DE2224709C1 - Guidance method - Google Patents

Abstract

Published without abstract.

Description

The invention relates to a method for steering a torpedo with horizontally and vertically working homing devices to a pre-selected meeting point or in a constant distance around an object, the depth or height difference between object and torpedo as constant is assumed.

A passively bearing torpedo that, for example, according to proportional navigation or the collision course procedure runs towards the noise center of a target ship, that is generally behind the moving target ship. The torpedo thus heads for an apparent target, which is behind the Propeller or even behind the target ship. To one To achieve hits, the torpedo must be brought forward Head to the meeting point.

The known methods for achieving a so-called meeting point advance can be divided into two groups.

The first group includes procedures in which the torpedo no longer by torpedo sensors in the last attack phase  is directed, d. H. the torpedo no longer runs after you Steering procedure in a closed steering control loop, but after a program, such as from DE-PS 11 26 762 emerges.

The second group form procedures where steering procedures like proportional navigation with additional feedforward control, Dog curve with disturbance function or squint angle curve are used, see German patent application P 15 78 289.6.

The methods of the first group have the disadvantage that from one certain distance of the torpedo from the target from the control the control, which itself is less favorable, must be switched over. In In the last phase of the attack, the torpedo can therefore target movements stop responding, so with this procedure the probability of success is sensitive due to target maneuvers is reduced. In addition, the meeting points have been brought forward different and depending on the battle situation.

In the second group's procedures, the torpedo only responds insufficient on target defense movements, and the achievable meeting point forward are also from the battle parameters here dependent. The methods described also have the common serious disadvantage that the distance between Torpedo and target, from which the respective facility for moving forward must take effect, just very uncertain about Auxiliary quantities can be estimated.

In summary, it can be said that those with the known Procedure achievable meeting point forward strongly dependent on battle situation, are sensitive to parameters and sensitive to defense.

The object underlying the invention is to be seen in to create a steering process with which the probability of hitting and destroying by preselecting a cheap target underflow point  is increased and to achieve an optimal Attack situation is suitable.

To solve this problem, the invention proposes that for the horizontal steering of the at a certain depth moving torpedoes the vertical bearing between this and another object according to the general steering rule

is used in which

the target value for the course angular velocity control loop of the torpedo,
K the positive proportionality factor,
_{tg is} the vertical bearing speed between torpedo and object, calculated from ϑ _tg ,
ϑ _{tg is} the vertical bearing between the torpedo and the object measured by the location sensor, based on the horizontal plane and
Ψ _from the horizontal sound incidence angle measured by means of the location sensor in relation to the longitudinal axis of the torpedo

mean.

The invention is based on the consideration that a meeting point is brought forward is achieved when the torpedo is in a particular constant distance around the object's noise center so that the meeting point is outside the noise center of the object comes to rest. The steering process that fulfills this task is a distance control. Because in the case of passively bearing self-directed bodies, neither the distance nor the speed of approach between that  Torpedo and the object can be measured at the steering method according to the invention, the distance control with the help of the vertical bearing angle or its temporal Derivation done. Therefore, according to the invention proposed steering methods, the proportional meeting point Navigation (PTN), the following advantages:

• 1) The preselected meeting point becomes the new steering procedure reached regardless of the combat situation.
• 2) The procedure is against defense movements of the object insensitive.
• 3) The remaining distance between the torpedo and the target, which serves as a switch-on criterion for the PTN can be clearly identified.
• 4) The desired distance of the meeting point from the rear of a target object can before the torpedo is fired or with an existing one Communication link between the torpedo and the shooting ship stopped during an attack or be changed.

In contrast to the previously known methods, the steering method according to the invention does not use the horizontal bearing angle for steering in the course level, but rather the vertical bearing angle or its time derivative. The manipulated variable that directs the torpedo in the course level so that the condition - _tg = 0 ° / s is fulfilled is derived from the target / actual value comparison of ϑ _tg or _tg . If the PTN control loop _{reaches -tg} = 0 ° / s or _tg = 0 m / sec and the speed of the torpedo is greater than the speed of the object, then the torpedo runs around the noise center at a constant distance. The predetermined meeting point is thus reached. This method can also be used successfully if the object is attacked from previous positions and the speed of the torpedo is less than the speed of the object.

The vertical bearing angle ϑ _tg serves as a criterion for the activation of the PTN, which is proportional to the distance for small bearing angles with a constant running depth difference. If the amount of the vertical bearing angle exceeds a fixed angle, which corresponds to the desired distance of the hit from the noise center, then the PTN steering method becomes effective. To ensure that the torpedo reaches the desired meeting point in the shortest possible way after switching on the PTN, it is steered so that the angle of incidence initially increases.

If, when the torpedo approaches a target object, _tg <0, which is the case, for example, when fighting overwater objects, then the reduced steering relationship applies in a development of the invention

If the torpedo's running depth is constant but uneven and the target object as well as with a small vertical bearing the relationship applies

Mean in it

_tg approach _speed between torpedo and target object,
a _tg distance between torpedo and target,
_tg vertical bearing angle speed between torpedo and target object
vertikale _tg vertical bearing between torpedo and target in relation to the horizontal plane.

From this equation it can be seen that the control task a _tg is constant or _tg = 0 m / s is also fulfilled when _tg = 0 ° / s is reached.

Finally, when using the steering method according to the invention, it should be noted that the running depth difference must be constant and different from zero. It is brought to a certain value by the depth of the torpedo. The steering method is particularly suitable for combating underwater objects, but can also be used in principle for combating underwater objects. The requirement for constant running depth of the object is approximately met when an underwater vehicle attacks, since the steering phase in the PTN steering method is very short, so that the object can only make negligible changes in depth during this time. The running depth of an underwater object, which must be known for setting the running depth differences, can be determined by measuring the vertical bearing angle. To do this, the depth of the torpedo is changed until the vertical horizon-related bearing is 0. If ϑ _tg = 0 °, the running depths of the torpedo and the target are the same. Depending on the algebraic sign of the difference depth to be selected, the target object can be overrun or undershot when attacked using the PTN steering method.

The steering method on which the invention is based cannot only be used to achieve a preselected meeting point. It is also suitable to guide a torpedo around a target object at a larger, freely selectable constant distance with the purpose of achieving a more favorable battle position for an attack. This can, for example, circumvent the difficulties that generally arise in the steering control loops (inclination angle limitation and minimum turning radius of the torpedo and instabilities that are dependent on the combat situation). The PTN process thus opens up additional possibilities for improving the boundary conditions for other steering processes. It is possible, for example, to steer a torpedo that has reached the end of the detection angle range of its sensors during a PTN target control in such a way that the sound angle of incidence is maintained and a straight-running phase is initiated after a second ϑ _tg threshold value has been reached. The speed ratio between torpedo and target object can be decisive for the activation of the first and the second threshold value.

The last-mentioned variant provides a possibility Advance meeting point.

Based on the examples shown in the drawing more detailed explanations are given,

Fig. 1 is used to define the sizes used in a spatial and

Fig. 2 in a plane coordinate system,

Fig. 3 shows a schematic diagram of the steering control circuit of the PTN.

In the spatial coordinate system according to FIG. 1, the horizontal plane is indicated by xy and the vertical plane by xz. The location of the torpedo T may be in the origin of the coordinates. The target object is labeled G. The straight line between T and G represents the distance a _tg . Θ _tg is the vertical bearing angle and Ψ _{tg is} the horizontal bearing angle in the xy plane. The distance of the target object G from the horizontal plane, ie the running depth difference between the torpedo and the target object is indicated by Δh.

In Fig. 2 in the xy plane with _tg denotes the projection of a _tg in the horizontal plane. The speed of the torpedo T is given with v _t and its course angle with Ψ _t . The corresponding sizes of the target object G are v _g and Ψ _g .

A possible arrangement for carrying out the method is indicated in FIG. 3. The 3D kinematics describe the spatial movements of the torpedo and the target object relative to each other. The horizontal sound incidence angle Ψ _ab is formed in the summing point 3 from the horizontal bearing angle and the course of the torpedo (Ψ _ab = Ψ _tg -Ψ _t ). ϑ _ab is entered in the switching logic I in steering controller 2 . The output signal of this logic confirms a switching point 4 as a function of the value of the variable Ψ _from ≷ 0. The second output signal of the kinematics 1 , the vertical bearing angle ϑ _tg , is differentiated in the link II and fed to the controller V as the vertical bearing angle speed _tg . The controller can e.g. B. be designed as a two-position controller. Depending on the value of the bearing Ψ _ab , positive or negative, the controller output signal is supplied to the summing point 5 in a positive or negative sense. A switching logic III adjusts a contact point 6 depending on the size Größe _tg ≷ 0. Depending on the position of the contact point 6 , the controller output signal reaches the summing point 7 . Finally, the output signal ϑ _{tg of} the kinematics 1 is present as an input signal at the switching logic IV, which is simultaneously supplied with a predetermined angle ϑ _tgs as a threshold value. In block IV, the magnitude and difference formation is carried out using operational amplifiers. If the amount of the vertical bearing angle ϑ _tg exceeds the predetermined angle, which corresponds to the distance of the hit from the noise center, then the steering controller for the PTN becomes effective via a contact point 8 . The target heading angular velocity _ts output by the steering controller is fed to the heading angular velocity control loop of the torpedo 9 . The output signal _t is transformed into the course of the torpedo Ψ _t by integration in the element 10 , which in turn influences the kinematics.

Claims (8)

1. A method for steering a torpedo with horizontally and vertically working homing devices at a preselected meeting point or at a constant distance around an object, the depth or height difference between the object and torpedo being assumed to be constant, characterized in that for the horizontal steering of the torpedo traveling at a certain depth, the vertical bearing between this and another object according to the general steering rule is used, where _ts en setpoint for the course angular velocity control loop of the torpedo,
K the positive proportionality factor,
_{tg is} the vertical bearing speed between the torpedo and the object, calculated from ϑ _{tg ′}
ϑ _{tg is} the vertical bearing between the torpedo and the object measured by the location sensor in relation to the horizontal plane and
Ψ _from the horizontal sound incidence angle measured by the location sensor, based on the longitudinal axis of the steering body. 2. The method according to claim 1 for use in surface objects, characterized by the reduced steering relationship 3. The method according to claim 1, characterized in that the relationship applies to constant but uneven running depth of the torpedo and the object and at a small vertical bearing where _{tg is} the _{speed of} approach between torpedo and target,
a _tg the distance between torpedo and target,
_tg the vertical bearing angle speed between torpedo and target and
ϑ _{tg is} the vertical bearing between torpedo and target in relation to the horizontal plane. 4. The method according to claim 1, characterized in that the running depth of an underwater object is determined by the running depth changes of the torpedo to be steered at the same time continuous measurement of the vertical arrow angle up to a value of 0 °. 5. The method according to claim 1, characterized in that the underwater object depending on the setting  the difference in depth from the steered torpedo optionally with positive or negative vertical bearing angle below or is run over. 6. The method according to claim 1, characterized in that the steering method is switched on when the vertical bearing angle (ϑ _tg ) exceeds a first threshold value which corresponds to the preselected distance. 7. The method according to claim 1, characterized in that at the end of the detection angle range of the sensors of the torpedo this is directed by counter commands so that the sound angle of incidence is maintained and that a straight running phase is initiated when a second ϑ _tg threshold value is reached. 8. The method according to claims 6 and 7, characterized in that the activation of the threshold values of the Ratio of torpedo and target speeds is made dependent.