JPS60199798A - Automatic steering gear - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a guided flying object that flies according to instructions from a guidance device and an automatic steering device used in an aircraft.

[Prior art]

FIG. 1 is a block diagram showing an example of a conventional automatic steering system used in a flying vehicle, in which (1) shows a guidance device that generates an acceleration command signal, and (2) shows the effect of gravity on all town streets. +31 is a rate gyro that detects the entire rotational angular velocity of the pitch axis, (4) is an accelerometer that detects the entire acceleration of the pitch axis, and (5) is a pitch controller that generates a steering command signal to follow the acceleration command. axis motorcycle loft,
(61 is a pitch axis steering device that takes the required steering angle, m is a roll axis rate gyro.

(8) is a roll axis autopilot, (91 is a roll axis steering device, α01 is a yaw axis rate gyro, (11)
is the yaw-axis accelerometer, U21 is the yaw-axis autograph)
, Q31 is a yaw axis steering device.

A conventional automatic steering system used in a flying object is constructed as described above and operates as follows. The guidance device (1) generates a lateral acceleration command necessary to completely change the flight path if the influence of gravity is ignored.

Since the pitch control system is directly affected by gravity, the G bias addition device (2) adds a necessary compensation signal to provide an acceleration command. Pitch autopilot (5)
Now, using the signals from the rate gyro (3) and the accelerometer (4), the required acceleration is generated from 1 to 40 degrees. Output. The steering device (6) determines the steering angle according to the steering command.

In the roll control system, the roll autopilot 1-(81, steering device (9)) performs steering so that the roll attitude angle is constant based on the signal force 1 of the rate gyro (7).

In the yaw control system, the same steering as in the pitch system is performed, except that no G bias is added.

However, in conventional automatic steering systems, since G bias is applied only to the pitch system, an inappropriate flight path may be taken due to an error in the initial roll attitude angle or an error in the roll control system during flight. Ta. FIG. 2 shows all such defects.

Q4i is the flying body, and 051 is the trajectory when flying horizontally.

α6) shows the trajectory when there is no G bias, and αn shows the trajectory when the G bias is added. In Fig. 2, when the lateral acceleration command from the guidance device (1) is zero, if the G bias is applied appropriately, the horizontal angle will be as shown by the trajectory α9, but the G bias will not be applied. Sometimes the trajectory (
Parabolic locus αe'l like 16+ and 9. When a G bias is applied in the opposite direction, it takes a parabolic trajectory αη that descends at 2G when viewed from the inertial coordinates. If the roll attitude angle of the flying object can be accurately grasped, it will fly 051 aK, but if the set roll angle or the roll angle when statically fixed is incorrect, the distance from trajectory 051 to the trajectory fin will be incorrect. 1b]. Therefore, there was a drawback that the instructions from the guidance device may not be followed.

[Summary of the invention]

This invention was made with the aim of improving such drawbacks, and uses the aerodynamic characteristics of the aircraft estimated from the altitude and speed information of the flying object and the signals of the rate gyro to fully estimate the acceleration motion in the inertial coordinate system. By doing so, it is possible to provide an automatic steering system that can provide appropriate gravity compensation.

[Embodiments of the invention]

FIG. 3 is a block diagram showing an embodiment of the present invention,
(11, (31 to (131 are the same as the conventional automatic steering system mentioned above. Time constant τθ Total estimation coefficient estimator, (20
+ is a pitch axis G bias calculation device that estimates G bias from a rate signal, an acceleration signal, and an estimated turning time constant.

(2Il is a yaw axis G bias calculation device that performs the same operation as (2α).

Next, I will explain the operation. In this case, since there is no difference between the pitch system and the yaw system, the pitch system will be explained as an example. High ivh and speed kpM detected by barometric altimeter and speedometer
Then, the turning time constant τδ of the flying object can be estimated from these two variables. Therefore, the coefficient estimation device (L
If the acceleration in the inertial coordinate system of the flying body is aJ, the estimated value q can be calculated from the following differential equation.

6 ・Town+τθ(h, VM)・Town 20・■M, (1) In this case, let the output of the accelerometer (4) be aaC.

The gravitational component a (1 is given by a linear equation) acting on the flying body.

aQ = aaC-aIAf21 Therefore, this gravity component a(1(i7G bias and 1) can remove the influence of gravity applied to the flying body, and the total lateral acceleration command from the guidance signal ac and 21.

aCz town...(3) It can be done as follows. Considering the influence of noise, the G bias calculation device (branch) performs averaging and calculates the G bias GBia.
s is calculated according to a linear equation.

(N-1) GBias - skin, GBias ten, (aac-a ■)
- (In formula 41 (4), N is an integer of 2 or more, and automatic steering is performed while repeatedly performing all corrections using the G bias calculation device @). To perform the same operation in the yaw system.

Appropriate G bias is applied regardless of the roll attitude angle of the flying object, and it is possible to steer the flying object in the desired direction with the full output from the guidance device.

〔Effect of the invention〕

As explained above, this invention can perform appropriate gravity compensation based on the changes in attitude angle of the nine aircraft and the output of the accelerometer, so even if the roll attitude angle of the flying object changes, the trajectory will not curve due to gravity and will be appropriate. It is possible to induce

Furthermore, since the direction of one force can be detected from the G bias value according to the present invention, it can also be used to correct errors in an inertial device.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing one embodiment of a conventional automatic steering system used for flying objects, FIG. 2 is a diagram showing the drawbacks of the automatic steering system shown in FIG. 1, and FIG. It is a figure showing an example. In the figure, (11c guidance device, (3+, (71c)
, (lot is pitch, roll, yaw system rate gyro, +4+, (111 is pitch, yaw system accelerometer,
(51, (81, (12 is pitch, roll, yaw system autopilot, (61, (91, C3 is pitch, roll, yaw system steering system, 0g is barometric altimeter, C3 is coefficient estimation device, C2+j , (2B is the pitch. It is a yaw system G bias calculation device. In addition, the same reference numerals in one figure indicate the same or similar. Agent Masu Oiwa 14th.

Claims (1)

[Scope of Claims] In an automatic steering system for a guided flying object and aircraft that fly according to instructions from a guidance device, an accelerometer that measures lateral acceleration acting on the flying object and an accelerometer for measuring lateral acceleration acting on the flying object, A rate gyro that detects the rotational angular velocity, and a barometric altimeter and speedometer that consists of a pitot tube and other components that detect the altitude and speed of the flying object. A coefficient estimation device that estimates the aerodynamic coefficient of the aircraft based on the altitude, speed and force of the flying object) and the output of the rate gyro. G that is generated entirely by gravity, which removes the influence of gravity acting on the flying body from the output of the accelerometer and the output of the coefficient estimation device.
A bias calculation device, a guidance device that issues a lateral acceleration command to the flying object, an autopilot that generates a similar acceleration to the aircraft in response to an acceleration command, and a steering system that performs steering in response to the autopilot's steering command. Steering equipment and busy preparations 1
An automatic steering system is characterized in that it performs steering that fully compensates for vehicle force without giving the direction of gravity acting on the aircraft in advance.