JPH0345899A - Controller - Google Patents

Abstract

PURPOSE:To improve shoot-down capacity of a highly turning target by always controlling attitude angle and flying route of a controller to fall a target within a beam scanning angle of an antenna and within dome transmitting and receiving ranges. CONSTITUTION:A controller M always controls attitude angle and flying route of the controller M to fall a target 1 within a beam scanning angle range of an antenna 7 and within transmitting and receiving ranges of a dome 70, and simultaneously output signals from units. That is, a lock-off detector 20 outputs a H level signal in case of lock-on and a L level in case of lock-off. A relative acceleration detector 21 outputs a signal of a level proportional to a relative acceleration in case of lock-on, a relatively speed detector 22 outputs a signal of a level proportional to a relative speed, and a speed searching range setter 23 outputs a signal of a level proportional to the set width of a speed searching range in case of lock-off.

Description

[Detailed Description of the Invention] [Field of Industrial Application] This invention relates to a control device that detects infrared rays or reflected waves generated from a target, and captures and tracks the target.
In particular, by irradiating the target with a transmitted wave and detecting the reflected wave from the target,
Target M of the control device that detonates when the target passes near the control device or hits the target directly, causing great damage to the target.
The aim is to improve crash performance.

[Conventional technology]

First, a conventional control device of this type will be briefly explained.

In Fig. 5, 1M is the control device, (1) l is the control device M
(2) is the transmitted wave that irradiates the target (1), (3) is the reflected wave from the target (1), (4) is the transmitted wave (2) that irradiates the target (1). A transmission source section (5) generates a transmission signal according to a transmission command signal output from a signal processing section (9), and a transmission source section (5) supplies the transmission signal to a phase shifter (6) that controls the transmission direction of the transmission wave (2). However, it is not supplied to the receiver section (8).

A circulator that supplies the received signal received by the antenna (7) to the receiver section (8) but not to the transmission source section (4).

(6) is a phase shifter that controls the beam direction direction, which is the transmission direction of the transmission wave (2) and the reception direction of the reception wave (3), by the beam control signal output from the beam control unit αO; (71 is the transmission wave ( 2) to the target (1) and receives the reflected wave (3) from the target (1), (70) is the dome that protects the antenna from the outside world, and (8) is received by the antenna (7). Receiver section that generates an 8-point signal from the received signal, (9)
a signal processing unit that outputs a target direction command signal, a guidance signal, and a transmission command signal from the target signal output from the receiver unit (8);
a (to) determines the transmission direction of the transmission wave (2) from the target direction command signal output from the signal processing section (9)! a beam control unit that outputs a beam control signal for II control to the phase shifter (6), 0;
1) is the control unit e based on the guidance signal output from the signal processing unit (9).
Aim for the flight route of M (autopilot outputs a steering command signal to steer in the direction of the meeting point with 11, ■ is a target for the trial route of control device M by the steering command signal output from autopilot aD (1) (6) ζ generates a proximity detonation pulse when passing near target (1), and generates an landing detonation pulse when it hits target (1) directly, Pulse again.

A fuse that generates a detonation signal that detonates the warhead by the landing detonation pulse. (4) is a warhead that explodes with the detonation signal output from the fuze ■ when it meets target +11, causing great damage to target (1). , a9 is a power source that supplies the necessary power to the components of the control device M, and (a9) is a propulsion device that provides thrust to the control device M.

[Problem to be solved by the invention]

The conventional control device M is configured as described above, guides the user toward the meeting point with the target (1), and finally the control device M and the target (1).
1), or generate a detonation signal when passing near the target (1), detonate the warhead (2), cause great damage to the target (1), and shoot down the target (1).

However, if target (1) turns with large acceleration.

Or against target (1) flying at high speed.

When the control device M flies in anticipation of that speed, the beam pointing direction and the axis direction of the control device M deviate greatly. Now, the angle between the axis direction of the control device M and the beam direction direction is called a beam scanning angle. The beam scanning angle needs to be controlled over a wider range as the target (1) turns with greater acceleration or as the target (1) becomes faster. If the beam scanning angle remains narrow, the target [1] will come out of the beam scanning angle range, and the control device M will lose sight of the target and lock off.

To widen the beam scanning angle range, use the antenna (7)
, it is required to maintain the antenna characteristics over a wide angular range, and a dome (70
), it is required to maintain radio wave transmission characteristics during transmission and reception over a wide angular range.

However, there is a limit to the angular range in which the antenna characteristics can be maintained, and the dome (70) also has a limit to the angular range in which the radio wave transmission characteristics can be maintained due to aerodynamic characteristics and mechanical strength.

Particularly in recent years, overcoming the above-mentioned limitations has become an important issue due to the goal (1) of increasing speed and improving turning ability.

This invention allows *J to always be within the beam scanning angle of the antenna (7) and within the transmitting/receiving range of the dome (70) even if there is a limit to the beam scanning angle range of the J control device M.

A control device that prevents lock-off against a high turning target (1) and improves the ability to shoot down the target (1) by controlling the attitude angle and flight path of the control device M so that the target (1) enters the target. The purpose is to obtain. or.

Since the dome can be improved by this invention, the speed of the control device can be increased.

[Means to solve the problem]

The control device according to the present invention includes means for outputting a low level signal when the target direction command signal does not exceed a predetermined level, and outputting a high level signal when the target direction command signal exceeds the predetermined level; If it is a low level signal, a zero signal will be output, and if it is a high level signal, it will be output according to the size of the target direction command signal! 9! means for outputting a rudder command compensation signal;
means for adding a steering command signal of the output of the means and the output of the autopilot and outputting a compensation steering command signal to the steering device; and detecting that the target is locked off from the target signal;
Means for outputting a lock-off signal, and detecting relative acceleration between the target and the control device from the target signal.

means for outputting a relative acceleration signal; means for detecting relative speed between a target and a control device and outputting a relative speed signal; means for outputting a speed search control signal for setting a speed search range based on the speed and relative acceleration; and based on the relative acceleration when the lockoff signal is input from the lockoff signal and the relative acceleration signal,
Search acceleration l1Jfa to set speed search acceleration! The device is equipped with means for outputting an I signal.

[For production]

This invention controls the attitude angle and flight path of the control device so that the target is always within the beam scanning angle range of the antenna of the mm device and within the transmission/reception range of the dome, and at the same time controls the speed system. Even if the synchronization is lost and the target signal is locked off, it can be done in a short time.

The control device is also controlled to ensure relocking.

〔Example〕

FIG. 1 shows an embodiment of the present invention. FIG. 2 shows a timing chart, in which (1) to (υ and (70
) are the same as in FIG. 5, and (I?) to (24) are devices newly added to FIG.

(I?) outputs a low level signal based on the target direction command signal output from the signal processing section (9) when the target direction command signal does not exceed a predetermined level, and outputs a high level signal when it exceeds a predetermined level. A limiter circuit that outputs a signal (■ is a limiter circuit (when the output is a low level signal, it outputs a zero signal, and when it is a high level signal, it outputs a zero signal.

a steering command bias signal generation circuit that outputs a steering command compensation signal according to the magnitude of the target direction command signal output from the signal processing unit (9); a steering command signal output from ((2) is the autopilot 01); The steering compensation signal of the yR rudder command bias signal generation circuit is added, and the compensation steering command signal is sent to the steering system (
Adder that outputs uni, I2! ! l is a lock-off detection circuit that detects that the target (1) is locked off from the target signal output from the receiver section (8) and outputs a lock-off signal;
(21) is a relative acceleration detection circuit that detects the relative acceleration between the target [11 and the control device M] from the target signal output from the receiver section (8) and outputs a relative acceleration signal.

(22) is determined by the target signal output from the receiver section (8).
1) A relative speed detection circuit that detects the relative speed between the controller M and the control device M, and outputs a relative speed signal. Set the speed search range based on the relative acceleration signal output from (21) and the relative speed/relative acceleration when the lock-off signal is input from the relative speed signal output from the relative speed detection circuit (22). A speed search range setting circuit that outputs a speed search control signal.

(24) calculates the velocity search acceleration based on the relative acceleration when the lockoff signal is input from the lockoff signal output from the lockoff detection circuit (to) and the relative acceleration signal output from the relative acceleration detection circuit (21). By outputting the search acceleration control signal to be set and setting the speed at which the speed signal is searched in proportion to the magnitude of the relative acceleration, if the search speed is too fast for the speed signal, it will not be sufficient to obtain a lock-on signal. This is a search acceleration setting circuit to prevent lock-on from not being possible because energy (lock-on pulse width) cannot be obtained, and from taking too much time to re-lock if it is slow.

In the control device M configured as described above;

Signals as shown in FIG. 2 are output from each device.

As shown in FIG. 3(a), in the conventional control device, even when the target is outside the beam scanning angle range, the control device as shown in FIG. 3(b) and FIG. 3(c) The control device M controls the attitude angle of the antenna (7) so that the beam scanning angle range is always wide with respect to the target direction, and the attitude angle is controlled so that the target is not likely to go out of the beam scanning angle range. Always within the beam scanning angle range and within the transmitting/receiving range of the dome.

At the same time, the attitude angle and flight path of the control device M are controlled so that the target (1) is entered, and at the same time, signals as shown in FIG. 4 are outputted from each device.

As shown in Figure 4, the lock-off detection circuit (c) outputs an H level signal when locked on, and an L level signal when locked off, and the relative acceleration detection circuit (21) outputs a signal proportional to the relative acceleration. The relative speed detection circuit (22) outputs a level signal when locked on, the relative speed detection circuit (22) outputs a level signal proportional to the relative speed when locked on, and the speed search range setting circuit (23) outputs a level signal when locked on. When this happens, a signal with a level proportional to the set width of the speed search range is output.

FIG. 4(e) shows an example of a pattern for searching for a speed signal using the device of the present invention.
f) is an example of a pattern in which speed signals are searched using a conventional device, and a wide range is searched.

In addition, Fig. 3 (h) lyo1tilIii! ! An example of controlling the axis of the device in the N direction from N is shown in Fig. 3(e), in which the beam scanning angle range is controlled from A-B to A' to B' by rotating the control device around the axis N. An example is shown.

Therefore, lock-off can be prevented against the high-velocity, high-turning target (1), thereby preventing a sudden drop in the ability to shoot down the target. Also, conventional! In the IIwIJ device.

The target signal is extracted by matching the reception gate set according to the relative speed between the control device and the target, and if the reception gate and the target signal deviate, the target signal cannot be detected and locks off. Once locked off, the receiving gate was moved to a predetermined area and searched. In this invention, the minimum necessary speed search range can be searched using the following formula based on the relative velocity, relative velocity dispersion value, relative acceleration, and relative acceleration dispersion value at the time of lock-off. Note that the relative velocity dispersion value and relative acceleration dispersion value are calculated by first calculating the average value from the relative velocity signal and relative acceleration signal obtained during the lock-on period until lock-off, and then calculating the two dispersion values. Calculate and find.

Va−ΔVa (la +Δao) X t ≦ΔV
';a Vc+ ΔVc-(a, 1Δae)Xt t ・Elapsed time after lock-off △V The control device M will be controlled in such a way that it can be relocked.

Therefore, lock-off can be prevented for the high turning G target (1), and a sudden drop in the ability to shoot down the target can be prevented.

〔Effect of the invention〕

With the configuration as described above, the present invention has the effect of improving the ability of the control device to shoot down high-turning targets and high-velocity targets.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention, FIGS. 2, 3, and 4 are diagrams explaining the operation of the present invention, and FIG. 5 is a block diagram showing a conventional control device. . In the figure, (1) is the target, (2) is the transmitted wave, (3) is the reflected wave, (4) is the transmission source, (5) is the circulator,
(6) is the phase shifter, (7) is the antenna, (70) is the dome, (8) is the receiver section, (9) is the signal processing section, αO is the beam control section, ql is the autopilot, (to ) is the steering device, 0 is the fuse, (b) is the warhead, (1 is the power supply, (υ is the propulsion device, ( ) is the limiter circuit, (0 is the steering command bias signal generation circuit, (E) is the adder, (to) is the lock-off detection circuit, (21) is the relative acceleration detection circuit, (2
2) is a relative speed detection circuit, (23) is a speed search range setting circuit, and (24) is a search acceleration setting circuit. M is the control device, NI-! The axis of the control device, θ [and the beam width, A and B are the beam width ranges. In Figure 2, the same or corresponding parts are denoted by the same reference numerals.

Claims (1)

[Claims] When a transmission signal of the transmission wave to be irradiated to the target is generated, the transmission signal is supplied to the transmission source section and the phase shifter that controls the transmission direction of the transmission wave, but is not supplied to the receiver section, and the antenna receives the signal. A circulator that supplies signals to the receiver section but not the transmission source section, a phase shifter that controls the signal direction of the transmitted waves, and an antenna that irradiates the transmitted waves to the target and receives reflected waves from the target. , a dome that protects this antenna from the outside world, a receiver section that generates a target signal from the reception signal received by the antenna, and a signal processing section that outputs a target direction command signal, a guidance signal, and a transmission command signal from the target signal. , a beam control unit that outputs a beam control signal for controlling the transmission direction of the transmitted wave based on the target direction command signal, and a steering command signal that uses the guidance signal to steer the flight path of the control device in the direction of the meeting point with the target. The autopilot generates an autopilot, the steering device that uses the steering command signal to steer the flight path of the control device toward the meeting point with the target, generates a proximity detonation pulse when passing near the target, and also generates a proximity detonation pulse when it hits the target directly. A fuse that generates a detonation pulse and a detonation signal that detonates the warhead with a proximity detonation pulse or an arrival detonation pulse, and a warhead that explodes with the detonation signal when it meets the target, causing great damage to the target. In a control device equipped with a power source that supplies power necessary for the components, and a propulsion device that provides thrust, if the target direction command signal does not exceed a predetermined level, a first level signal is output and a limiter circuit that outputs a second level signal different from the first level when the output exceeds the level of In this case, a steering command bias signal generation circuit outputs a steering command compensation signal according to the magnitude of the target direction command signal, and an adder adds the steering command signal and the steering command compensation signal and outputs a compensated steering command signal to the steering device. A lock-off detection circuit detects that the target is locked off from the target signal and outputs the lock-off signal, and a relative acceleration detection circuit detects the relative acceleration between the target and the control device from the target signal and outputs the relative acceleration signal. and a relative speed detection circuit that detects the relative speed between the target and the control device from the target signal and outputs a relative speed signal.
A speed search range setting circuit that outputs a speed search control signal that sets a speed search range based on the relative speed and relative acceleration when the lockoff signal is input from the lockoff signal, relative acceleration signal, and relative speed signal, and the lockoff signal. A control device comprising a search acceleration setting circuit that outputs a search acceleration control signal that sets a velocity search acceleration based on the relative acceleration when the lock-off signal is input from the relative acceleration signal and the relative acceleration signal.