JP2008143398A - Missile control system and method of controlling flying of missile - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a missile control system and a method of controlling flying of a missile for stable flying of the missile by eliminating a bad influence of disturbance acting on the missile. <P>SOLUTION: This missile control system 10 comprises a steering device 12 for steering a missile, an angular velocity sensor 14 for measuring angular velocity ω<SB>m</SB>of the missile, an attitude angle computer 16 for obtaining an attitude angle ψ<SB>m</SB>of the missile, a PI controller 18 for obtaining a steering command value ψ<SB>1</SB>of the missile by using an attitude angle command value ψ<SB>c</SB>, the angular velocity ω<SB>m</SB>and the attitude angle ψ<SB>m</SB>in relation to the missile, a condition estimating unit 20 for computing to estimate disturbance to be applied to the missile as a disturbance torque moment Λ<SB>q</SB>by using the attitude angle ψ<SB>m</SB>, and a computing device 22 for computing a new steering command value ψ<SB>2</SB>by using the steering command value ψ<SB>1</SB>and the disturbance torque moment Λ<SB>q</SB>and outputting the new steering command value ψ<SB>2</SB>to the steering device 12. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a flying object control system and a flying object flight control method for stably flying a flying object.

  Conventionally, the attitude of a flying object is stably maintained by a control system that determines the steering angle of the flying object by measuring the angular velocity and attitude angle of the flying object and feeding back the values (for example, Patent Document 1). Non-Patent Document 1).

However, recently, the development of a flying object having a high turning ability has been promoted, and when such a flying object performs a flight with a large angle of attack, a disturbance (for example, induced roll, yaw, pitch, etc.) work, so it is difficult to keep the aircraft stable with conventional control systems.
Japanese Patent Laid-Open No. 6-195125 (FIG. 1, FIG. 2, paragraphs [0013] to [0018], etc.) Hirofumi Eguchi, “Design of Guidance Control System”, Tokyo Denki University Press, February 20, 2004, p26-27

  The present invention has been made in view of such circumstances, and provides a flying object control system and a flying object flight control method for stably flying the flying object by eliminating the influence of disturbance acting on the flying object. For the purpose.

According to a first aspect of the present invention, a control system for stably flying a flying object,
A steering device that actually steers the flying object;
An angular velocity sensor that measures the angular velocity of the flying object;
A posture angle calculator for obtaining a posture angle of the flying object from an angular velocity measured by the angular velocity sensor;
A PI controller that obtains the steering command value of the flying object using the attitude angle command value for the flying object, the angular velocity measured by the angular velocity sensor, and the attitude angle obtained by the attitude angle calculator;
A state estimator that estimates and calculates a disturbance acting on the flying object using the attitude angle obtained by the attitude angle calculator as a disturbance torque moment;
A computing device that calculates a new steering command value using the steering command value obtained by the PI controller and the disturbance torque moment obtained by the state estimator, and outputs the new steering command value to the steering device. And a flying object control system characterized by comprising:

  In this flying object control system, the steering angle of the flying object by virtual steering based on the new steering command value is calculated using the dynamic characteristic model of this flying object, and the obtained virtual steering angle is output to the state estimator. Preferably, the disturbance torque moment calculated and output by the state estimator is a value corrected by this virtual steering angle.

According to the second aspect of the present invention, the attitude angle is obtained by measuring the angular velocity of the flying object in the actual flight state,
Using the angular velocity and attitude angle obtained in this way and the attitude angle command value for the flying object, obtain the steering command value of the flying object,
Obtain the disturbance torque moment acting on the flying object using the attitude angle,
A flying object flight control method is provided, wherein a new steering command value is obtained using the steering command value and the disturbance torque moment, and the flying object is steered by the new steering command value.

  In this flying object flight control method, the steering angle of the flying object by virtual steering based on the new steering command value is calculated using the dynamic characteristic model of the flying object, and the virtual steering angle thus obtained is used. It is preferable to correct the disturbance torque moment.

  According to the present invention, when flying a flying object, the attitude of the flying object can be stabilized even when flying at a large angle of attack by performing control that cancels disturbance acting on the aircraft in addition to feedback control. The set route can be made to fly.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of the flying object control system.

The projectile control system 10 includes a steering device 12 that actually steer the projectile (not shown), an angular velocity sensor 14 for measuring the actual angular velocity omega _m of the projectile, the angular velocity omega _m of the angular velocity sensor 14 is measured From the first attitude angle calculator 16 for calculating the attitude angle φ _m of the flying object, the attitude angle command value φ _C for the flying object, the angular velocity ω _m measured by the angular velocity sensor 14, and the first attitude angle calculator 16. disturbance and PI controller 18, the disturbance acting on the projectile by using the attitude angle phi _m obtained in the first posture angle calculator 16 for determining the steering command value phi ₁ of the projectile by using the attitude angle phi _m calculated state estimator 20, a PI controller 18 with the steering command value phi ₁ obtained and state estimator 20 by the disturbance torque moment lambda _q new and a steering command value phi ₂ obtained for calculating the torque moment lambda _q And dynamic characteristics of the new arithmetic unit 22 the steering command value phi ₂ outputs to the steering device 12, the flying object steering angle [delta] _r of the projectile by a virtual steering based on a new steering command value phi ₂ using a model to calculate, and a simulated steering apparatus 24 for outputting the obtained virtual steering angle [delta] _r to the state estimator 20.

Further, the flying object control system 10 has a flying object dynamic characteristic calculation model, and the actual steering angle δ _R output from the steering device 12 is applied to this dynamic characteristic calculation model to obtain the angular velocity ω _{d of the} flying object. A dynamic characteristic model calculation unit 26 to be obtained and a second posture angle calculator 28 to obtain the flying object posture angle φd from the angular velocity ωd obtained by the dynamic characteristic model calculation unit 26 are provided.

  The flying object control system 10 can be applied to various flying objects such as airplanes, fighters, missiles, rockets, spacecrafts, etc., but is particularly suitable for high mobility flying objects that require or are required to fly at a large angle of attack. Preferably employed.

The steering device 12 includes a control blade surface and a secondary control blade surface for changing the flight direction and posture of the flying object, and a drive mechanism for operating them. The angular velocity sensor 14 measures the actual angular velocity ω _m that acts on the aircraft body during the flight of the flying body. Specifically, the first attitude angle calculator 16 calculates the actual attitude angle φ _m of the flying object by integral calculation of the angular velocity ω _m . The combination of the angular velocity sensor 14 and the first attitude angle calculator 16 is generally called a gyro.

The attitude angle command value φ _C received by the PI controller 18 is wirelessly transmitted from a control facility (not shown) provided on the ground or on the ship for instructing the flight route of the flying object, or mounted on the flying object. A value transmitted from a radio altimeter (not shown), an inertial navigation device (not shown), or the like. PI controller 18 by proportional action (P operation) and integral action (I action) obtaining the steering command value phi _1, but the proportional gain and product constant used in this case is determined based on the dynamic characteristics of the projectile . The steering command value φ ₁ obtained by the PI controller 18 is output to the arithmetic unit 22.

The state estimator 20 is the same as what is called a state observer. The calculation method of the disturbance torque moment Λ _{q in} the state estimator 20 is roughly as follows. That is, the equation of motion of the flying aircraft is expressed by the following equation (1).

In this equation (1), φ ″ represents angular acceleration, φ represents posture angle, φ ′ represents angular velocity, L _φ , L _P , and L _δ represent coefficients, and δR represents a steering angle.

When this equation (1) is expressed by a state equation, the following equation (2) is obtained.

In order to derive a one-dimensional observer that estimates the disturbance acting on the airframe of the flying object, the disturbance torque moment Λ _q is sufficiently slower than the system response, that is, Λ _q ′, which is the differential value of the disturbance torque moment Λ _q , is zero The assumption shown by the following equation (3) is introduced.

Then, the above equation (2) can be described as an extended system as shown in the following equation (4).

Since the posture angle φ is a detectable amount, even if the above equation (4) is described as the following equation (5) for the posture angle φ, the response of the system is unchanged.

Here, for the sake of simplicity, the above expressions (4) and (5) are described by the following expressions (6) and (7), respectively.

Here, the same dimension observer is defined by the following equation (8).

Similarly, the equation (8) is described by the following equation (9) for the sake of simplicity.

Since equation (4) and (5) is equivalent, that represents the response of (5) is phi attitude angle when the steering angle [delta] _R and the disturbance torque moment lambda _q is input, the angular velocity phi ' Become. Meanwhile, equation (8) represents the response of the state variable X at the time of the attitude angle φ and the steering angle [delta] _R is input.

By subtracting equation (5) from equation (8) above, the second and third terms on the right-hand side are eliminated, so that an error system represented by the following equation (10) can be obtained.

If the characteristic root of A is stable, the following expression (11) is guaranteed.

This indicates that if the characteristic root of A is stabilized using α _{1 to} α ₃ constituting A and B as parameters, the value of the state variable X in the equation (9) converges to x. Therefore, the posture angle φ, the angular velocity φ ′, and the disturbance torque moment Λ _q can be estimated using the state variable X in the above equation (9).

The arithmetic unit 22 calculates a new steering command value φ ₂ by subtracting the disturbance torque moment Λ _q obtained by the state estimator 20 as described above from the steering command value φ ₁ obtained by the PI controller 18. To do. In other words, steering in the direction opposite to the direction of the disturbance torque moment Λq is added to the steering by the steering device 12, thereby canceling the disturbance and allowing the flying body to fly more stably. .

  Note that the flying object control system 10 includes both the state estimator 20 and the simulated steering device 24. By providing the simulated steering device 24 as will be described later, the flying object body is held more stably. However, if the state estimator 20 is provided, the airframe stability of the flying object with respect to disturbance is higher even if the simulated steering device 24 is not provided and compared to the case where the state estimator 20 is not provided. It becomes.

New steering command value phi ₂ is transmitted to the steering apparatus 12, but the steering device 12 operates in accordance with its value, the new steering command value phi ₂ is also sent to the simulated steering device 24, where the projectile The virtual steering angle δ _r is calculated using the dynamic characteristic model, and the value is transmitted to the state estimator 20. The simulated steering apparatus 24 calculates the time of the virtual steering angle [delta] _r by the extremely shorter than the time to complete the steering operation by the steering device 12 according to the steering command value phi _2.

Therefore, the state estimator 20 obtains the disturbance torque moment Λ _q as described above. In this case, the disturbance torque moment Λ _q is sequentially updated in consideration of the virtual steering angle δ _r . Therefore, a new steering command value phi ₂ to be sent to the steering unit 12 is also updated sequentially. By performing such control, a more accurate disturbance can be estimated, and the flying aircraft body can be held extremely stably.

When the steering device 12 is actually operating, the actual steering angle δ _R of the flying object is transmitted from the steering device 12 to the dynamic characteristic model calculation unit 26 in real time, and the dynamic characteristic model calculation unit 26 determines the steering angle δ _R. the applied to dynamic characteristic calculation model determined an angular velocity omega _d projectile, the attitude angle phi _d of the projectile is determined more by the angular velocity omega _d.

These data are not used for the flight control of the flying object in real time, but the actual flying operation of the flying object can be confirmed from this data. This data is useful for improving the dynamic characteristic model used for calculating the virtual steering angle δ _r in the simulated steering device 24.

As mentioned above, although embodiment of this invention was described, this invention is not limited to such embodiment. For example, in the flying object control system 10, the state estimator 20 is configured to add the simulated steering angle δ _r obtained by the simulated steering device 24 to the calculation of the disturbance torque moment Λ _q. further on that deformed configuration that is not provided with a device 24 may be configured to consideration of the steering angle [delta] _R of the state estimator 20 is outputted from the steering device 12 in the calculation of the disturbance torque moment lambda _q.

In this case, the response to the new steering command value phi ₂ is slower than the case of using a simulated steering apparatus 24, compared to the case of estimating the disturbance torque moment lambda _q without a steering angle [delta] _R, more accurate The disturbance torque moment can be obtained, and the flying body can be stably held.

The block diagram which shows schematic structure of a flying body control system.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Flying object control system, 12 ... Steering device, 14 ... Angular velocity sensor, 16 ... First attitude angle calculator, 18 ... PI controller, 20 ... State estimator, 22 ... Computing device, 24 ... Simulated steering device, 26 ... Dynamic characteristic model calculation unit, 28... Second attitude angle calculator.

Claims (4)

A control system for stably flying a flying object,
A steering device that actually steers the flying object;
An angular velocity sensor that measures the angular velocity of the flying object;
A posture angle calculator for obtaining a posture angle of the flying object from an angular velocity measured by the angular velocity sensor;
A PI controller that obtains the steering command value of the flying object using the attitude angle command value for the flying object, the angular velocity measured by the angular velocity sensor, and the attitude angle obtained by the attitude angle calculator;
A state estimator that estimates and calculates a disturbance acting on the flying object using the attitude angle obtained by the attitude angle calculator as a disturbance torque moment;
A computing device that calculates a new steering command value using the steering command value obtained by the PI controller and the disturbance torque moment obtained by the state estimator, and outputs the new steering command value to the steering device. And a flying object control system. A simulation steering device that calculates a steering angle of a flying object by virtual steering based on the new steering command value using a dynamic characteristic model of the flying object and outputs the obtained virtual steering angle to the state estimator. In addition,
The flying object control system according to claim 1, wherein the disturbance torque moment calculated and output by the state estimator is a value corrected by the virtual steering angle. Determine the attitude angle by measuring the angular velocity of the flying object in actual flight,
Using the angular velocity and attitude angle obtained in this way and the attitude angle command value for the flying object, obtain the steering command value of the flying object,
Obtain the disturbance torque moment acting on the flying object using the attitude angle,
A flying object flight control method, wherein a new steering command value is obtained using the steering command value and the disturbance torque moment, and the flying object is steered by the new steering command value.   Calculating the steering angle of the flying object by virtual steering based on the new steering command value using the dynamic characteristic model of the flying object, and correcting the disturbance torque moment using the virtual steering angle obtained in this way. The flying object flight control method according to claim 3.

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