JPS59116819A - Steering angle control system - Google Patents

Abstract

PURPOSE:To widen the control range of a control system and to control a flying body efficiently by using a steering angle command signal and a steering device only for rolling control if rolling motion due to disturbance causes a rolling angular speed signal to exceed a specific value. CONSTITUTION:When the flying body disturbed by wind, etc., enters rolling motion, the absolute value of the rolling angular speed signal 2 outputted by a rolling angular speed sensor 1 is compared by a comparator 11 with the absolute value of a reference angular speed signal 10 set to a necessary value. When the absolute value of the rolling angular speed signal 2 is larger than the that of the reference angular speed signal 10, switches 12b and 12c are opened. At this time, only the rolling angular speed signal 2 is passed through the 1st controller 5a to obtain a rolling steering angle control signal 6a, which is sent as a steering angle control signal 8 to the steering device 9 through an adder 7, performing only control over the rolling direction of the flying body. Consequently, the control ranges of a rolling, a pitching, a yawing angle control system are widened to control the flying body efficiently.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a steering angle control system for guiding a flying object such as a missile to a target.

Conventionally, the most commonly used control method for flying objects is a method in which control is performed in the pitch direction and in the yaw direction while keeping the roll attitude angle constant.

FIG. 1 is a diagram showing the signal flow in the conventional control system, where (violet) is the eye angular velocity sensor, (21 is the roll angular velocity signal, (3I is the pitch guidance signal, (4) is the yaw guidance signal, (5a) to (5c) are first to third controllers;
(6a) to (6c) are roll, pitch, and yaw steering angle control signals.

(71 is an adder, (8) is a rudder angle command signal, and (9) is a rudder drive device.

In such a configuration, when the flying object undergoes a roll motion due to disturbance such as wind, a roll angular velocity signal (21) is output from the roll angular velocity sensor m, and the first controller (5a
) is inputted into the roll steering angle control signal (6a) that stops the roll motion and is added to the adder (71).In addition, a pitch guidance signal (3) and a yaw guidance signal (4) that guide the flying object to the target are input to the adder (71). are the second and third controllers (sb), respectively.
A pitch steering angle control signal (6b) and a yaw steering angle control signal (6b) are input to (sc) and control the pitch direction and the yaw direction.
6C) and is added to the adder (71).

Therefore, the steering angle command signal (8) output from the adder (7)
teeth.

Roll, pitch, and yaw steering angle control signals (6a) to (6C
) are sent to the rudder drive device (9) to drive the rudder.

Controls flying objects.

However, in the conventional system, the rudder angle control signals (6a) to (6C) for roll, pitch, and yaw are added to the rudder angle command signal (8).
are input at the same time, the rudder angle command signal (8) and the rudder drive device (9) often become saturated, thereby narrowing the control range and deteriorating response performance.

The present invention proposes a control method that improves these conventional problems, and will be described in detail below.

FIG. 2 shows an embodiment of the control method of this invention.
(1) is a roll angular velocity sensor, (21 is a roll angular velocity signal, (3) is a pitch guidance signal, (4) is a yaw guidance signal,
(5a) to (5C) are first to third controllers, (6a
:) to (6C) are roll, pitch, and yaw steering angle control signals, (7) is an adder, (8) is a steering angle command signal, and (9) is a rudder drive device.

2 is the reference angular velocity signal, Ol) is the comparator, (12a) to (
12C) is a switch, and 03 is a switch drive signal.

In such a configuration, when the flying object undergoes a roll motion due to disturbance such as wind, the roll angular velocity signal (2) output from the roll angular velocity sensor (11) is set to a required value by the comparator 011. The magnitude of the absolute value is compared with the reference angular velocity signal αO, and if it is smaller than the reference angular velocity signal aυ, the switch (12a) is opened by the switch drive signal α, and the switches (12b) and (12C) are in the closed state as shown in the figure. At this time, the pitch and yaw guidance signals (3), (
4) is the only second. Third controller (sb).

(5C), the pitch and yaw steering angle control signal (6b
).

(6C), which is added by an adder (71) and sent to the rudder drive device (9) as a rudder angle command signal (8), which controls only the pitch and yaw directions.On the other hand, the roll angular velocity signal (21 is larger than the absolute value of the reference angular velocity signal 60, the switch (12a) is closed by the switch drive signal 03, and the switches (1211), (12
0) is in an open state. At this time, the roll angular velocity signal (
Only 2) passes through the first controller (5a), becomes the roll steering angle control signal (6a), passes through the adder (7), and is sent to the rudder drive device (9) as the steering angle control signal (8), Only the roll direction of the projectile is controlled.

As explained above, according to the present invention, 1.

During guidance to a target, the rudder angle command signal (81) and rudder drive device (9) are used only for control in one direction, pitch and yaw.

When the roll movement occurs due to a disturbance and the roll angular velocity signal exceeds the required value, the steering angle command signal (8) and the rudder drive device (
9) is used only for roll control, so roll.

Increase the control range of each pitch and yaw control system.

It becomes possible to control flying objects efficiently.

Although only one rudder is shown in the embodiment, normally there are a plurality of rudders, and the rudder angle control signals are added by an adder for each rudder in consideration of the operating direction of the rudder.

Needless to say, the rudder drive device is operated for each rudder based on the output rudder angle command signal.

[Brief explanation of drawings]

FIG. 1 is a diagram for explaining a conventional control method. FIG. 2 is a diagram for explaining the control system according to the present invention, in which C11 is a roll angular velocity sensor, (2) is a roll angular velocity signal, (31 is a pitch guidance signal, (4) is a yaw guidance signal, (5a) to (5c) are first to third controllers;
(6a) to (6C) are roll, pitch, and yaw steering angle control signals. (7) is an adder, (8) is a rudder angle command signal, and (9) is a rudder drive device. Q[i is the reference angular velocity signal, (111 is the comparator, (12
a) to (12c) are switches, and +Ll is a switch drive signal. Note that the same or corresponding parts in FIG. 1 are designated by the same reference numerals. Agent Shin Kuzuno −

Claims (1)

[Claims] In a steering angle control method for a flying object that is guided to a target while controlling roll motion, a roll angular velocity sensor that outputs a roll angular velocity signal, a comparator that outputs a switch drive signal from the roll angular velocity signal and a reference angular velocity signal, and a roll a first controller that generates a roll steering angle control signal from the angular velocity signal; a first switch that connects the roll angular velocity signal to the first controller; and a second switch that generates a pitch steering angle control signal from the pitch guidance signal. a second switch that connects the pitch guidance signal to the second controller; a third controller that generates a yaw steering angle control signal from the yaw guidance signal; a third switch connected to the device, a roll,
It consists of an adder that outputs a rudder angle command signal from each of the pitch and yaw rudder angle control signals, and a rudder drive device that receives the rudder angle command signal as input, and the roll angular velocity signal is within the required value range. During the interval, the first switch is opened, and the second and third switches are closed to control the pitch direction and the yaw direction, and when the roll angular velocity signal is outside the range of the required value, the first switch The steering angle control system is characterized in that the switch II2 and the third switch are closed and the switch II2 and the third switch are open to control the roll direction.