JP3232564B2 - Flying object guidance device - Google Patents
Flying object guidance deviceInfo
- Publication number
- JP3232564B2 JP3232564B2 JP04472790A JP4472790A JP3232564B2 JP 3232564 B2 JP3232564 B2 JP 3232564B2 JP 04472790 A JP04472790 A JP 04472790A JP 4472790 A JP4472790 A JP 4472790A JP 3232564 B2 JP3232564 B2 JP 3232564B2
- Authority
- JP
- Japan
- Prior art keywords
- angular velocity
- seeker
- angle
- flying object
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 2
- 230000006698 induction Effects 0.000 claims 1
- 230000006641 stabilisation Effects 0.000 description 5
- 238000011105 stabilization Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241000219977 Vigna Species 0.000 description 1
- 235000010726 Vigna sinensis Nutrition 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
Landscapes
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 この発明は飛しよう体の誘導装置に関するものであ
る。Description: TECHNICAL FIELD The present invention relates to a flying object guidance device.
従来の比例航法を用いた飛しよう体の誘導装置は，飛
しよう体から見た目標を検出する手段を２自由度シーカ
上に設け，当該シーカを目標に自動追尾させ目標の目視
線角速度に比例した信号を検出し制御装置により操舵
し，飛しよう体の空力特性を通して機体に固定された慣
性角速度検出器を用いて前記シーカを空間安定化した上
で飛しよう体を目標に命中させる方法であつた。In a conventional guidance system for a flying object using proportional navigation, a means for detecting a target viewed from the flying object is provided on a two-degree-of-freedom seeker, and the seeker is automatically tracked to the target, and is proportional to the visual line angular velocity of the target. A signal is detected, steering is performed by a control device, and the seeker is spatially stabilized using an inertial angular velocity detector fixed to the aircraft through the aerodynamic characteristics of the flying object, and the flying object is hit by a target. .
第２図は従来の装置の構成を示した図である。図にお
いて（1b）は角度指令指示器，（２）は角度増幅器，
（３）は角速度増幅器，（４）は補償回路，（５）は電
流増幅器，（６）は電流帰還器，（７）は駆動モータ，
（８）はシーカ，（９）は角度検出器，（10）は角速度
検出器，（11）は操舵装置，（12）は飛しよう体，（1
3）は慣性角速度検出器，（17）は姿勢角検出器であ
る。FIG. 2 is a diagram showing the configuration of a conventional apparatus. In the figure, (1b) is an angle command indicator, (2) is an angle amplifier,
(3) is an angular velocity amplifier, (4) is a compensation circuit, (5) is a current amplifier, (6) is a current feedback device, (7) is a drive motor,
(8) is a seeker, (9) is an angle detector, (10) is an angular velocity detector, (11) is a steering device, (12) is a flying object, (1)
3) is an inertial angular velocity detector, and (17) is an attitude angle detector.
次に動作について説明する。第２図に示す装置では，
角度指令指示器（1b）により飛しよう体軸と前記シーカ
の走査によつて得られた目標の方向を示す目視線がなす
角λＴを指示する。この指令角λＴと角度検出器（９）
によつて得られるシーカ軸角度λとの差εを求め，この
誤差角εを角度増幅器（２）で増幅して，角速度検出器
（10）によつて得られる角速度との差を角速度増幅器
（３）で増幅する。角速度増幅器（３）の出力信号は補
償回路（４）と操舵装置（11）とに供給される。前記補
償回路（４）において位相補償を行い電流増幅器（５）
および電流帰還器（６）によつて電流増幅を行い駆動モ
ータ（７）を介してシーカ（８）を走査する。前期目視
線角λＴとシーカ軸角λとの差εが零になるようにλを
走査することにより目標を追尾する。シーカ軸角度λ，
シーカ軸角速度は角度検出器（９）および角速度検出
器（10）により検出し，フイードバツク信号として利用
し，角度制御ループを構成する。Next, the operation will be described. In the device shown in FIG.
Angle command indicator (1b) by line of sight indicating the direction of the target obtained Te cowpea to scan said the flight attempt Axial Seeker instructs the angle lambda T. The command angle λ T and the angle detector (9)
The difference ε from the seeker axis angle λ obtained by the angular velocity detector (10) is obtained, the error angle ε is amplified by the angle amplifier (2), and the difference from the angular velocity obtained by the angular velocity detector (10) is calculated by the angular velocity amplifier ( Amplify in 3). The output signal of the angular velocity amplifier (3) is supplied to a compensation circuit (4) and a steering device (11). A current amplifier (5) which performs phase compensation in the compensation circuit (4);
The current is amplified by the current feedback unit (6), and the seeker (8) is scanned via the drive motor (7). The target is tracked by scanning λ such that the difference ε between the visual line angle λ T and the seeker axis angle λ becomes zero. Seeker axis angle λ,
The seeker shaft angular velocity is detected by an angle detector (9) and an angular velocity detector (10) and used as a feedback signal to form an angle control loop.
一方，前記操舵装置（11）により飛しよう体（12）を
操舵する。また，慣性軸に対する機体軸の変化は機体に
固定された慣性角速度検出器（13）によつて検出され，
この信号は姿勢角検出器（17）に入力されて姿勢角信号
θm,すなわち空間安定化信号として前記角度指示器（1
b）に入力される。なお，前記姿勢角検出器（17）の出
力は飛しよう体を目標に誘導するためのフイードバツク
信号として操舵装置（11）にも供給されている。On the other hand, the flying object (12) is steered by the steering device (11). The change of the body axis with respect to the inertia axis is detected by an inertial angular velocity detector (13) fixed to the body.
This signal is input to an attitude angle detector (17) and is used as an attitude angle signal θ m , that is, as a space stabilization signal, by the angle indicator (1).
Entered in b). The output of the attitude angle detector (17) is also supplied to the steering device (11) as a feedback signal for guiding the flying object to the target.
しかしながら，従来の装置では容易にシーカ軸の角度
制御を行うことができるものの，慣性軸に対するシーカ
の角度変位を飛しよう体本体上の慣性角速度検出器に依
存しなければならず，機体座標系から慣性座標系への座
標変換を行うことが必要であつた。また，環境の変化に
よつて，空間安定化性能が著しく劣化するという欠点が
あつた。However, although the conventional device can easily control the angle of the seeker axis, the angular displacement of the seeker with respect to the inertia axis must rely on the inertial angular velocity detector on the body of the flying object. It was necessary to perform coordinate conversion to the inertial coordinate system. In addition, there is a disadvantage that spatial stabilization performance is significantly deteriorated due to a change in environment.
この発明は上記のような課題を解消するためになされ
たもので，シーカ軸の精密な角度制御を可能とするとと
もに，飛しよう体の動揺，振動にかかわらず高い空間安
定化性能を同時に持つ目標追尾系を備える飛しよう体の
誘導装置を得ることを目的とする。SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and aims to enable precise angle control of a seeker shaft, and at the same time have high spatial stabilization performance irrespective of swinging and vibration of a flying object. It is an object of the present invention to obtain a flying object guidance device having a tracking system.
本発明による飛しよう体の誘導装置は，目標の目視線
角速度に比例して飛しよう体を誘導させる飛しよう体の
比例航法誘導方式において，シーカ軸上に置かれた慣性
空間におけるシーカ軸の角速度を検出する手段と，機体
軸に対してシーカ軸がとる角度，角速度を検出する手段
と，前記の２つの手段を誘導条件によつて選択するスイ
ツチと，前記スイツチによつて選択された信号を補償す
る共通の回路と，前記回路で補償された信号を電流帰還
を行いつつ電流増幅を行い駆動モータを介してシーカを
駆動する走査系と，前記目標を捜索するときは機体軸に
関する角度制御を行い，前記目標捕捉後は慣性空間にお
ける前記シーカ軸の角速度を検出しシーカ軸を空間に安
定させ前記目標を追尾する制御手段とを備えたものであ
る。The flying object guidance device according to the present invention is directed to a proportional navigation guidance system for a flying object in which a flying object is guided in proportion to a target line-of-sight angular velocity. Means for detecting the angle and angular velocity of the seeker axis with respect to the fuselage axis, a switch for selecting the two means according to guidance conditions, and a signal for selecting the two means according to the switch. A common circuit for compensating, a scanning system for amplifying current while performing current feedback on the signal compensated by the circuit and driving a seeker via a drive motor, and controlling an angle with respect to a body axis when searching for the target. Control means for detecting the angular velocity of the seeker axis in inertial space after the target is captured, stabilizing the seeker axis in space, and tracking the target.
この発明による飛しよう体の誘導装置は，目標捜索時
には機体軸に関する角度制御を行い，目標捕捉後は慣性
軸に関するシーカの空間安定化を行うとともに目標の追
尾を行うことができる。The flying object guidance apparatus according to the present invention can perform angle control with respect to the body axis when searching for a target, stabilize the space of the seeker with respect to the inertial axis after tracking the target, and track the target.
次に，本発明の一実施例を第１図について説明する。
第３図は本発明に関する飛しよう体と目標に関する角度
関係を表す図である。第１図において，（1a）は角度指
令または角速度指令指示器，（２）は角度増幅器，
（３）は角速度増幅器，（４）は補償回路，（５）は電
流増幅器，（６）は電流帰還器，（７）は駆動モータ，
（８）はシーカ，（９）は角度検出器，（10）は角速度
検出器，（11）は操舵装置，（12）は飛しよう体，（1
3）は慣性角速度検出器，（14）は選択スイツチ，（1
5）は積分器，（16）は補償増幅器である。Next, an embodiment of the present invention will be described with reference to FIG.
FIG. 3 is a diagram showing an angle relationship between a flying object and a target according to the present invention. In FIG. 1, (1a) is an angle command or angular velocity command indicator, (2) is an angle amplifier,
(3) is an angular velocity amplifier, (4) is a compensation circuit, (5) is a current amplifier, (6) is a current feedback device, (7) is a drive motor,
(8) is a seeker, (9) is an angle detector, (10) is an angular velocity detector, (11) is a steering device, (12) is a flying object, (1)
3) is the inertial angular velocity detector, (14) is the selection switch, (1)
5) is an integrator, and (16) is a compensation amplifier.
飛しよう体の誘導条件により，角度指令λＴまたは角
速度指令Ｔが指示器（1a）により指示される。角度指
令が入力される場合は，前記指令角λＴと角度検出器
（９）によつて得られるシーカ軸角度λとの差εを求
め，この誤差角εを角度増幅器（２）で増幅し，得られ
た信号と角速度検出器（10）によつて得られる角速度
との差を角速度増幅器（３）で増幅する。一方，角速度
指令が入力される場合は，シーカ（８）に取りつけられ
た慣性角速度検出器（13）によつて検出された慣性軸に
対するシーカ軸の角速度と，前記角速度指令Ｔとの
差の信号が，積分器（15）および補償増幅器（16）を介
して選択スイツチに入力される。An angle command λ T or an angular velocity command T is specified by the indicator (1a) depending on the guidance condition of the flying object. When an angle command is input, a difference ε between the command angle λ T and the seeker shaft angle λ obtained by the angle detector (9) is obtained, and this error angle ε is amplified by an angle amplifier (2). The difference between the obtained signal and the angular velocity obtained by the angular velocity detector (10) is amplified by an angular velocity amplifier (3). On the other hand, when an angular velocity command is input, a signal representing the difference between the angular velocity of the seeker shaft with respect to the inertial axis detected by the inertial angular velocity detector (13) attached to the seeker (8) and the angular velocity command T. Is input to the selection switch via the integrator (15) and the compensation amplifier (16).
上記に示す２つの誤差信号のうちどちらか一方につい
て補償回路（４）により位相制御補償（いずれの信号入
力に対しても同一の回路で対応することができる）を行
い，電流増幅器（５）および電流帰還器（６）で電流増
幅を行い，駆動モータ（７）を介してシーカ（８）を走
査する。前記スイツチ（14）を切り換えることにより，
目視線角λＴとシーカ軸角度λとの差εが零になるよう
にλを走査して目標を捕捉する角度制御機能と，シーカ
軸を慣性軸に対して空間安定化した上で目標を追尾し，
操舵装置（11）により飛しよう体（12）を目標方向に誘
導する機能とを得ることができる。One of the two error signals described above is subjected to phase control compensation (the same circuit can cope with any signal input) by the compensation circuit (4), and the current amplifier (5) and The current feedback (6) amplifies the current and scans the seeker (8) via the drive motor (7). By switching the switch (14),
An angle control function that scans λ so that the difference ε between the line-of-sight angle λ T and the seeker axis angle λ becomes zero and captures the target. Follow,
The function of guiding the flying object (12) in the target direction by the steering device (11) can be obtained.
なお，上記実施例では角度検出器（９），角速度検出
器（10）は別個のものとしたが，どちらか一方のみを検
出し，もう一方を演算回路によつて求めてフイードバツ
クループを構成してもよい。Although the angle detector (9) and the angular velocity detector (10) are separate in the above embodiment, only one of them is detected and the other is obtained by an arithmetic circuit to form a feedback loop. You may comprise.
以上のように，本発明は，容易にシーカ軸の角度制御
を行うことができる従来の装置の欠点（空間安定化精度
が飛しよう体本体上の慣性角速度検出器に依存）を解決
するために，機能の切換えスイツチを設けた上で，慣性
角速度検出器をシーカ軸上に設置し，目標捕捉前（目標
捜索時）は角度指令入力により機体軸に関する角度制御
を行い，目標捕捉後は角速度指令入力および前記シーカ
軸上の慣性角速度検出器による信号によつて空間安定化
を行いつつ目標を追尾する角速度制御を行うので，高い
目標捜索性能と高い命中性能を同時に得る効果がある。As described above, the present invention is to solve the drawbacks of the conventional device that can easily control the angle of the seeker shaft (the spatial stabilization accuracy depends on the inertial angular velocity detector on the flying body). In addition, a function switching switch is provided, and an inertial angular velocity detector is installed on the seeker axis. Before target acquisition (during target search), angle control is performed on the body axis by inputting angle commands. Since the angular velocity control for tracking the target while performing the spatial stabilization is performed by the input and the signal from the inertial angular velocity detector on the seeker axis, there is an effect of simultaneously obtaining a high target search performance and a high hit performance.
第１図は本発明の飛しよう体の誘導装置を示す図，第２
図は従来の飛しよう体の誘導装置を示す図，第３図は飛
しよう体と目標の関係を示す図である。 図中（1a）は角度指令または角速度指令指示器，（1b）
は角度指令指示器，（２）は角度増幅器，（３）は角速
度増幅器，（４）は補償回路，（５）は電流増幅器，
（６）は電流帰還器，（７）は駆動モータ，（８）はシ
ーカ，（９）は角度検出器，（10）は角速度検出器，
（11）は操舵装置，（12）は飛しよう体，（13）は慣性
角速度検出器，（14）は選択スイツチ，（15）は積分
器，（16）は補償増幅器，（17）は姿勢角検出器であ
る。なお，図中，同一符号は同一，または相当部分を示
す。FIG. 1 is a view showing a flying object guiding apparatus of the present invention, and FIG.
The figure shows a conventional flying object guidance device, and FIG. 3 shows the relationship between the flying object and a target. In the figure, (1a) is the angle command or angular velocity command indicator, (1b)
Is an angle command indicator, (2) is an angle amplifier, (3) is an angular velocity amplifier, (4) is a compensation circuit, (5) is a current amplifier,
(6) is a current feedback device, (7) is a drive motor, (8) is a seeker, (9) is an angle detector, (10) is an angular velocity detector,
(11) steering device, (12) flying object, (13) inertial angular velocity detector, (14) selection switch, (15) integrator, (16) compensation amplifier, (17) attitude It is an angle detector. In the drawings, the same reference numerals indicate the same or corresponding parts.
Claims (1)
を誘導させる飛しよう体の誘導装置において，シーカ軸
上に置かれた慣性空間におけるシーカ軸の角速度を検出
する手段と，機体軸に対してシーカ軸がとる角度，角速
度を検出する手段と，前記２つの手段を誘導条件によつ
て選択するスイツチと，前記スイツチによつて選択され
た信号を補償する共通の回路と，前記回路で補償された
信号を電流帰還を行いつつ電流増幅を行い駆動モータを
介してシーカを駆動する走査系と，前記目標を捜索する
ときは機体軸に関する角度制御を行い，前記目標捕捉後
は慣性空間における前記シーカ軸の角速度を検出しシー
カ軸を空間に安定させ前記目標を追尾する制御手段とを
備えることを特徴とする飛しよう体の誘導装置。1. A flying object guidance device for guiding a flying object in proportion to a target visual line angular velocity, means for detecting an angular velocity of a seeker axis in an inertial space placed on the seeker axis, Means for detecting the angle and angular velocity taken by the seeker shaft, a switch for selecting the two means in accordance with an induction condition, a common circuit for compensating a signal selected by the switch, and the circuit A scanning system for amplifying the current while performing current feedback on the signal compensated by the above and driving a seeker via a drive motor, and performing angle control with respect to the body axis when searching for the target. And control means for detecting the angular velocity of the seeker shaft and stabilizing the seeker shaft in space to track the target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04472790A JP3232564B2 (en) | 1990-02-26 | 1990-02-26 | Flying object guidance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04472790A JP3232564B2 (en) | 1990-02-26 | 1990-02-26 | Flying object guidance device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03247997A JPH03247997A (en) | 1991-11-06 |
| JP3232564B2 true JP3232564B2 (en) | 2001-11-26 |
Family
ID=12699477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP04472790A Expired - Lifetime JP3232564B2 (en) | 1990-02-26 | 1990-02-26 | Flying object guidance device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3232564B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3828549A1 (en) * | 1988-08-23 | 1990-03-08 | Huels Chemische Werke Ag | METHOD FOR REMOVING SILANE COMPOUNDS FROM SILANE-CONTAINING EXHAUST GASES |
| JP2518465B2 (en) * | 1990-11-30 | 1996-07-24 | 三菱電機株式会社 | Flying object guidance device |
| DE4339187C1 (en) * | 1993-11-16 | 1995-04-13 | Mafo Systemtech Gmbh & Co Kg | Procedure for determining the line of sight rotation rate with a rigid search head |
| CN102999048B (en) * | 2011-09-08 | 2016-05-18 | 中国航天科工集团第二研究院二０七所 | A kind of method of servo-controlling of vehicle-mounted moving pedestal photoelectric search tracking table |
-
1990
- 1990-02-26 JP JP04472790A patent/JP3232564B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH03247997A (en) | 1991-11-06 |
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