JPH0534098A - Controller for missile - Google Patents

Abstract

PURPOSE:To control a missile so as to be capable of approaching a target linearly by a method wherein the generation of rotational speed, generated by the rotation of the missile, is prevented by a signal generated by an auxiliary guidance device, in the steering control of the missile. CONSTITUTION:A steering operating device 30 is constituted of an acceleration control filter 31, a subtractor 32, a rate control filter 33, another subtractor 34, a phase compensating filter 35 and an auxiliary guidance device 36. The auxiliary guidance device 36 generates a signal for cancelling an effect (pw) generated by the rotation of a missile and transmits it to the subtractor 34. In this case, the auxiliary guidance device generates a signal gammas obtained by subtracting the product of the roll rate Ps of sensor output by an attack angle (alpha) from a yaw rate gammas from a sensor 6 and transmits it to the subtractor 34. By this method, the generation of a rotational speed, generated by the rotation of the missile, can be prevented, the effect of (pw) is cancelled whereby the missile can approach a target linearly even though the missile is being rotated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion control device for a flying object.

[0002]

2. Description of the Related Art FIG. 3 shows an example of a conventional technique.
w) Shows the acceleration control system in the direction. In the figure, (A) shows a block diagram of the entire conventional yaw direction control system, and (B) shows the details of the steering angle computing device 3 of (A). With this control system, the yaw steering angle instruction δyc, that is, the instruction in the yaw direction is determined by the following calculation. (1) An error εn between the yaw direction acceleration command nyc obtained from the guidance signal and the current flying body acceleration, that is, the yaw direction acceleration nys of the sensor output is calculated. (2) The error calculation of the yaw rate command γc obtained from the error εn and the yaw rate γs of the sensor output, and the steering angle command yc are calculated.

[0003]

When a flying object having a control system approaches a target while rotating around the axis, the equation of motion of the flying object in the yaw direction is ay = Fy / m-ru + pw where ay; Directional acceleration Fy; Force in the yaw direction acting on the aircraft m; Mass of the aircraft u; Velocity component in the X-axis direction (machine direction) v; Velocity component in the Y-axis direction (yaw direction) w; Z-axis direction (X, Y) The velocity component (perpendicular to the axis) is p; roll rate is r; yaw rate, but in the conventional control device, the pw term in equation (1) does not become zero.

Therefore, if the signs are determined as shown in FIG. 4, if both pw are positive, the yaw direction acceleration ay and the yaw direction speed v are positive, and a negative turning acceleration -ny is generated. Therefore, the flying object can approach the target in a straight line, the flying time and the flying distance become long, and the guidance accuracy is reduced because it adversely affects the guidance control such as the convergence of the guidance signal at the end. become worse. This phenomenon becomes a particular problem when a flying object having an asymmetrical shape that generates maximum turning acceleration in the pitch direction rotates to catch a target in that direction. An object of the present invention is to provide a control device that solves the above problems.

[0005]

In a flying vehicle control apparatus according to the present invention, a detection apparatus (1), a guidance calculation apparatus (2), a steering calculation apparatus (30), and a control apparatus (4) are arranged in the order described above. In the control device, the detection device (1) inputs the angular velocity generated by the relative motion of the flying object and the target, outputs a guidance signal to the guidance calculation device (2), and outputs the steering calculation device (3).
0) inputs the acceleration command from the guidance calculation device (2) and the acceleration and angular velocity of the flying object via the sensor 6, and the control device (4) receives the steering command (δyc from the steering calculation device (30). ) To control the flying object,

The steering arithmetic unit (30) includes an acceleration control filter (31), a subtractor (32), a rate control filter (33), a subtractor (34) and a phase compensation filter (35).
And a guide assist device (36),

The acceleration control filter (31) receives the output (nyc) from the guidance calculation device (2) and subtracts it from the subtractor (32).
Inputs the output (nyc) of the acceleration control filter (31) and the output (nys) of the sensor (6), and outputs the difference signal (εn = nyc-
nys) to the rate control filter (33), and the subtractor (34) outputs the rate control filter (33) (γ c).
And the output from the guidance assist device (36) (γs' = γs-p
The difference signal (ε = γc−γs ′) from s α) is output to the phase compensation filter (35).

[0008]

The guidance assisting device 36 generates a signal for canceling the effect (pw) generated by the rotation of the flying object and sends it to the subtractor 34. That is, a signal γs' (= γs-psα) obtained by subtracting the product of the roll rate ps of the sensor output and the angle of attack α from the yaw rate γs from the sensor 6 is generated in the guidance assisting device and sent to the subtractor 34.

By doing so, it is possible to prevent the turning speed from being generated due to the rotation of the flying object, the effect of pw is canceled, and the flying object can linearly approach the target while rotating. ..

[0010]

EXAMPLE An example of the present invention is shown in FIGS.

FIG. 1 is a block diagram of a control system according to an embodiment of the present invention. In the figure, (A) is the overall configuration of the control system of the present invention, and (B) is the arithmetic unit 30 in (A). Shows the details of.
As shown in FIG. 1A, in the device of the present invention, the detection device 1, the guidance calculation device 2, the steering device 30, and the control device 4 are arranged in the order described above, and

The detection device 1 inputs the angular velocity generated by the relative motion of the flying object and the target, and outputs a guidance signal to the guidance calculation device 2. The steering calculation device 30 inputs the acceleration command from the guidance calculation device 2 and the acceleration and angular velocity of the flying object through the sensor 6, and the control device 4 inputs the steering command from the steering calculation device 30 and the flying object. To control. FIG. 1B shows the details of the steering calculation device 30.

The steering calculation device 30 includes an acceleration control filter 3
1, subtractor 32, rate control filter 33, and subtractor 34
And a phase compensation filter 35 and a guiding auxiliary device 36,
The acceleration control filter 31 inputs the output (yaw direction acceleration command nyc) from the guidance calculation device 2, and the subtractor 32 inputs the output of the acceleration control filter 31 (signal nyc) and the output of the sensor 6 (yaw direction acceleration nys). And the difference signal (εn =
nyc-nys) is output to the rate control filter 33. The subtractor 34 inputs the output of the rate control filter 33 (yaw rate command γc) and the output from the guidance assisting device 36 (γs '), and outputs a difference signal (ε = γc-γs') to the phase compensation filter 35. The phase compensation filter 35 outputs a yaw steering angle command δyc to the control device 4 as a steering command.

The guidance assisting device 36 includes a multiplier 37 and a subtractor 3
8, the multiplier 37 receives the roll rate output ps from the sensor 6 and the angle of attack α, and the subtractor 38 receives the roll rate output ps from the sensor 6 and the output from the multiplier 37 and outputs the difference signal. (Γs ′ = γs−ps α) is output to the subtractor 34.

That is, the guidance assisting device 36 is p in the equation (1).
A yaw rate γs' (= γs − that cancels the effect of w
Since ps α) is sent to the subtractor 34 as a signal, the effect of pw in the equation (1) is canceled. FIG. 2 shows an example of motion of a flying object having the control device of the present invention. When approaching the target while rotating as shown, the target can be linearly approached and collided. Therefore, the convergence of the guidance signal at the end is good and the guidance accuracy is improved.

[0016]

Since the present invention is constructed as described above, it has the following effects. (1) It is possible to shorten the total induction time of the flying body. (2) The flight of the flying object can be stabilized. (3) Miss distance of the flying object (deviation from the target)
Can be reduced.

[Brief description of drawings]

FIG. 1 is a diagram showing a control system according to an embodiment of the present invention.

FIG. 2 is a diagram showing a flying example of a flying object having a control system according to an embodiment of the present invention.

FIG. 3 is a diagram showing an example of a conventional control system.

FIG. 4 is a diagram showing a flying example of a flying body having a conventional control system.

[Explanation of symbols]

1 ... Detection device, 2 ... Guidance calculation device, 3 ... Steering calculation device,
4 ... Control device, 5 ... Flying object, 6 ... Sensor, 30 ... Steering calculation device, 31 ... Acceleration control filter, 32 ... Subtractor, 33 ... Rate control filter, 34 ... Subtractor, 35 ...
Phase compensation filter, 36 ... Guidance assisting device, 37 ... Multiplier, 38 ... Subtractor.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Internal reference number FI Technical display location G06F 15/50 7060-5L

Claims (1)

Claims: What is claimed is: 1. A control device in which a detection device (1), a guidance calculation device (2), a steering calculation device (30), and a control device (4) are arranged in the order mentioned above. Inputs the angular velocity generated by the relative motion of the flying object and the target, outputs a guidance signal to the guidance calculation device (2), and outputs the steering calculation device (3
0) inputs the acceleration command from the guidance calculation device (2) and the acceleration and angular velocity of the flying object via the sensor 6, and the control device (4) receives the steering command (δyc from the steering calculation device (30). ) Is input to control the flying object, the steering operation device (30) is an acceleration control filter (3
1), a subtractor (32), a rate control filter (33), a subtractor (34), a phase compensation filter (35), and a guidance assist device (36). The acceleration control filter (31) is a guidance calculation device (2). ), The subtractor (32) receives the output (nyc) of the acceleration control filter (31) and the output (nys) of the sensor (6), and outputs the difference signal (εn = nyc-nys). ) Is output to the rate control filter (33), and the subtractor (34) outputs the output (γc) of the rate control filter (33) and the output (γs ′ = γs −ps α) from the guidance assist device (36). The difference signal (ε = γc−γs ′) is applied to the phase compensation filter (35).
A flying object control device characterized by outputting to.