DE977957C - - Google Patents

Description

determined.

9. Arrangement according to claim 5, characterized in that that the second arithmetic unit determines the fixed bearing angle from the projectile to the enemy from the function

a sin (σ,., - a _te ) = e sin (a _rg - a, _K ) (2)

determined.

10. The arrangement according to claim 5, characterized by a third computing device, which at Carrying out a consort bearing from the distance of the launch point to the consort of the bearing direction from the launch site to the consort, the bearing direction from the launch site to the enemy, the bearing direction of the consort to the enemy and the bearing direction of the consort to the launch site the distance of the enemy from the launch site after the function

sin

₇₁₂ - o ₂ )

Sm [O ₁ - o _h , + (o _ft2 --o ₂ )]

determined.

11. Arrangement according to claim 10, characterized by a fourth computing device which determines the distance between the launch site and the Consort from the speeds, courses and mutual bearing angles of the launch site and of the consort according to the function

b = -K, c

₁ - a _bi ) - K ₂ cos (<r ₂ -

determined, the constant of integration being the distance between the firing point and the Consort is at the moment of launch.

12. The arrangement according to claim 5, marked by a display device, which is supplied with the aid of the second computing device Calculation and measurement quantities a relative image representation of the battle situation, based on the Launch site, deliver.

13. The arrangement according to claim 12, characterized in that the viewing device additionally with the values for the speed and the course of the launch site is applied so that the true movement, based on the position of the launch site at the moment of launch, comes to the representation.

The invention relates to a steering method for articulated joints Projectiles, especially torpedoes, based on a proportionality between the Angular velocity of the bullet chamber and the angular velocity of the fixed bearing direction from the projectile to the enemy.

To carry out such a method, it is necessary that the bearing direction from the projectile to the Opponent, also called line of sight, must be continuously measured from the projectile. Is the projectile z. B. a torpedo with an acoustic Pcileinrichtung, so is the possibility of a bearing in the The first part of the run is not given as long as the enemy is from the direction finding device of the torpedo cannot yet be captured.

Yet another steering method is known as collision course driving. To the To carry out this procedure, the opponent's speed and the opponent's Lagcwinkel, which Angle between the direction of travel of the opponent and the direction from the opponent to the termination point as well as the Positions of the storey are continuously determined. However, this is not possible without an active location, where there is a risk of early detection by the enemy. The determined opponent data are sent to a computer together with the position values of the projectile and its speed abandoned, who then corrects the course and, if necessary, the speed of the projectile.

Another disadvantage here, in addition to the high technical complexity of computing devices, is the fact that that through the transmission of the opponent's positions carried out by Hund by means of a tracking mark operator transmission inaccuracies arise and affect the accuracy of the procedure.

The invention has a steering method for remotely guided projectiles, in particular for torpedoes, for Content and consists essentially in the fact that the angular velocity of the spatially fixed bearing direction from the projectile to the enemy from the speeds and courses of the projectile and the launching parts, the distance from the point of launch to the enemy and the fixed distance from the enemy. shot point to the opponent is determined and given to a control circuit, the control system of which Floor is. According to a further proposal of the invention, it is sufficient if upon launch the collision course of the projectile initially only assumed on the basis of estimates and the The control circuit is only switched on after a part of the estimated floor time has elapsed. To this The active localization of the enemy associated with Vcrratsgcfalir need only then be applied when the projectile is already in the vicinity of the counterpart. This will make the application the dangerous active Pcilmittcl further reduced.

However, if the attacker is not alone and can target the enemy with the help of one with the attacker cooperating consortium, it is proposed according to the invention for this case, that the distance between the launch site and the enemy is determined with the help of a consortium bearing will. Now it is possible to do all for the steering process to determine the required sizes by passive bearing. It is also conceivable that this method is only used until the projectile has the information about its fixed space Pcilrichlung or via its angular velocity for feeding into the control loop itself.

According to the invention, an arrangement for carrying out the described method contains a first arithmetic ^{device which determines the distance between the point of impact and the projectile from the velocities fi} f> and the cushions of the projectile and the projectile, and a second one Computing device which determines the fixed bearing direction from the projectile to the enemy from the variables determined by the first computing device, the distance between the firing point and the enemy and the fixed bearing direction from the launching point to the enemy, and this variable is fed to a control loop by a diluting device Floor is.

This part of the arrangement is advantageously assigned to a comparison device which is derived from the Win Angular velocity of the fixed bearing direction from the projectile to the enemy and the angular velocity of the storey course determines the system deviation that is used to steer the storey. Here is de Comparing device, a further differentiating device is connected upstream, which determines the angular speed of the storey course determined from the storey course beaten that the first arithmetic device the distance from the firing position to the projectile unc di <: Fixed bearing in the correct direction from the launch site to the projectile from the feet

ä - V ₁ cos (7, - σ ,,) - V ₁ . cos (7, - (j ,,,) (I) αά ,,, = ■ · V ₁ sin (7, - ο ,.) - V _1. sin (7, - o ,, _t ) (la)

while the second computing device determines the fixed bearing angle from the projectile to the enemy the function

a sin (α ,,, - σ ,,,) = " sin (a, _g - α _,? ) (2)

determined.

The individual designations mean the following: α is the distance from the launch site to the projectile, 7, and v are the course and the velocity of the projectile, q _c and v _e are the course and velocity of the launch site c The bearing direction from the launch site to the projectile is with o,., and the bearing direction from the point of launch to the opponent is denoted by a, _g , while Ci _{11 means} the filing direction from the bullet to the enemy.

If the method according to the invention is carried out by means of consortium direction finding, this is used according to the invention a third computing device, which is based on the distance between the launch site and the consortium, the Bearing direction from the launch point to the consort and direction finding from the launch point to the enemy, the bearing direction of the consort to the enemy and the bearing direction of the consort to the launch site Removal of the enemy from the launch site after the function

e _t = b sinK ₃ - " _a ) ₍₃₎

sin [α, - o _{/ M} -t- (a _b2 - O ₂ )]

determined. In this formula, c means the calculated distance from the point of launch to the enemy. The distance from the firing point to the consort is denoted by h , α, and o., Are the two filing directions from the final part or the consort to the enemy. o, _n and a _h ., mean the two bearing directions between the consort partners.

A fourth computing device is advantageously assigned to the third computing device, the difference between the launch site and the consort from the speeds, courses and mutual advice of the launch site and the consortium from the function

br. - ! ', eos ^, --η ,,,) K, cos ((/ v ■ - ",,,) (4)

determined, with the integration constant being the distance between the firing point and the Konrort in the aim of the launch / u is to choose.

5 6

Hrfinclung also enables the target shooting device or the consortium and the opponent to use a viewing device which, with the help of the two bearing angles n _ht and o _h “ the partner computing device, is fed to the computing device and to each other and the distance b between calculates a relative image representation of the two consortium partners for the measured variables,
fencing situation, based on the launch site c. ab- 5 The distance to the consortium partner does not need to exist. If, moreover, the display device is also to be absolutely directly crmiltelt, the values for the speed and the course can also be obtained by a fourth computing device 18. applied to the launch point, the true of the velocity v, the termination point, the movement, based on the position of the launch velocity »·., of the consort partner, the course point at the moment of the launch, ίο angle f /, the launch pointc . the course angle </., of the consort especially for the assessment of the battle situation and the two variables n _{fc |} and o ,,., is evident. leads to be.

The invention is illustrated by means of a few drawings. FIG. 3 shows, as an example, an embodiment of FIG

described in more detail. Fig. 1 shows the block diagram of the first computing device 12 with the help of "construction

cines control circuit, which is used to implement the inven- tive elements of Gleichsirom-Analog-Rechcntechnik

proper method is used. The Rcgelabwei- in detail. At terminals 19, 20, 21 and 22

chung r is given to a controller 10, which, as already seen from the previous figures

Torpcdo controls. The torpedo itself clearly shows the sizes ψ ,. v „ψ _{ and v _e fed in.

The control loop represents the controlled system 11 and delivers its functions in accordance with the functions already mentioned

Speed v, and its course η, on a first 20, the construction of this arithmetic unit now takes place.

Rccheneinrichtungl2. In this arithmetic facility. by the respective registered designation

12, the structure of which will be explained in detail later. The size < _fl passes over

ben becomes, from the quantities mentioned v, and inverting amplifier 23, which is a sign reversal

(/, and from the course of the launch site </,. and which undertakes, on a summing amplifier 24, the

Speed of the Abcliiißstclle v ,, the sizes n ,,, 25 also the size n _{ct is} supplied. This is

and α determined (bearing direction closure point / torpedo formed argument reaches a resolver 25, the

and distance from launchers / torpedo). The one of which is coupled to a sin'cos potentiometer 76. there

first computation station 12 determined values are from the argument of resolver 25 the to-

then given to a second computing device 13. appropriate trigonometric functions formed and at the same time

The second arithmetic unit 13 determines from the 30 multiplied by the variable v. Here, too, is

ocidcn from the first arithmetic unit 12 atifge- targeting the correct sign a reversal

gcbencn sizes and from the distance e the core 27 intercalated.

shooting position to the enemy and the fixed direction finder- Correspondingly, according to the entered Bc-

tung fj ,. _E from the launch site to the enemy, the drawings through a reversing amplifier 28 and

Spatially fixed direction finding between the torpedo and 35 a summing amplifier 29 a resolver 30

dcm opponent a _le . beats, which with a further sin / cos-Potentio-

To form the control deviation r, the meter 31 is coupled. This is where the

Angular velocity <■ / -, of the torpedo course and the associated angular functions from the

Angular velocity n _{rc of} the spatially fixed direction finding solver 30 given argument and the subsequent

between the torpedo and the enemy is multiplied by the value v _r , where the sin / cos

compels. These two values are reversed via a differential potentiometer 31 in a branch.

Referencing device 14 and a further differentiator 32 is connected upstream.

device 15 obtained, whereby the differentiating device 14 can now form the angular times the value γ of the torpedo price from the torpedo course in a summing amplifier 33 speed γ, of the torpedo course while 45 is averaged, and by connecting the Intedie further differentiating device 15 the size Λ ,,, grier link 34 is obtained the size α. the ar, edge from the second arithmetic unit 13 between the launch site and the torpedo. A given size <\ _e determined. The two angular further summing amplifier 35 determines the value of speeds on a -an Vergleichseinrich-., And outputs this value to a Dividiereinrichtunglö connected, in the divider 36 of the control deviation is determined by forming the difference t 50 36. tung. With the described value α fed to the resolver 37, but a steering method with it must have the size e, ie the coupled division potentiometer 38 with the distance between the firing point and the output value a _c! acted upon and the one on his Schlei opponent, can still be determined by active localization. fer resulting value to an open amplifier 39 In Fig. 2 a control loop is shown, which is supplied with the aid of 55, at the second input of which the size of a consort bearing is any application of an ak- -ao _rt , so that the output of the dividing device avoids locating. The control loop is generally 36 to supply the variable a _ct and this is essentially identical to the inverting control amplifier 40 described in FIG. The integration constant for this direction 13 is no longer applied with the directly determined integrating device is given by the direction finding distance e between the termination point between the launch point and the torpedo and the enemy. Instead, a _ct0 .
this arithmetic unit is supplied with the variable e, which in an embodiment of the second arithmetic unit determined by the consort bearing distance between the device according to FIG. 65 quantities α and e _{rl of} the first arithmetic unit 12 for this purpose, a third arithmetic unit 17 is used, which gives the terminals 41 and 42 of the second arithmetic unit this value according to the formula (3) already given device 13. This arithmetic unit is made up of the two bearing angles o _x and a. ₂ between the also the already mentioned sizes o _eg and e

the terminals 43 and 44 supplied. In the same way as has already been described for the first arithmetic unit 12, the values are initially determined here by means of the resolver 45 or 37 with the associated sin / cos potentiometers 46 or 48 using reversing amplifiers 51 and 52 ccosn _{f (} ,, cünn _fl!, flcosn _r , and ösino _r , which are combined via summing amplifiers 49 and 50. The values output by summing amplifiers 49 and 50 are set to sin / cos with the interposition of an inverting amplifier 53 and 54 -Potentiometers 55 and 56, to which the resolver 57 is coupled. At the same time, the outputs of the sin / cos potentiometers 55 and 56 are switched to the input of the resolver 57. These circuit elements are adjusted as shown in FIG mentioned equation, whereby this adjustment corresponds to the resolution of this equation according to the angular value O _11.

While the first equation in FIG. 4 represents an output equation, the resolution written below is obtained by applying the addition theorems and rearrangement. By this measure and by the simultaneous coupling of the resolver 57 with a further potentiometer 58, the simple decrease of the size o, _c on the potentiometer 58 is made possible.

The third arithmetic unit 17 and the fourth arithmetic unit 18 are used for bearing the consortium Are used, are structured and work according to the equations already mentioned for this purpose in the same way, which is why they are not described here in detail.

Fig. 5 shows the structure of a differential element. as it is used, for example, in FIG. 1 as a differentiator 14 or 15. In this figure, those quantities are entered which correspond to the application of this differential rule as differentiator 14 according to FIG. 1. So Ks is the quantity q-, given to input terminal 59. The DifTcrenzierglicd works according to the equation

ψι
φι ■ χ

The operator; »= -γ- is to be set. These

The equation is fulfilled by the differentiator if the size χ is chosen so small that the term ψ, ■ χ can be neglected.

In addition to the input variable φ, the value is first sent to a summing amplifier 60

- (ft · - supplied. This value is obtained in

, _0, is fed from the output of DifTerenziergliedes and its Integrierkonstante φ size in Augcnblick shortly after the launch of the torpedo - the Integrierverstärkcrol, the greater /. The summing amplifier 60 therefore transmits the function entered at its output in FIG. 5 to an open amplifier 62 to which the element χ ■ </ · is also fed. Any small value can be specified for χ on a potentiometer 63 so that the equation is fulfilled and the quantity ψ can be taken from the output terminal 64.

The differentiating element 15 used in FIGS. 1 and 2 operates accordingly.

For this purpose 4 sheets of drawings

409 630/319

Claims (8)

Patent claims: 1. Guiding method for remote-controlled projectiles, in particular torpedoes, on the basis of this a proportionality between the angular velocity of the projectile course and the angular velocity the fixed bearing direction from the projectile to the enemy, characterized in that the angular velocity the fixed bearing direction from the projectile to the enemy from the speeds and Course of the projectile and the launch site, the distance from the launch site to the enemy and the fixed direction finding from the launch site turn opponents identified and on one Control loop is given, the control path of which is the floor. 2. Steering method according to claim 1, characterized in that initially only when firing the collision course of the projectile assumed on the basis of estimates and that the control loop is only switched on after a part of the estimated floor time has elapsed. 3. Steering method according to claim 1, characterized in that the distance between the Firing point and the enemy with the help of a Konsortpeihing determined wire " 4. Steering method na; h claim 3, characterized characterized in that the learning process is only applied until the projectile has received the information via its spatially fixed bearing direction or via its angular velocity to the feed in the control loop itself. 5. Arrangement for performing the method according to claims 1 to 4, characterized by a first computing device, which is based on the speeds and courses of the projectile and the launch site, the distance between the launch site and the projectile and the fixed bearing direction from the launch site determined to the projectile, and a second computing device, which from the determined by the first computing device, the Distance between the point of launch and the enemy "and the fixed bearing direction from the The firing point to the enemy is determined and the fixed bearing direction from the projectile to the enemy feeds this variable via a differentiating device to the control loop, the control system of which is the Floor is. 6. Arrangement according to claim 5, characterized by a comparison device which is derived from the Angular velocity of the fixed bearing direction from the projectile to the enemy and the angular velocity of the storey course determines the control deviation that is used to steer the storey. 7. Arrangement according to claim 5, characterized by a further differentiating device which the angular velocity of the storey course is determined from the storey course. 8. Arrangement according to claim 5, characterized in that the first computing device the distance from the launch pad to the projectile and the fixed bearing direction from the launch site to the storey from the functions ä = V, cos (< _r , - σ ,,) - V _e cos (r / v - a _et ) (1) ao _c ,, = K ₁ SIn (ψ, - a _el ) - V _e sin (r / v - a _cl ) (la)