JPH07325622A - Automatic steering device - Google Patents

Abstract

PURPOSE:To obtain the automatic steering device which secures a necessary roll steering angle by effectively utilizing the limited steering angle of a steering wing even when the large steering angle becomes necessary for roll control such as the suppression of roll rotation due to turbulence and can move without falling beyond control. CONSTITUTION:For steering angle commands of a pitch and a yaw system, steering angle command limiters 8 and 9 which are variable in limit value are provided. A steering angle limit calculation part 7 inputs the steering angle command of a roll system and calculates the steering angle limit values of the pitch system and yaw system which can be allotted within the range of previously set steering angle command limit values of the steering wing. According to the values, the limit values of the steering angle command limiters 8 and 9 are varied.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering device for sending a steering angle command signal to a plurality of steering blades of a flying vehicle to control the flight path of the flying vehicle. Even if the steering angle is being controlled, the pitch system, yaw system, and roll system steering angle commands necessary for controlling the aircraft are appropriately limited and distributed to the steering blades, resulting in loss of control due to insufficient steering angle. The present invention relates to an autopilot device for a flying body that enables a user to fly a desired route without any problems.

[0002]

2. Description of the Related Art FIG. 5 is a diagram showing an example of a simplified structure of a flying body equipped with an automatic piloting device. In the figure, 2
0 is an autopilot device, 30 is a guidance device that outputs a command signal for controlling the flight path, 40 is an inertial device that detects motion such as acceleration and angular velocity of the airframe, and 50 is steering output from the autopilot device. Steering devices for driving the steering blades by receiving a steering angle command signal of the blades, and reference numerals 51 to 54 are steering blades. Further, FIG. 6 is a block diagram showing a configuration example of an automatic pilot device according to a conventional method. In the figure, reference numeral 1 denotes a rudder angle command calculation unit that calculates each rudder angle command of a pitch system, a yaw system, and a roll system from an acceleration command given for causing the machine body to perform a desired motion and the detected angular velocity and acceleration of the machine body. 2 is a steering blade steering angle command calculation unit that calculates steering angle commands for the four steering blades 51 to 54 from the pitch system, yaw system, and roll system steering angle commands. A limiter for limiting steering angle commands for the pitch system, yaw system, and roll system, and a limiter 6 for limiting steering wheel steering angle commands. Further, reference numeral 20 denotes the entire autopilot device, and 50 is a steering device similar to that shown in FIG.

The conventional autopilot system is constructed as described above. The autopilot device 20 includes lateral acceleration commands acp and acy for causing the flying object to make a desired motion from the guidance device 30 and accelerations amp and amy and angular velocities p, q and r indicating the motion of the airframe detected by the inertial device 40. First, the steering angle command calculation unit 1 calculates a steering angle command necessary for controlling the airframe according to the signals. here,
Since the control system is configured around each of the pitch, yaw, and roll machine axes of the machine body, the steering angle commands are steering angle commands δPc, δYc, δRc for the pitch system, yaw system, and roll system.
Becomes The steering angle command limiters 3, 4 and 5 are provided with limit values δPmax, δYmax, δ for which the respective steering angle commands are preset.
When it is larger than Rmax, it is limited to that value and output. The outputs δP, δY, δR of the steering angle command limiter are steering angle commands δ1c, δ2c, δ3c, δ4 which are the angles at which the four steering blades are actually steered in the steering blade steering angle command calculation unit 2.
converted to c. The flying body is controlled by each steering blade moving in accordance with the steering blade steering angle command, and can perform a desired motion. Here, the steering angle command limiter 3,
The limit values of 4 and 5 are the limit value δ1ma of the steering blade rudder angle command limiter due to mechanical limitation of the steering blades, respectively.
The distribution is made in consideration of x, δ2max, δ3max, δ4max.

[0004]

In the above-described automatic control system, the limit value of the steering angle command limiter of the pitch system and the yaw system is set relatively large with respect to the roll system in order to generate a large lateral acceleration. In this case, if a large disturbance moment is applied to the roll system or high-speed roll angle control is performed, even if a large roll rudder angle is required, the rudder angle command above the preset limit value must be issued. However, there is a problem in that the roll rotation due to the disturbance cannot be stopped, the control becomes uncontrollable, and the desired motion cannot be performed.

The present invention has been made in order to solve such a problem. Even when a large roll rudder angle is required, a pitch system, a yaw system, By appropriately changing the limit value of each steering angle command of the roll system, it is possible to effectively utilize the limited steering blade rudder angle, and to make the desired motion without the flying object getting out of control. Has an aim.

[0006]

In the automatic pilot control apparatus according to the first embodiment of the present invention, the limit values of the pitch system and yaw system steering angle commands are changed from the limit values of the roll system steering angle command and the steering blade steering angle command. It has a calculator that calculates and a steering angle command limiter for pitch and yaw systems that can change the limit value according to that value.

Further, in the second embodiment of the present invention, the roll system rudder angle command limiter with preset values and the limit values of the roll system rudder angle command and the steering blade rudder angle command after passing through the limiter It has a calculator that calculates the limit value of the steering angle command for pitch system and yaw system.

Further, in the third embodiment of the present invention, from the limit values of the steering angle command of the pitch system, the yaw system and the roll system and the steering blade rudder angle command, the limit values of the steering angle command of the pitch system, the yaw system and the roll system are changed. It has a calculator for calculating and a steering angle command limiter for pitch system, yaw system, and roll system that can change the limit value according to the value.

Further, in the fourth embodiment of the present invention, the flight altitude and the flight speed are input, and from the values and the limit values of the steering blade rudder angle command, the limit values of the rudder angle command of the pitch system, yaw system and roll system are input. Has a calculator that calculates.

[0010]

By using the means as described above, even if a large roll rudder angle is required, the roll rudder angle can be secured, so that controllability does not occur and the rudder angle of the steering blade can be effectively used. The steering angle required for the system and the yaw system can be secured as necessary, and the control performance for the desired motion of the flying object is improved.

[0011]

【Example】

Embodiment 1 FIG. 1 is a block diagram showing a functional configuration of an automatic piloting device according to Embodiment 1 of the present invention. In the figure, reference numeral 1 denotes a rudder angle command calculation unit that calculates each rudder angle command of a pitch system, a yaw system, and a roll system from an acceleration command given for causing the machine body to perform a desired motion and the detected angular velocity and acceleration of the machine body. Reference numeral 2 denotes a steering blade steering angle command calculation unit that converts each steering angle instruction for the pitch system, yaw system, and roll system into a steering angle instruction for the four steering blades, and a limiter 6 for limiting the steering blade steering angle command, 7 is a rudder angle limit calculation unit that calculates the limit value of the pitch system and yaw system rudder angle commands from the limit values of the roll system rudder angle command and the steering blade rudder angle command, and 8 and 9 are the pitch system and yaw system respectively. It is a limiter that limits each steering angle command, and has a function of changing the limit value to the value obtained by the steering angle limit calculation unit 7.

Next, this embodiment will be described with reference to FIG. This automatic control device receives signals of lateral acceleration commands acp and acy for causing a flying body to perform a desired motion and detected vehicle body accelerations amp and amy and angular velocities p, q and r, and a steering angle command calculation unit. In step 1, the steering angle commands δPc, δYc, and δRc of the pitch system, yaw system, and roll system necessary to control the machine body are calculated. The rudder angle limit calculation unit 7 outputs a value obtained by subtracting the roll system rudder angle command δRc from the limit value of each steering blade rudder angle command as the rudder angle command limit of the pitch system and yaw system, and outputs the pitch system and yaw system. The steering angle command limiters 8 and 9 change the limit values accordingly. The steering angle command limiter outputs δP, δY and the roll steering angle command δRc are used to determine the steering angle commands δ1c, δ2c, δ3c, δ for the four steering blades in the steering blade steering angle command calculator 2.
4c. Here, for the sake of simplicity, the steering angle command limits δ1max, δ2max, δ3max of each steering blade,
If δ4max is all set to δmax, and the steering angle command limits of the pitch system and the yaw system are also set to δLmax, the calculation formula in the steering angle limit calculation unit 7 is, for example, "Equation 1". If the pitch system steering angle command is equally distributed to the steering wings 52 and 54, the yaw system steering angle command is 51 and 53, and the roll system steering angle command is distributed to the respective steering wings 51 to 54, The conversion formula in the wing rudder angle command calculation unit 2 is, for example, "Equation 2". However,
Here, δR = δRc.

[0013]

[Equation 1]

[0014]

[Equation 2]

Embodiment 2 FIG. 2 is a block diagram showing the configuration according to Embodiment 2 of the present invention. In the first embodiment, the roll system steering angle command δRc subtracted from the limit value of the steering blade steering angle command is output as the steering angle command limit of the pitch system and the yaw system.
In this embodiment, a rudder angle command limiter 5 is also provided for the roll rudder angle command, and the output δR of the limiter is subtracted from the limit value of the steering blade rudder angle command as shown in "Equation 3" to obtain the pitch system and yaw system. Calculated as the steering angle command limit. By setting an appropriate limit value for the roll rudder angle command in advance, it is possible to almost secure the necessary pitch and yaw system rudder angle command even when a very large roll rudder angle command is required. Generally, the time required for a large roll rudder angle command is short, so even if the roll rudder angle command is limited to some extent, no serious control problem occurs.

[0016]

[Equation 3]

Third Embodiment FIG. 3 is a block diagram showing the functional arrangement of a third embodiment of the present invention. In the figure, 10 is a limiter for limiting the steering angle command of the roll system, which has a function of changing the limit value. Reference numeral 11 denotes a rudder angle limit calculation unit that calculates the limit values of the rudder angle command limiters 8, 9, and 10 based on the respective pitch angle, yaw system, and roll system rudder angle commands. The steering angle limit calculation unit 11 calculates the steering angle commands δPc, δYc, δ of the pitch system, yaw system, and roll system calculated by the steering angle command calculation unit 1.
The limit values of the steering angle command limiters 8, 9 and 10 are calculated so as to be proportionally distributed to the magnitude of Rc. The calculation formula is, for example, as shown in “Equation 4”. Each steering angle command limiter 8, 9 and 10 sets a limit value according to the calculation result, and when it exceeds the limit value, each steering angle command δ is limited to that value.
It outputs P, δY, and δR.

[0018]

[Equation 4]

Fourth Embodiment FIG. 4 is a block diagram showing the configuration according to the fourth embodiment of the present invention. In the figure, reference numeral 12 is a rudder angle limit calculation unit for inputting the flight speed and flight altitude output from the inertial device 40 and calculating the limit values of the pitch system, yaw system, and roll system steering angle commands from the flight conditions. Is. In the third embodiment, the limit value of the rudder angle command limiter is calculated from the respective rudder angle commands of the pitch system, yaw system, and roll system, but in this embodiment, the flight speed and the flight speed are calculated by the rudder angle limit calculation unit 12. Calculate the limit value based on altitude. Generally, in a pitch system or a yaw system, when the flight altitude is low and the speed is high, that is, when the dynamic pressure is high, a large force can be generated with a small rudder angle, and therefore the rudder angle command may be small. On the other hand, in the roll system, control is mainly performed so that the posture of the roll system does not change, but if the dynamic pressure is high, a large roll moment acts as a disturbance, and a large roll steering angle command is required to suppress it. . Therefore, the rudder angle limit calculation unit 12 obtains an appropriate roll rudder angle command limit preset according to the dynamic pressure based on the flight speed and the flight altitude, and determines the rudder angle command limits for the pitch system and yaw system. It can be calculated as in the equation 5 ".

[0020]

[Equation 5]

[0021]

Since the present invention is constructed as described above, it has the following effects.

According to the first embodiment of the present invention, even when a large roll rudder angle is required, the roll rudder angle can be secured without being limited to a preset limit value, and the limited steering blade rudder angle By effectively using, the pitch angle and yaw angle can be secured within the limit value of the steering blade rudder angle command, so you can fly without being able to stop the rotation of the roll due to disturbance and lose control. The body can be appropriately controlled to perform the desired exercise.

According to the second embodiment, a rudder angle command limiter is also provided for the roll rudder angle command, and the output of the limiter is used to calculate the rudder angle command limits of the pitch system and the yaw system. Even when a large roll steering angle command is required, the same effect can be obtained while securing a sufficient pitch system and yaw system steering angle command.

Furthermore, according to the third embodiment, the limit values of the steering angle command limiters of the pitch system, yaw system and roll system are distributed in proportion to the magnitudes of the steering angle commands of the pitch system, yaw system and roll system. Therefore, the motion of the flying object can be controlled more appropriately for various control situations.

According to the fourth embodiment, the limit values of the steering angle command limiters of the pitch system, the yaw system, and the roll system are distributed according to the flight conditions such as the flight altitude and the flight speed. The same effect can be obtained.

By the way, in the above embodiment, the case where the motion of the flying body is controlled by moving the steering wings has been described. However, the flying body which controls the thrust of the propulsion device by deflecting it, such as changing the angle of the rocket motor nozzle. Can also be applied to. In such a case, since the movable range is relatively small, the automatic pilot device of the present invention is more effective.

[Brief description of drawings]

FIG. 1 is a block diagram showing a functional configuration and a signal flow according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a functional configuration and a signal flow according to a second embodiment of the present invention.

FIG. 3 is a block diagram showing a functional configuration and a signal flow according to a third embodiment of the present invention.

FIG. 4 is a block diagram showing a functional configuration and a signal flow according to a fourth embodiment of the present invention.

FIG. 5 is a block diagram showing a simplified structure of a vehicle equipped with an autopilot and a signal flow for control.

FIG. 6 is a block diagram showing a functional configuration and a signal flow of a conventional autopilot device.

[Explanation of symbols]

 1 Rudder angle command calculation unit 2 Steering blade rudder angle command calculation unit 3 Pitch system rudder angle command limiter 4 Yaw system rudder angle command limiter 5 Roll system rudder angle command limiter 6 Steering blade rudder angle command limiter 7 Rudder angle limit calculation unit 8 Pitch System steering angle command limiter (variable limit value) 9 Yaw system steering angle command limiter (variable limit value) 10 Roll system steering angle command limiter (variable limit value) 11 Steering angle limit calculator 12 Steering angle limit calculator

Claims (4)

[Claims] 1. In a control device for outputting a steering angle command signal to a plurality of steering blades for controlling a flight path of a flying body, a pitch which is a body axis reference from a signal given for controlling the body. System, yaw system, roll system command to calculate each steering angle command, function to calculate steering angle command to each steering blade from those steering angle commands, and limit pitch system and yaw system steering angle commands An automatic piloting device that has a limiter and a function to change the limit value of the limiter according to the steering angle command of the roll system. 2. A limiter for limiting a steering angle command of a roll system in addition to a limiter for limiting a steering angle command of a pitch system, a yaw system, and a pitch system, a yaw system according to a steering angle command of a roll system after passing a limiter. The automatic piloting device according to claim 1, having a function of changing a limit value of a steering angle command limiter of the system. 3. In a control device for outputting a steering angle command signal to a plurality of steering blades for controlling a flight path of a flying body, a pitch which is a body axis reference from a signal given for controlling the body System, yaw system, roll system command to calculate each steering angle command, function to calculate the steering angle command to each steering blade from those steering angle commands, pitch system, yaw system, roll system steering angle command An automatic piloting device characterized by having a limiter for limiting the limit value and a function for changing the limit value of the limiter according to each steering angle command of the pitch system, yaw system, and roll system. 4. A means for obtaining a flight speed and a flight altitude of a flying body, and a pitch system according to a flight speed and a flight altitude instead of each steering angle command of a pitch system, a yaw system, and a roll system, 4. The automatic piloting device according to claim 3, wherein the automatic piloting device has a function of changing the limit values of the yaw system and roll system steering angle command limiters.