JP2002365000A - Automatic controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the deterioration of control performance due to mutual interference when a steering system and a side thruster are simultaneously used in an automatic controller for controlling the lateral acceleration of a missile having the steering system and the side thruster in front of and behind the center of gravity, respectively. SOLUTION: The automatic controller comprises a compensator for outputting an operation command to the side thruster, a steering command calculator for outputting a steering command to the steering system, and a decoupling compensator for outputting a corrective acceleration command, which corrects an acceleration command to be inputted to the steering command calculator for decoupling controls through the side thruster and the steering command from each other.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic control device for controlling a flying object having a side thruster and a steering device.

[0002]

2. Description of the Related Art A conventional control method for a flying object having a side thruster and a steering device will be described below. FIG. 6 shows a simplified configuration example of a flying object equipped with an automatic control device. In the figure, 1 is an acceleration command output device, 2 is an inertial device for detecting the acceleration and angular velocity of a flying object, and 3 is a device for controlling the generated acceleration of a flying object according to the acceleration command obtained from the acceleration command output device 1. Automatic control device that generates a steering blade steering angle command and a side thruster output command to
Reference numeral 4 denotes a steering device that drives the steering blade 5 in response to a steering blade steering angle command, reference numeral 6 denotes a side thruster, and reference numeral 7 denotes a nozzle that generates a lateral force by discharging a jet of the side thruster to the outside. Further, reference numeral 20 denotes the entire flying object.

The manner in which the lateral acceleration of the flying object 20 is controlled will be described with reference to FIG. The lateral acceleration control is performed in each of two directions, a vertical direction and a horizontal direction. However, since the respective configurations are the same, only the control in the vertical direction will be described. The automatic control device 3 calculates and outputs a steering command δac and a side thruster command δsc based on the lateral acceleration command ac input from the acceleration command output device 1 and the lateral acceleration a and the rotation rate q of the flying object 20 input from the inertial device. I do. The steering command δac is input to the steering device 4, and the steering blade 5 is steered by the steering angle δa to generate a lateral force Fa. Further, the side thruster command δsc is input to the side thruster 6, and a jet is output through the nozzle 7, thereby generating a lateral force Fs. The lateral forces Fs and Fa generate a lateral acceleration and a rotational moment around the center of gravity. The flying object 20 is rotated by this moment, and the angle of attack α is generated. A lateral force Fn is generated on the flying object as a combined force of the aerodynamic force generated by taking the angle of attack α and Fs and Fa.

FIG. 8 shows an example of a configuration of an automatic control device 3 for calculating a steering command δac and a side thruster command δsc. In FIG. 8, reference numeral 12 denotes a compensator, and 13 denotes an estimator for estimating the lateral acceleration generated by the side thruster 6. The steering blade 5 shown in FIG.
And the side thrusters 6 must be driven simultaneously.
The side thruster 6 operates at a higher speed than the steering device 4, but the injection amount is limited by the amount of the mounted fuel. There is. For this reason, by estimating this by the estimator 13 and subtracting the lateral acceleration generated by the side thruster from the acceleration feedback a, control is performed so that the side thruster operates only in a transient response. The transfer functions from the lateral force δs and the steering angle δa of the side thruster to the lateral acceleration a and the rate q are expressed as in Equation 1.

[0005]

(Equation 1)

A conventional automatic control system for a flying object having a side thruster and a steering device is configured as described above.

[0007]

However, according to the configuration of the conventional automatic control device, when the side thrusters 6 and the steering wings 5 arranged before and after the center of gravity are simultaneously operated, both of them produce a rotational moment around the center of gravity. Occurs, and a rate q is generated. However, it is not possible to determine which lateral force of the steering wing 5 or the side thruster 6 caused this rate, and control characteristics deteriorated due to interference of rotation control of both. There was a problem of doing. In order to avoid such interference, it is possible to switch between side thruster control and control by the steering blades instead of using them at the same time, but in this case, there is a problem that responsiveness is deteriorated. .

SUMMARY OF THE INVENTION The present invention has been made to solve the above problem. In an automatic guidance system for controlling the lateral acceleration of a flying object having a side thruster and a steering device, a moment about the center of gravity generated by the side thruster and the steering device is determined. It is an object of the present invention to reduce interference and prevent deterioration of control performance.

[0009]

According to a first aspect of the present invention, there is provided an automatic control apparatus for controlling a lateral acceleration of a flying object including a side thruster, a steering device, an inertial device, and acceleration command calculating means. Input to the compensator that outputs the reference operation command of the thruster, the steering angle command calculator that outputs the steering command to the steering device, and the steering angle command calculator to make the control force by the side thruster and the steering command non-interfering The automatic control device includes a decoupling compensator that outputs a corrected acceleration command and a side thruster command for correcting the acceleration command to be performed.

[0010] The automatic control device according to the second invention includes:
In addition to the configuration of the automatic control device according to the first invention, a limiter for setting a limit value based on the output limit of the side thruster is provided for the output of the compensator that outputs the reference operation command of the side thruster.

An automatic control device according to a third aspect of the present invention comprises:
In the configuration of the automatic control device according to the first invention, a compensator that outputs a reference operation command of a side thruster performs output only when an acceleration command changes, and the compensator constantly outputs zero. It is.

An automatic control device according to a fourth aspect of the present invention includes:
According to a first aspect of the present invention, there is provided a compensator for outputting a reference operation command of a side thruster of an automatic control device, the compensator having a function of changing a gain according to an altitude and a speed of a flying object.

The automatic control device according to a fifth aspect of the present invention comprises:
A signal for correcting a steering command is output from the decoupling compensator of the automatic control device according to the first invention, in addition to the corrected acceleration signal, and input to the steering command calculator.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 The present invention will be described below with reference to the drawings. FIG. 1 shows a configuration of an automatic control device for controlling the lateral acceleration of a flying object including a side thruster and a steering device. In the figure, reference numeral 15 denotes a reference operation command δs of the side thruster when an acceleration command ac is input.
The compensator 16 that outputs c0 outputs a side thruster command δsc such that the control by the side thruster and the steering wing is made non-interfering and a corrected acceleration command Δac that corrects the acceleration command input to the steering angle command calculator. A decoupling compensator 17 is a steering command calculator that calculates a steering command for the steering wing 5 based on the acceleration command ac1, the acceleration a, and the rate q signal.

The steering command calculator 17 comprises an amplifier 18 and an integrator 19 as shown in FIG. Further, the compensator 15 outputs a nominal command δsc0 for driving the side thruster.
Is set as the filter Gf that outputs. The decoupling compensator Mf is set as shown in Expression 2 as a function of the transfer function parameter shown in Expression 1 and the gain of the amplifier 18.

[0016]

(Equation 2)

The output of the decoupling compensator shown in FIG. 1 includes a command relating to the side thruster and a term proportional to the derivative thereof, and is added to the acceleration command input of the steering command calculator as a corrected acceleration command Δac. Thus, the rate, acceleration integrated signal, and rate integrated signal related to the steering command can be corrected, and the effects of the acceleration and the rate generated by the side thruster can be removed.

FIG. 3 shows an example of a response by the automatic control device. Reference numeral 21 denotes a response example of the conventional device, and the response to the acceleration command is oscillating because decoupling is not performed. Reference numeral 22 denotes a response example of the apparatus of the present invention, and the response rises smoothly due to decoupling.

Embodiment 2 FIG. Embodiment 2 of the present invention will be described with reference to FIG. FIG. 4 is a diagram in which a limiter 23 is added to the automatic control device according to the first embodiment. The limit value of the limiter is set as shown in Expression 3 based on the maximum lateral force generated by the side thrusters.

[0020]

(Equation 3)

When the side thruster lateral force command reaches the maximum value and the output is saturated, the corrected acceleration command Δac is a signal that cancels out the effect when the side thruster lateral force is not saturated. If input to the steering command calculator 17 as it is, a mismatch may occur, and control performance may be degraded. When such saturation occurs due to the limiter 23, a correction acceleration command for the surplus signal is not output and no mismatch occurs.

Embodiment 3 FIG. In the third embodiment of the present invention, the output is generated only when the acceleration command signal changes, and the reference operation command output of the side thruster is calculated so that the output is constantly zero. The output is calculated as shown in Equation 4 as an example.

[0023]

(Equation 4)

Embodiment 4 In the fourth embodiment of the present invention, the compensator 15 that outputs the reference operation command of the side thruster calculates the gain K5 based on the altitude h and the velocity V of the flying object 20 as shown in Expression 5. The flying object 20 normally flies at supersonic speed, and the jet of the side thruster is released into the air flowing at high speed. At this time, the jet flow of the side thruster interferes with the flow of air, causing pressure fluctuation. The amount of the pressure fluctuation changes depending on the speed and altitude of the flying object 20, and changes the effective lateral force generated by the side thruster. The gain K5 is set according to the altitude and the speed in order to correct the fluctuation.

[0025]

(Equation 5)

Embodiment 5 Embodiment 5 of the present invention will be described with reference to FIG. In FIG. 5, the output of the decoupling compensator 16 is calculated as shown in Expression 6, and a steering correction command Δδa is output to the steering command calculator 17 in addition to the corrected acceleration command Δac. In this configuration, the differential calculation is not performed as compared with the method of correcting only the acceleration command using Equation 2, so that the influence on the signal noise can be reduced and the calculation can be simplified.

[0027]

(Equation 6)

The automatic control device according to the present invention is configured as described above, and has the following effects.

According to the first aspect, the side thruster command is output by the decoupling compensator, and the acceleration command input to the steering command calculator is corrected using the acceleration command correction signal output simultaneously. Thereby, it is possible to avoid control interference due to simultaneous use of the side thrusters and the steering blades, and to prevent deterioration of control performance.

According to the second aspect of the present invention, even when the lateral force command for the side thruster reaches the maximum value and the output is saturated, the limiter does not output the corrected acceleration command for the surplus signal, and the control is not performed. Performance degradation can be prevented.

According to the third aspect of the present invention, the operation output of the side thruster is generated only when the acceleration command signal changes, and the output is constantly reduced to zero, so that fuel for the side thruster can be saved. Can be.

According to the fourth aspect of the present invention, it is possible to compensate for a change in effective lateral force due to the interference of the jet of the side thruster with the external air, thereby improving the performance.

Further, according to the fifth aspect, the differential calculation is not performed as compared with the method of correcting only the acceleration command, so that the influence on the signal noise can be reduced and the calculation can be simplified.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an automatic control device according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a steering command calculation according to the first embodiment of the present invention.

FIG. 3 is a diagram illustrating an example of an acceleration command response according to the first embodiment of the present invention.

FIG. 4 is a block diagram illustrating a configuration of an automatic control device according to a second embodiment of the present invention.

FIG. 5 is a block diagram showing a configuration of an automatic control device according to a fifth embodiment of the present invention.

FIG. 6 is a diagram showing a configuration of an entire flying object on which the automatic control device is mounted.

FIG. 7 is a diagram illustrating lateral acceleration control by a side thruster and a steering blade.

FIG. 8 is a diagram showing a configuration of a conventional automatic control device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Acceleration command output device 2 Inertial device 3 Automatic control device 4 Steering device 5 Steering blade 6 Side thruster 7 Injection nozzle 12 Compensator 13 Estimator 15 Compensator 16 Decoupling compensator 17 Steering command calculator 18 Amplifier 19 Integrator 20 Flying object 21 Response example of conventional device 22 Response example of device of the present invention 23 Limiter

Claims (5)

[Claims] An automatic control device for controlling a flying object having a steering device and a side thruster before and after a center of gravity, a compensator for outputting an operation command for the side thruster, and a steering command for outputting a steering command to the steering device. A calculator, and a decoupling compensator that outputs a corrected acceleration command and a side thruster command for correcting an acceleration command input to the steering command calculator in order to decoupling a control force due to the side thruster and the steering command. An automatic control device characterized by the following. 2. The automatic control device according to claim 1, further comprising a limiter that limits the decoupling signal in accordance with the maximum lateral force that can be generated by the side thruster. 3. The automatic control device according to claim 1, wherein the side thruster operation command is generated only when the lateral acceleration command is changed, and has a function of constantly becoming zero. 4. The automatic control device according to claim 1, further comprising a function of changing a gain of the side thruster operation command according to the speed and altitude of the flying object. 5. The steering command calculator according to claim 1, wherein a correction signal for the steering command is input to the steering command calculator in addition to the correction acceleration command in order to make the control force of the side thruster and the steering command non-interfering. Automatic control device.