation is E _n . When the gates G2 and G5 are open, the deviation E _n , which is stored in the capacitor Cl. and the predicted deviation E _n stored in capacitor C3. transferred to the adder 60 and added. The added signal E ₁₁ -E _n is put through the amplifier 61 on the line

62 with their associated resistors Rl to Rb transferred ^ where it is multiplied by K _11. The signal K ₁₁ (E _n - E _n ) is transmitted to the adder 50 of the zero voltage measuring circuit 15. When the gate 10 of the circuit 14 is open, the manipulated variable (IX) _{n of} the previous mode of operation, which is stored in the capacitor C 4 and is now equal to (IX) _n -. to ^ lie adder 50, where it is added to the signal K _d (E _n -_E ") to form the resulting signal K ₀ (E _n -E _n ) - (IX) _n -.

At the same time, the computing pulse CP1 passed by the gate 19 is sent to the reset fup-flop circuits FF3, FF4 and FF5 of the computer

63 and to the trigger flip-flop circuit FFI of the zero voltage measuring circuit 15 to open the gate G12. When the gate G12 is open. the signal K ₀ (E _n - £ ") - (IX) _n -, transmitted through the amplifier 51 to the Blip-FIop circuit FF2. The calculation pulse CPI transmitted by the program unit 18 through the line 81 to the gate 19 is also transmitted to the element 98, which supplies the delayed calculation pulse CP3 in order to reset the flip-flop circuits FF7 and FF8 and to cancel the activation of the gate 19. The line 90 also transmits the calculation pulse CP1 to the delay network 64, which supplies the delayed pulse CP2 in order to trigger the flip-flop circuit IF and the activation voltage

leads to the AND gate 72. If at 16 milliseconds the program unit 18 delivers the computation pulse CPl, it first delivers time setting pulses TP to the output line 80, which is closed by the AND gate 72 until this is dependent on the voltage from the flip-flop circuit FF6; is activated by the delayed pulse CP2. This delay prevents the flip-flop circuits FF 3, FF4 and FF5 from being triggered as a function of the time setting pulses TP before they are completely set by the computing pulse CP1.

The flip-flop circuit FF3 changes between 0 and 1 in response to the timing pulses TP transmitted through the activated AND gate 72 to its triggering device. The flip-flop circuit FF4 responds to the pulses on the line 70 when the flip-flop circuit FF3 moves from its 1 position to the 0 position; it is therefore dependent on every second timing pulse TP. Similarly, flip-flop FF5 responds to pulses from line 71 whenever flip-flop FF4 moves from its 1 position to its 0 position; it therefore responds to every fourth timing pulse TP . A change in the transmission state of the diode gates G13, G14 and · G15 by the flip-flop circuits FF3, FF4 and FF5 of the counter 63 changes the size of the value K _ä . which is generated by the voltage divider network of the computer 16. If the value K _{d is} such that the signal K _d (E _n - E _n ) - {1A ")" _, at the flip-flop circuit FF2 is equal to 0. Then the polarities of the flip-flop are reversed. . AusgangsleitupTCn 52 and 53 microns and the negative line with _their. accompanying network and its diode transmits a stop pulse SCP to the line 54 of the stop pulse SCP is used to reset the flipflop circuit FFI and disabling of the gate G12 and simultaneously. Resetting of the flip-flop circuit FF6 is transmitted in order to terminate the activation voltage transmitted to the AND gate 72. Then the time setting pulses TP are blocked by the program unit 18, and the computer 16 with its counting circuit 63 comes to an idle position Calculation interval C / is determined by the stop pulse SCP , which is always generated before the expiry of 25 milliseconds.

The controller 10 comes to a standstill as a function of the stop pulse SCP until the expiry of 25 milliseconds when the program unit 18 initiates the first computing criterion interval CCI _a by using the computing criterion pulse CCPl to open the diode gates G5 and G6 of the circuit 12 and to the AND gate 91 of gate 19 for switching the arithmetic on and off transfers. When the gates G5 and G6 are open, the stored _{signals E n + 1} from the capacitor C2 and the signals E n from the capacitor C3 are added. transferred to the potentiometer 32 and multiplied by i to obtain a S. _e nal (E _{n +} , -E _n ) I; to generate, which is transferred to the network 31 with the absolute value. At the same time, the stored deviation E _n from the capacitor C3 is transferred directly to the network 30 with the absolute value over ^fl 5. The output! E _{n + 1} - E _n I 1 ί of the network 31 is added to the output | E "[of the network 30 by means 33, and the resulting signal /. ,, is passed through the AND gate 91, which is simultaneously the Passes pulse CCPl, conducted to trigger the flip-flop circuit FF7 and partly to activate the AND gate 97 of the gate 19_when the signal L _d meets the criterion \ E "_ _t - £" | - <? £ _n | > 0 fulfilled.

The program unit 18 initiates the second calculation criterion interval CCl _{b at} approximately 28 milliseconds by transmitting the calculation criterion pulse CCPl to open the diode gate G4 and partially activate the AND gate 92 of the gate 19. _{Then the deviation E n + 1} stored in the capacitor C2 is transmitted to the network 30 in order _{to form the absolute value E n + 1} , which is transmitted to the means 34 and 35 and with the maximum permissible value ~ E _max from the source 36 to form the signal L _ml and is added to the minimum permissible _{signal E min} from the source 37 to form the signal L _ml . The signals L _ml and L _ml are transmitted simultaneously with the calculation criterion pulse CCPl in order to activate the AND gate 93 when the signals meet the criterion

Tr I c I T?

fulfill. It should be noted that a similar activation of the gate 19 _h for passing the pulse computation CPL to initiate the computation interval Cl in the current operation of A during _a Rechenkritcriumintervalle CCl CCl and the previous procedure was provided. The second calculation criterion interval CCI ends at 30 milliseconds, and the control device 10 remains in the zero position until 100 milliseconds have elapsed, at which point in time mode of operation B begins.

Working method B is the same as working method .4. apart from the fact that the capacitors are alternately charged with information and store it. During the synchronization interval 5 / mode A , the capacitors C2 and C5 are charged to the value E _{n +} and ( IX) _n , respectively, which correspond to the values E _n and (IA) _n -, in the current mode B. In the present mode of operation, the capacitors C3 and C4 are charged by the values E _{n + 1} and (IA ') _n and store them. Accordingly, during the remaining intervals of mode B, the diode gates are alternately opened to convey the desired stored information, as can be seen from a comparison of modes A and B in FIG.

Claims (6)

Patent claims: 1. Self-adapting flight controller, in which the deviation existing between the actual flight position value and a calculated flight position target value is determined periodically and continuously from the actual value measurement in the period under consideration and from the target values contained in a memory in a first computing device, and from the deviation as well as from the variable transfer factor of the device, the manipulated variable is formed in a second arithmetic unit by multiplication, characterized in that an actual value deviation (E _{n +} ,) for the next following period ((“.,) is calculated in advance on the condition that in the np <5 ^ 715 17p In the meantime, no adjustment process has taken place, and that the manipulated variable (AX) _n for the period under consideration (f ") is calculated by multiplying the pre-calculated actual-target value deviation (E _{n + 1} ) with that calculated during the previous period (/" _]) Gain factor (Kd _n ^ ₁ ) is formed and that the gain factor (Kd) _n to form the manipulated variable (IX _{n + 1} ) in the next period (f _{n + 1} ) from the quotient of the manipulated variable in the previous period (I X ₁ ^ ₁ ) \ o and the difference between the actual target value deviation (E _n ) in the period under consideration (f ") and the actual target value deviation (E _n ) calculated in advance in the previous period (i" _j_) is determined . 2. Flight controller according to claim 1, characterized by a device (7c) for measuring the change in position (1 (-)) of the missile, a device (8) which, depending on the measured change in position and the stored setpoints, the setpoint of the rate of change (( -) _Si ) defines the attitude, a device (lh) that measures the actual value of the rate of change ((■)) of the attitude, and a device (9) that determines the actual target from the actual and target values of the rate of change of the attitude -Value deviation (E _n ) in the period under consideration and the actual / target value deviation in the following period. 3. Flight controller according to claim 1 or 2, characterized by means (13, 19) for blocking the data processing if the actual-target value deviation (E _{n +1} ) calculated in advance for the next period during the period under consideration differs from that in the previous_pre-calculated actual-target value deviation (E _n ) sufficiently differentiates and that its absolute value is within the limits (| E "J <| E _{n + 1} | <| £ _m J)
located. 4. flight controller according to one of claims 1 to 3, characterized by memory (Cl ... C 5) for Storage of the actual / target value deviations during two periods in the period under consideration and the following period and the manipulated variable and by gates (Gl ... GIl) for controlling the memory by electrical impulses. 5. flight controller according to claim 4, characterized in that the memory (Cl ... C 5) from Capacitors exist. 6. Flight controller according to one of claims 4 or 5, characterized by paired memories (C 2 - C 3, CA - C5) for storing de_r precalculated actual-target value deviations (E _n , £ _{n +} i) in the considered and the next period and for storing the manipulated variables (IX "_", IX _n ) in the previous and the observed period. For this purpose 2 sheets of drawings