KR101833314B1 - Divert and attitude control system for kill-vehicle and method for operating the same - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a track correction and attitude control apparatus for a kiln bike and an operation method thereof. In order to accomplish the above object, there is provided an apparatus for correcting or attenuating orbits for a kill vehicle mounted on a kill-vihicle of an interceptor missile having a seeker unit, A first fluid storage portion disposed at one side of the beakle and storing therein a fluid for weight control; A second fluid reservoir disposed apart from the first fluid reservoir; A pipe connected to the first fluid reservoir at one side and connected to the second fluid reservoir at the other side; And a posture control unit for controlling the movement speed of the fluid for controlling the weight through the pipeline, thereby controlling the orbit of the intercepting missile and controlling the posture thereof.

Description

TECHNICAL FIELD [0001] The present invention relates to an orbit correction and attitude control apparatus for a kilvacle,

The present invention relates to an orbital correction and attitude control apparatus for a kiln bike, and an operation method thereof, and more particularly, to an orbital correction for a kill vehicle applicable to an interceptor missile kill-vehicle used for defense against a ballistic missile And an attitude control device and an operation method thereof.

In general, an interceptor missile is a missile that is used to defend against ballistic missiles. The structure of such a conventional interceptor missile is schematically illustrated in FIG.

In general, the interceptor missile 1 may include a seeker unit 4, a DAB and an attitude control system 5, and a booster 2. Here, the booster 2 is positioned at the rear end of the interceptor missile 1, and is used to raise the interceptor missile up to an altitude required for interception. Typically, the booster 2 can be installed in a single or multi-stage configuration and is removed for weight reduction once the fuel is exhausted. The state in which the booster 2 is removed from the interceptor missile 1 is referred to as a kilobike kill-vehicle. Here, the kilobyk serves to approach and collide with the target by guided flight.

Here, the kilvacle can be divided into a seeker section 4 and a trajectory correction and posture control device 5. The seeker unit (4) has a function of searching for and tracking a target, and is disposed at the top end of the kill bag for this purpose. The trajectory correction and posture control device 5 functions to provide the mobility of the roll, the pitch, and the left and right yaw of the kiln bike. Conventionally, the conventional trajectory correction and posture control apparatus 5 generally includes a thruster 6 of a DCS (Divert Control System) in the direction of four nozzles 9a, System (ACS) thruster 7 and a DACS gas generator 8 may be included. Each of the thrusters 6 and 7 may be composed of a plurality of nozzle assemblies 9a and 9b and driving devices 10a and 10b independent or integrated with each other.

When such a conventional trajectory correction and posture control apparatus 5 is used, the weight of the propellant 11 in the DACS gas generator 8 is reduced as it is burned. That is, the center of gravity of the kilvicle continuously changes due to the weight reduction of the kilvicle. In the example shown in Fig. 1, the center of gravity changes in the + Z direction.

At this time, when the center of gravity of the whole kilovacle differs from the position of the gas discharge axis of the orbiting-system thruster 6, the thrust of the thruster 6 always causes the back- A moment of < / RTI > In order to compensate for this, the thrust is appropriately distributed to the attitude control system thruster (7), and the thrust is appropriately distributed. Accordingly, the calculation of the overall trajectory and thrust distribution is complicated, and the efficiency of the thrusters 6 and 7 is also reduced.

In addition, there are some problems due to the existence of the posture control system thruster (7). First, when using the solid propellant, it becomes more difficult to predict the temperature and pressure conditions inside the combustion chamber. That is, the combustion gas has to be variably distributed not only to the four DCS nozzle assemblies 9a but also to the six ACS nozzle assemblies 9b. This makes the combustion chamber temperature and pressure condition prediction in the DACS gas generator 8 more complicated than in the case where only the DCS nozzle assembly 9a in the four directions is utilized. In particular, the predictions will be more difficult if the burning rate of the propellant is sensitive to temperature and pressure conditions.

Second, there is a weight increase problem. These ACS nozzle assemblies 9b and drive assemblies 18, in addition to their own weight increase problems, also provide correct thrust to the kiln bag if they are installed in the correct relative position and orientation. Accordingly, it is possible to precisely manufacture the metal dome 12 made of a metal that can minimize the manufacturing tolerance, not to install it directly on the composite dome portion of the common combustion tube, to combine the metal dome with the proper heat- Should be installed. Alternatively, a precise manifold structure having excellent heat resistance and structural rigidity equivalent to the above-described rear dome and heat-resisting structure is to be designed and installed. These additional structures also result in significant weight increases.

In addition, the nozzle assemblies for the track correction system or the attitude control system must precisely control the high-pressure and high-temperature gas, so that the abrasion amount must be extremely low even under these conditions. Therefore, special materials such as rhenium alloy or C / SiC should be applied There is a problem that the production cost burden is considerable.

Korean Patent Laid-Open Publication No. 2015-0116692 entitled "

An object of the present invention is to provide an orbital correction and posture control apparatus for a kiln bag which can solve various problems caused by the above-described conventional posture control system (ACS) and an operation method thereof.

In order to solve the above-described problems, an apparatus for correcting or attenuating orbits for a kill vehicle, which is mounted on a kill-vihicle of an interceptor missile having a seeker unit and performs attitude control of the interceptor missile, A first fluid reservoir disposed at one side of the kiln base with respect to a center of the kiln, A second fluid reservoir disposed apart from the first fluid reservoir; A pipe connected to the first fluid reservoir at one side and connected to the second fluid reservoir at the other side; And a posture control unit for controlling the movement speed of the fluid for controlling the weight through the pipeline, thereby controlling the orbit of the intercepting missile and controlling the posture thereof.

According to another aspect of the present invention, there is provided a track correction and attitude control apparatus for a kiln vehicle, comprising: a gas generating unit generating a gas based on a propellant disposed in a kiln bag; And a thrust section for generating a thrust by discharging the gas generated through the gas generating section through the plurality of nozzle assemblies.

In another aspect of the present invention, there is provided an apparatus for correcting or attenuating orbits for a kiln bike, the apparatus comprising: a measuring unit for measuring an attitude determination distance between a center of gravity of a kiln bike and a center axis of the plurality of nozzle assemblies; And a comparison unit for comparing the posture determination distance with a predetermined reference distance, and the posture control unit may perform posture control based on the comparison result through the comparison unit.

When the attitude determination distance exceeds the predetermined reference distance due to the weight reduction of the propellant during flight of the kilovicle, the posture control unit moves the weight control fluid stored in the first fluid storage unit to the second fluid storage unit, The center of gravity of the beakle can be adjusted.

When the attitude determination distance exceeds a preset reference distance, the posture control unit moves the weight control fluid stored in the first fluid storage unit to the second fluid storage unit, It can converge to a distance.

In addition, when the attitude determination distance is less than the predetermined reference distance, the attitude control unit may block the transmission of the weight adjusting fluid from the first fluid storage unit to the second fluid storage unit at the request of the orbital change of the kilvacle.

The attitude control unit may increase the moving speed of the weight controlling fluid flowing from the first fluid storing unit to the second fluid storing unit when the attitude determining distance exceeds a predetermined reference distance at the time of requesting roll of the kiln bike, .

The posture control unit may block the movement of the fluid for controlling the weight from the first fluid storage unit to the second fluid storage unit when the posture determination distance is less than the predetermined reference distance at the time of requesting the lateral rotation of the kiln bag.

The posture controller may block the movement of the fluid for controlling the weight from the first fluid reservoir to the second fluid reservoir or decrease the flow velocity of the fluid when the pitch correction of the back and forth vibrations of the kiln bag is requested, .

The posture controller may block the movement of the fluid for controlling the weight from the first fluid reservoir to the second fluid reservoir or decrease the flow velocity of the fluid to increase the posture determination distance when the fluid reservoir is requested to yaw in the left / .

Further, the number of the plurality of nozzle assemblies may be four.

The guided missile further includes an external housing connected to the seeker and surrounding the gas generators and thrusters, and an outer periphery of the booster propellant used to elevate the guided missile to a predetermined target altitude, When the target altitude is reached, the booster propellant is separated from the guided missile while the outer housing can remain connected to the seeker.

Also, the first fluid reservoir may be disposed inside the tip side of the kill bag, and the second fluid reservoir may be disposed at the rear end of the outer housing.

Further, the total weight of the fluid for weight control stored in the first fluid reservoir is determined by the distance between the center axis of the second fluid reservoir and the plurality of nozzle assemblies, and the distance between the center axis of the plurality of nozzle assemblies and the gas generating part Can be determined according to the relationship.

In order to accomplish the above object, there is provided a method for correcting an orbit and a posture control apparatus for a kiln bike, which is mounted on a kiln bike of an intercepting missile having a seeker unit on one side thereof and performs posture control of the intercepting missile, Measuring the attitude distance between the center of gravity of the kiln bickle and the center axis of the plurality of nozzle assemblies included in the posture control apparatus for the kilovacle, Comparing the posture determination distance with a preset reference distance by the comparing unit; And the posture control unit controls the movement speed of the fluid for controlling the weight through the pipe connecting the first fluid storage unit and the second fluid storage unit which are disposed apart from each other in the kilo bag based on the comparison result, And controlling the posture and the posture.

In addition, the step of correcting the orbit of the interceptor missile and controlling the attitude may be performed when the attitude determination distance exceeds a predetermined reference distance due to the weight reduction of the propellant during flight of the kiln bike, 2 fluid reservoir so that the center of gravity of the kililbill can be adjusted.

Also, the step of correcting the orbit of the intercepting missile and controlling the posture may include a step of, when the kilovacle is requested to switch the trajectory, if the posture determination distance exceeds a predetermined reference distance, And converging the attitude determination distance to the reference distance.

Also, the step of correcting the orbit of the intercepting missile and controlling the posture may include a step of transmitting the weight control fluid from the first fluid reservoir to the second fluid reservoir when the attitude determination distance is less than the preset reference distance, . ≪ / RTI >

In addition, the step of correcting the orbit of the intercepting missile and controlling the posture may include a step of, when the kilovacle roll is requested, when the posture determination distance exceeds a predetermined reference distance, And increasing the speed of movement of the fluid for weight control.

Also, the step of correcting the orbit of the intercepting missile and controlling the posture may include a step of, when the lateral rotation of the kiln bike is requested, the movement of the weight controlling fluid from the first fluid reservoir to the second fluid reservoir . ≪ / RTI >

In addition, the step of correcting the orbit of the interceptor missile and controlling the attitude may include the steps of interrupting the movement of the fluid for controlling the weight from the first fluid reservoir to the second fluid reservoir, And increasing the attitude determination distance by decreasing the speed.

In addition, the step of correcting the orbit of the interceptor missile and controlling the posture may be performed by interrupting the movement of the fluid for controlling the weight from the first fluid reservoir to the second fluid reservoir at the time of requesting the left and right yaw of the fluid bag, And increasing the posture determination distance by decreasing the posture determination distance.

According to the orbital correction and posture control apparatus for a kiln bike and the operation method thereof, the weight controlling fluid stored in the first fluid storing portion flows into the second fluid storing portion disposed at the rear end of the kiln bike, It is possible to perform the attitude control of the kilobiles without complicated and various configurations.

In addition, according to the present invention, it is possible to replace the configuration of a conventional high posture control system with weight, thereby achieving weight reduction of the entire kilnblock.

In addition, according to the present invention, the number of nozzle assemblies can be reduced from ten to four according to the present invention. Therefore, The problem is much simpler, and there is an advantage of reducing the cost of expensive special materials required as the six nozzle assemblies are reduced.

1 is a conceptual diagram for explaining a structure of an interceptor missile according to the prior art.
2 is a perspective view of an interceptor missile according to an embodiment of the present invention.
3 is a cross-sectional view of an interceptor missile according to an embodiment of the present invention.
4 is a cross-sectional view of a kickback vehicle in which a booster propellant and a booster nozzle are removed from an interceptor missile according to an embodiment of the present invention.
5 is a conceptual view for explaining the arrangement of the nozzle assemblies according to an embodiment of the present invention.
FIG. 6 is a block diagram of a track correction and attitude control apparatus for a kiln bike according to an embodiment of the present invention.
FIG. 7 is a conceptual diagram for explaining the center of gravity of each configuration included in the kilovacle and the kilovacle correction and attitude control apparatus according to an embodiment of the present invention.
FIG. 8 is a conceptual diagram for explaining the operation of the thrust section included in the attitude control apparatus for correcting orbits for the kiln bike according to the embodiment of the present invention when the orbit is requested to be switched.
FIG. 9 is a conceptual diagram for explaining the operation of the thrust section included in the attitude control apparatus for correcting orbital forkill buckle according to an embodiment of the present invention when a roll is requested.
10A and 10B are conceptual diagrams for explaining the operation of the thrust section included in the attitude control apparatus for correcting orbital forkill buckle according to the embodiment of the present invention when a front / rear pitch is requested.
FIGS. 10C and 10D are conceptual diagrams for explaining the operation of the thrust section included in the attitude control apparatus for correcting orbits for a kiln bike according to an embodiment of the present invention, when a left / right yaw is requested.
11 is a flowchart illustrating a method of correcting orbital tracking and attitude control apparatus for a kiln bike according to an embodiment of the present invention.
12 to 14 are flowcharts illustrating steps of controlling an attitude of an interceptor missile according to an embodiment of the present invention.

The present invention will now be described in detail with reference to the accompanying drawings. Hereinafter, a repeated description, a known function that may obscure the gist of the present invention, and a detailed description of the configuration will be omitted. Embodiments of the present invention are provided to more fully describe the present invention to those skilled in the art. Accordingly, the shapes and sizes of the elements in the drawings and the like can be exaggerated for clarity.

Hereinafter, a track correction and posture control apparatus according to an embodiment of the present invention will be described.

FIG. 2 is a perspective view of an interceptor missile 10 to which an apparatus for correcting orbit and posture control 100 according to an embodiment of the present invention is applied. 3 is a cross-sectional view of an interceptor missile 10 according to an embodiment of the present invention. The interceptor missile 10 may include a seeker unit 4, an orbit correction and posture control unit 100, and a booster 2. And, as described above, the booster 2 functions to raise the interceptor missile 10 to a target altitude required for interception. The booster 2 according to an embodiment of the present invention may not be separated from the interceptor missile 10 even after the internal fuel, that is, the booster propellant 21, is exhausted. This is to maximize the distance between the first fluid reservoir 110 and the second fluid reservoir 120 for securing the second fluid reservoir 120, as will be discussed below. However, it is preferred that the booster nozzle 16 and the booster rear dome 15 be separated to reduce the weight of the intercepting missile 10.

Thus, when the interceptor missile 10 is raised to a predetermined target altitude, the booster propellant 21, the booster nozzle 16 and the booster rear dome 15 can be separated, It is called a bottle. An example of such a kickback is shown in FIG.

The apparatus for correcting and controlling the orbit of the kill bag 100 according to an embodiment of the present invention may be disposed between the seeker 4 and the booster 2. [ Specifically, the apparatus for correcting or posturing orbital track 100 for a kiln bag according to an embodiment of the present invention includes a first fluid storage part 110, a second fluid storage part 120, And a pipe 130 connected to the first fluid storage part 110 and the second fluid storage part 120.

Here, the first fluid storage part 110 and the second fluid storage part 120 may be spaced apart from each other with respect to the center of the fluid bag. Specifically, the first fluid reservoir 110 may be disposed at one side (distal end) of the kiln bag with respect to the center of the kiln bag, and the second fluid reservoir 120 may be disposed at a rear end of the kiln bag, 4 at the rear end of the outer housing. In addition, the first fluid storage part 110 may include a weight controlling fluid for adjusting the center of gravity of the kilvacle.

As described above, the interceptor missile 10 consumes the booster propellant 21 to rise to a predetermined altitude, and the approach to the target will fly based on the propellant 151. That is, since the interceptor missile 10 consumes the propellant, the weight of the interceptor missile 10 is continuously decreased, and the center of gravity is also continuously changed. Specifically, as the weight of the interceptor missile 10 decreases, the center of gravity of the interceptor missile 10 gradually moves toward the seeker unit 4, that is, toward the front end. Accordingly, when a change in the center of gravity is sensed, the apparatus for correcting or posturing orbiting the kiln buckle 100 according to an embodiment of the present invention can control the weight adjusting fluid stored in the first fluid storage part 110 to flow through the pipe 130 to the second fluid reservoir 120 to adjust the center of gravity.

The apparatus for correcting or attenuating orbits for kill birds 100 according to an embodiment of the present invention includes a thrust section 140 including a plurality of nozzle assemblies 141, And a gas generator 150 for generating a gas. Here, the plurality of nozzle assemblies 141 can be disposed through the outer housing of the kill bag, so that the gas generated in the gas generating unit 150 can be discharged to the outside through the plurality of nozzle assemblies 141.

Here, the propellant 151 included in the gas generating part 150 may be a solid propellant, but it is not limited to the propellant, but may be applied to a liquid propellant, a gel propellant, or a gas generator based on a hybrid propellant. An example of the plurality of nozzle assemblies 141 contained in the thrust section 140 is shown in Fig.

As shown in FIG. 5, the plurality of nozzle assemblies 141 according to an embodiment of the present invention may be arranged such that the gas discharge direction is coplanar. That is, the plurality of nozzle assemblies 141 may be disposed between the gas generating unit 150 and the DACS driving apparatus, and the gas is supplied from the gas generating unit 150 located in the -Z direction in FIG. 5, , The thrust can be generated.

FIG. 6 is a block diagram of an apparatus for correcting and controlling posture for a kiln bike according to an embodiment of the present invention. The apparatus includes a measuring unit 161, a comparing unit 162, a request determining unit 163 And a posture control unit 164, as shown in FIG. Here, the posture control unit 164 controls the delivery of the fluid for controlling the weight through the pipe 130 and the movement speed, thereby controlling the orbit of the interceptor missile and controlling the posture thereof.

The measuring unit 161 measures the distance between the center of gravity of the kiln bell and the center axis of the plurality of nozzle assemblies. Here, an example of objects to be measured through the measuring unit 161 is shown in Fig.

In Fig. 7, the symbol CG _total indicates the center of gravity of the entire kilovacle, the symbol Z _nozzle indicates the nozzle position included in the thrust section, and the symbol l _total indicates the attitude determination distance. In other words, the attitude determination distance l _total measured through the measuring unit 161 in FIG. 7 represents the distance between the center of gravity CG _{total of the kiln bickle} and the Z _nozzle of the nozzle assemblies. In one embodiment of the present invention, it is preferable that the orbital correction and posture control apparatus 100 for the kiln bike is configured so that the center of gravity CG _{total of the kiln bike} coincides with the center of the nozzle assemblies (Z _nozzle ). That is, it is preferable that the distance between the center of gravity Kill Vehicles (CG _total) and the nozzle center axis (Z _nozzle) of the assembly that is, the posture determined distance (l _total) is held to zero. In this way, when the attitude judgment l _total is maintained at 0, the torque generation in the zx and zy directions according to the operation of the thrust section 140 described above can be suppressed. In this case, No yaw may occur.

7, reference numeral l _oilA denotes a _distance between the first fluid storage part 110 and the central axes of the plurality of nozzle assemblies, and reference symbol l _oilB denotes a distance between the second fluid storage part 120 and the centers of the plurality of nozzle assemblies Axis, and reference numeral 1 _prop denotes a distance between the center axis of the plurality of nozzle assemblies and the gas generating unit 150. [ Here, the total weight of the fluid for weight control stored in the first fluid storage unit 110 may be _{calculated as} l _oilA , l _oilB, and l _prop It is possible to reduce the total weight of the propellant 151 of the gas generating part 150. [ For example, when the distance l _{oil B} between the center axis of the plurality of nozzle assemblies and the second fluid reservoir 120 shown in FIG. 7 is greater than the distance l _{oil B} between the center axis of the plurality of nozzle assemblies and the gas generating part 150 _prop , the weight of the fluid for controlling the weight stored in the first fluid reservoir 110 may be designed to be smaller than that of the propellant 151. Referring again to FIG.

The comparison unit 162 compares the above-described attitude determination distance l _total with a predetermined reference distance. In the above description, the reference distance is assumed to be 0, but this is merely an example, and the reference distance may be variably set by guided missiles, kilobiles, or the structure modification of the attitude control apparatus for kilobiles according to the embodiment of the present invention It is possible.

The posture control unit 164 performs the correction of the orbit of the kiln bike and the posture control based on the comparison result through the comparison unit. Specifically, the posture control unit 164 can perform the center of gravity control of the kiln bickle. Also, the posture control unit 164 may further perform posture control according to the request based on the determination result of the kilobyk operation request through the request determination unit 163. [ Here, the request determiner 163 determines whether the kilobike has received at least one of an orbit change request, a roll request, a pitch request, and a left / right yaw request. The control performed through the posture control unit 164 will be described below for each situation.

First, a method of maintaining the center of gravity made by the posture control unit 164 will be described.

When the interceptor missile 10 is fired, the booster 2 operates to raise the interceptor missile 10 to the target altitude. Here, when the booster propellant 21 of the booster 2 is exhausted, the guided missile continues to fly as a kilvacle as described above with reference to FIG. Thereafter, the trajectory and attitude are corrected through the seeker unit 4 and the trajectory correction and attitude control apparatus 100 of the present invention to approach the target. As described above, the consumption of the propellant contained in the gas generating unit 150 As a result, the center of gravity of the kiloville gradually changes to the tip direction.

In order to detect the change in the center of gravity, the posture control unit 164 compares the posture determination distance l _total measured by the measuring unit 161 with the predetermined reference distance through the comparing unit 162. In this example, the reference distance is assumed to be 0, but this is merely an example, and can be variously changed by the modification of the orbit for the guided missile, the kilobike and the kilvacle, and the configuration or design change of the attitude control device. Here, when the attitude determination distance l _total exceeds the predetermined reference distance, the attitude control unit 164 can recognize that the center of gravity has changed, that is, the weight of the propellant has decreased.

Attitude control unit 164 is position determined distance (l _total) a group when it is determined that more than the preset reference distance, the posture determined distance (l _total) The group control valve to the first fluid storage portion side so as to converge to a preset reference distance ( (Not shown) to flow the fluid for weight control stored in the first fluid reservoir to the second fluid reservoir. When the fluid for weight control flows to the second fluid reservoir, the weight of the fluid at the tip end of the fluid decreases and the weight at the rear end of the fluid increases. Accordingly, the center of gravity of the kiln bike can be changed to the rear end side, and the attitude determination l _total can converge to a predetermined reference distance. Of course, the posture control unit 164 can further control the moving speed of the fluid through the valve control.

Now, a description will be given of a method of performing attitude control of a kiln bike at the time of requesting the orbit switching performed by the attitude control unit 164.

When a request for orbital change is received from a kilobike, there should be no pitch or yaw in the kickback. If the attitude determination distance l _{total differs} from the predetermined reference distance, the attitude determination distance l _total is converged to the reference distance by adjusting the movement speed of the fluid for controlling the weight. If the attitude determination distance l _total exceeds the preset reference distance, a method of flowing a fluid for weight control to the second fluid storage part 120 and increasing a moving speed of the fluid for weight control may be performed. When the attitude determination distance l _total is less than the preset reference distance, the transmission of the weight adjusting fluid from the first fluid storing portion 110 to the second fluid storing portion 120 is blocked, By decreasing the speed, the attitude determination distance l _total can converge to a predetermined reference distance. An example of this is shown in Fig.

FIG. 8 is a conceptual diagram for explaining the operation of the thrust section included in the attitude control apparatus and the orbital correction for kill bag according to an embodiment of the present invention, when requesting the orbit change in the -y direction. 8, when all the thrusts of the thrust section 140 are distributed to the nozzle assembly 141a in the + y direction when receiving the trajectory switching request in the -y direction, in addition to the force in the -y direction, (In the clockwise direction). To compensate for this, as many as half of the thrust is distributed to the -x directional nozzle assembly 141b and the + x directional nozzle assembly 141d, respectively, as shown in FIG. That is, when the thrust is distributed to the + y direction nozzle assembly 28a by 50%, the -x direction nozzle assembly 141b and the + x direction nozzle assembly 141d by 25%, respectively, the torques generated in the respective nozzle assemblies All are canceled out, and only the force in the -y direction is left. Referring again to FIG.

Now, a description will be given of a method of performing attitude control of a kiln bike at the time of a roll request made by the attitude control unit 164.

In some cases, a roll wheel may be required to control the direction of the control and seeking unit 4 according to circumstances. At this time, no back and forth pitch and left and right yaw should occur. Accordingly, the posture control unit 164 performs control so that the posture determination distance l _total converges to a predetermined reference distance. For example, the posture determined distance (l _total) with a predetermined, if the reference distance is different from the second fluid by adjusting the moving velocity of the medium weight adjustment to the storage unit 120, a position determination distance (l _total) based on the predetermined So as to converge on the distance. When the attitude determination distance l _total exceeds the preset reference distance, control may be performed to flow the fluid for weight control to the second fluid storage part 120 and to increase the moving speed of the fluid for weight control . Conversely, when the attitude determination distance l _total is less than the predetermined reference distance, a control for shutting off the flow of the weight adjusting fluid or decreasing the moving speed of the weight adjusting fluid may be performed. An example of this is shown in Fig.

For example, when rotation in the xy direction (anticlockwise direction) is required, the thrust can be distributed as shown in Fig. When the same thrust is distributed to the -x directional nozzle assembly 141b and the + x directional nozzle assembly 141d, the forces in the + x direction and the -x direction cancel each other, but the torque in the xy direction (counterclockwise direction) So the kilobiles rotate. Referring again to FIG.

Now, a description will be given of a method of performing attitude control of a kiln bike when a pitch is requested in the posture control unit 164.

If necessary, the kickback may require a back and forth pitch due to its own direction and the direction of the seeker 4. At this time, the attitude determination distance l _total is adjusted to exceed the predetermined reference distance. That is, when receiving the pitch request, the posture control unit 164 cuts off the weight adjusting fluid flowing to the second fluid storing unit so that the attitude determining distance l _total exceeds the predetermined reference distance, It is possible to perform the control such that the moving speed of the moving body is reduced. An example of this is shown in Figs. 10A and 10B.

For example, it is assumed that a rotation in the yz direction (anticlockwise direction) is desired. Since the center of gravity of the kilvicle is located in the + Z direction with respect to the thrust axis of the nozzle assembly, if the thrust section 140 generates pure force in the + y direction, the kilvicle rotates in the yz direction.

In order to generate a net force in the + y direction due to the generation of the thrust by the thrust section 140, a similar method to that at the time of the trajectory change can be applied. 10A, when the thrust is distributed to the -y direction nozzle assembly 141c by 50% and the -x direction nozzle assembly 141b + the x direction nozzle assembly 141d by 25%, respectively, torque is generated All of the components are canceled out, leaving only the translation component in the + y direction. Letting this force be F _A , the torque in the yz direction becomes F _A x l _total . Referring again to FIG.

Now, a description will be given of a method of performing attitude control of a kiln bike when the posture control unit 164 requests yaw.

The kilobiles may require yaw if necessary due to their orientation and orientation of the seeker. At this time, the attitude determination distance l _total is adjusted to exceed the predetermined reference distance. That is, when receiving the yaw request, the posture controller 164 blocks the weight adjusting fluid flowing to the second fluid storing portion such that the attitude determining distance l _total exceeds the predetermined reference distance, It is possible to perform the control such that the moving speed of the moving body is reduced. An example of this is shown in Figs. 10C and 10D.

For example, it is assumed that a rotation in the xz direction (anticlockwise) is desired. Since the center of gravity of the kilvicle is located in the + Z direction relative to the thrust axis of the nozzle assembly, when the thrust section 140 generates pure force in the + x direction, the kilvicle rotates in the xz direction.

In order to generate the pure force in the + x direction due to the generation of the thrust by the thrust section 140, it is possible to generate the pure force in a manner similar to that at the time of the orbit conversion. As shown in Fig. 10C, when the thrust is distributed to the -x directional nozzle assembly 141b by 25%, the y-directional nozzle assembly 141c and the + y directional nozzle assembly 141a, respectively, All of the components are canceled and only the translation component in the + x direction remains. Letting this force be F _B , the torque in the xz direction becomes F _B x l _total .

11 is a flowchart illustrating a method of correcting orbital tracking and attitude control apparatus for a kiln bike according to an embodiment of the present invention. Now, referring to FIG. 11, a description will be given of a method for correcting orbital correction and attitude control apparatus for a kiln bike according to an embodiment of the present invention. As described above, the orbital correction and posture control apparatus for a kiln bike according to an embodiment of the present invention can be mounted on a kiln bike of an intercepting missile having a seeker unit on one side, and performs a posture control of the intercepting missile .

In accordance with another aspect of the present invention, there is provided an orbital correction and posture control apparatus for a kiln bag, including a first fluid reservoir for controlling a center of gravity of a kiln bag, a second fluid reservoir, And a piping connected to the storage unit. According to another aspect of the present invention, there is provided an apparatus for correcting or attenuating a track for a kiln bike, the apparatus including a thrust section connected to a gas generating section and a gas generating section to generate a thrust of a kilo bike, Lt; / RTI > The detailed description of the apparatus for correcting orbiting orbits for the kiln bike according to the embodiment of the present invention has been made in detail above and will not be described further. Explanation is made. In addition, the description overlapping with the above-mentioned matters is omitted.

First, the measurement unit measures a centroid of the kilovicle's center of gravity, the orbital correction for the kilovacle, and the centroid of the plurality of nozzle assemblies included in the posture control apparatus (S110). Here, the concept of the attitude determination distance is described in detail with reference to FIG. 7, and a further explanation will be omitted.

Thereafter, the comparison unit compares the posture determination distance with a preset reference distance (S120).

Thereafter, based on the result of the comparison, the posture control unit controls the delivery or movement speed of the fluid for controlling the weight through the piping connecting the first fluid reservoir and the second fluid reservoir spaced apart from each other to the kiln bag , The orbit correction and the posture of the interceptor missile are controlled (S130). As described above, the trajectory correction and posture control performed in step S130 is performed by controlling the center of gravity, requesting the orbit change, the roll request, the pitch request, and the yaw request When at least one is received, it functions to correct orbit and control posture accordingly.

Thereafter, step S140 is performed to determine whether the guided missile hits the target. If it is determined in step S140 that the guided missile has hit the target, control is transferred to the end block. Otherwise, if the guided missile is still in flight, control passes to step S110 to re-execute the above steps.

FIG. 12 is a flowchart of a step S130 of adjusting the center of gravity of a kilobacle according to an embodiment of the present invention.

As mentioned above, the kilvicle will continue to fly while consuming the internal propellant. Here, the weight of the kiln bell is decreased according to consumption of the propellant, and the center of gravity thereof is gradually changed to the tip direction. Therefore, in the method of correcting the orbital for kiln buckle and operating the posture control apparatus according to an embodiment of the present invention, the weight of the propellant during the flight of the kiln bike decreases, (S210) is performed. If it is determined in step S210 that the weight of the propellant has been reduced, control is passed to step S220. Otherwise, control passes to step S140 to re-execute the above-described steps.

In step S220, the weight control fluid stored in the first fluid reservoir is controlled to flow to the second fluid reservoir, thereby adjusting the center of gravity of the fluid. In addition, the step S220 may further adjust the center of gravity of the kiln by increasing the moving speed of the fluid for regulating the weight flowing to the second fluid reservoir.

FIG. 13 is a flowchart illustrating a method of performing a posture control of a kilobykle in response to a trajectory switching request according to an embodiment of the present invention.

Step S310 is a step of determining whether or not a request to change the orbit has been received from the kill bag. As described above, when a request to change the orbit is received from the kiln bike, the pitch and yaw should not occur in the kickback. Accordingly, if it is determined in step S310 that the traverse change request has been received, control is passed to step S320, and the following steps are performed. Otherwise, control is passed to step S140.

Step S320 is a step of determining whether or not the attitude determination distance exceeds a predetermined reference distance at the time of requesting the orbit change of the kiln bickle. If it is determined in step S320 that the posture determination distance exceeds the predetermined reference distance, the control is transferred to step S330. Conversely, if it is determined in step S320 that the distance is less than the predetermined reference distance, the control is transferred to step S340.

In step S330, the weight controlling fluid stored in the first fluid storing part is controlled to flow to the second fluid storing part, thereby controlling the attitude determining distance to converge to the reference distance. Here, the step S330 may further include a step of increasing the moving speed of the fluid for regulating the weight.

Step S340 is a step of controlling the convergence of the attitude determination distance to the reference distance by reducing the moving speed of the fluid for controlling the weight or blocking the flow of the fluid for controlling the weight.

Through the control of steps S320 to S340, the method for correcting the orbital for kiln buckle and operating the posture control apparatus according to an embodiment of the present invention is characterized in that when the orbit is requested to be switched, (yaw) does not occur. Then, control is passed to step S140.

FIG. 14 is a flowchart illustrating a method of performing attitude control of a kiln bike when a roll is requested according to an embodiment of the present invention.

Kilbikles may require lateral rolls to control their own control and orientation of the seeker depending on the situation. At this time, no back and forth pitch and left and right yaw should occur. To do this, first a step S410 is performed to determine whether there is a rollback request of the kiln bickle. If it is determined in step S410 that there is a roll request, control is passed to step S420. Otherwise, control is passed to step S140.

In step S420, it is determined whether the posture determination distance is equal to the predetermined reference distance, and whether the posture determination distance exceeds the preset reference distance. If it is determined that the posture determination distance exceeds the predetermined reference distance, control is passed to step S430. Otherwise, control is passed to step S440.

In step S430, the weight controlling fluid stored in the first fluid storing part is controlled to flow to the second fluid storing part, thereby controlling the attitude determining distance to converge to the reference distance. Here, the step S430 may further include a step of increasing the moving speed of the fluid for regulating the weight. Then, control is passed to step S140.

Also, step S440 is a step of controlling the convergence of the attitude determination distance to the reference distance by reducing the movement speed of the fluid for controlling the weight or blocking the flow of the fluid for controlling the weight. Then, control is passed to step S140.

The method of correcting orbital correction and attitude control apparatus for a kiln bike according to an embodiment of the present invention may be such that when the pitch is requested or the yaw is requested, The flow of the fluid for weight control from the first fluid reservoir to the second fluid reservoir may be blocked or the flow rate of the fluid may be reduced. Since the description has been described in detail above, further explanation is omitted.

As described above, an optimal embodiment has been disclosed in the drawings and specification. Although specific terms have been employed herein, they are used for purposes of illustration only and are not intended to limit the scope of the invention as defined in the claims or the claims. Therefore, those skilled in the art will appreciate that various modifications and equivalent embodiments are possible without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: Orbit correction and attitude control device for kilibicles
110: first fluid storage part 120: second fluid storage part
130: piping 140: thrust section
150: gas discharging part 161: measuring part
162: comparison unit 163:
164:

Claims (22)

An orbital correction and posture control apparatus for a kiln vehicle mounted on a kill-vihicle of an interceptor missile having a seeker section on one side thereof and performing posture control of the interceptor missile,
A first fluid reservoir disposed at one side of the kilnbill with respect to a center of the kilnbill, the first fluid reservoir storing a fluid for controlling weight;
A second fluid reservoir disposed apart from the first fluid reservoir;
A pipe connected at one side to the first fluid storage part and at the other side to the second fluid storage part; And
And a posture control unit for controlling the movement speed of the fluid for regulating the weight through the pipe to correct the orbit of the interceptor missile and to control the posture thereof,
A gas generator for generating a gas based on the propellant disposed in the inside of the kiln bag; And
Further comprising a thrust section for generating a thrust by discharging the gas generated through the gas generating section through a plurality of nozzle assemblies,
A measurement unit for measuring an attitude determination distance between a center of gravity of the kiln bickle and a center axis of the plurality of nozzle assemblies; And
Further comprising a comparison unit for comparing the posture determination distance with a predetermined reference distance,
The posture control unit,
A control unit for controlling a posture of the center of gravity of the kiln by sensing a change in the center of gravity based on a comparison result obtained by the comparing unit,
Wherein the number of the plurality of nozzle assemblies is four,
The interceptor missile further comprises an outer housing connected to the seeker unit and surrounding the gas generators, the thrust unit, and the outer periphery of the booster propellant used to raise the interceptor missile to a predetermined target altitude,
Wherein when the interceptor missile reaches a predetermined target altitude, the booster propellant is separated from the interceptor missile, the outer housing remains connected to the seeker unit,
Wherein the first fluid reservoir is disposed inside the tip end side of the kiln bag, and the second fluid reservoir is disposed at a rear end of the outer housing. delete delete The method according to claim 1,
The posture control unit,
The weight control fluid stored in the first fluid reservoir is moved to the second fluid reservoir when the attitude determination distance exceeds the predetermined reference distance due to the weight reduction of the propellant during the flight of the kiln bag, And the center of gravity of the kiln bickle is adjusted. The method according to claim 1,
The posture control unit,
Wherein when the attitude determination distance exceeds the predetermined reference distance at the time of requesting the orbit change of the kiln bickle, the weight adjusting fluid stored in the first fluid storing portion is moved to the second fluid storing portion, And converges the reference distance to the reference distance. 6. The method of claim 5,
The posture control unit,
Wherein the control unit interrupts the transfer of the fluid for weight control from the first fluid reservoir to the second fluid reservoir when the attitude determination distance is less than the preset reference distance upon request of the orbital change of the fluid bag, Orbital correction and posture control system for beakle. The method according to claim 1,
The posture control unit,
Wherein when the attitude determination distance exceeds the preset reference distance at the time of requesting the roll of the kiln bell, a moving speed of the weight controlling fluid flowing from the first fluid storing part to the second fluid storing part is increased Wherein the orbital correction and attitude control apparatus for a kiln bike includes: 8. The method of claim 7,
The posture control unit,
Wherein the control unit interrupts the movement of the fluid for controlling the weight from the first fluid storage unit to the second fluid storage unit when the attitude determination distance is less than the preset reference distance at the time of requesting the lateral rotation of the kiln bag. Orbital correction and posture control device. The method according to claim 1,
The posture control unit,
The control unit may block the movement of the fluid for controlling the weight from the first fluid storage unit to the second fluid storage unit or decrease the moving speed of the fluid to increase the posture determination distance when the pitch correction of the back- Wherein the orbital correction and attitude control apparatus for a kiln bike includes: The method according to claim 1,
The posture control unit,
It is possible to prevent the movement of the fluid for controlling the weight from the first fluid reservoir to the second fluid reservoir or to decrease the flow rate of the fluid at the time of requesting the left and right yaw of the fluid bag, Characterized in that the orbital correction and posture control device for the kilvacle is provided. delete delete delete The method according to claim 1,
Wherein the total weight of the fluid for weight control stored in the first fluid reservoir is greater than the total distance between the center axis of the second fluid reservoir and the plurality of nozzle assemblies and the distance between the center axis of the plurality of nozzle assemblies and the gas generator And the distance is determined according to a correlation of the distance. An operation method of a track correction and attitude control apparatus for a kiln bike, which is mounted on a kiln bike of an intercepting missile having a seeker unit on one side thereof and performs attitude control of the intercepting missile,
Measuring a posture determination distance between a center of gravity of the kiln bickle and a center axis of a plurality of nozzle assemblies included in the posture control apparatus for the kiln bickle by the measuring unit;
Comparing the posture determination distance with a preset reference distance by a comparing unit; And
The posture control unit controls the movement speed of the fluid for controlling the weight through the piping connecting the first fluid storage unit and the second fluid storage unit that are spaced apart from each other to the kilo bag based on the comparison result, Controlling the orbit and controlling the posture,
The apparatus for correcting and controlling posture for a kiln bag includes: a gas generating unit for generating a gas based on a propellant disposed in the kiln bag; And a thrust section for generating thrust by discharging gas generated through the gas generating section through a plurality of nozzle assemblies,
Wherein the step of correcting the orbit of the interceptor missile and controlling the attitude comprises:
Controlling the flow of the weight adjusting fluid stored in the first fluid storing portion to the second fluid storing portion when the attitude determining distance exceeds the preset reference distance due to the weight reduction of the propellant during the flight of the kililbike And performing a posture control by changing the center of gravity of the kiln bickle,
Wherein the number of the plurality of nozzle assemblies is four,
The interceptor missile further comprises an outer housing connected to the seeker unit and surrounding the gas generators, the thrust unit, and the outer periphery of the booster propellant used to raise the interceptor missile to a predetermined target altitude,
Wherein when the interceptor missile reaches a predetermined target altitude, the booster propellant is separated from the interceptor missile, the outer housing remains connected to the seeker unit,
Wherein the first fluid reservoir is disposed inside the tip end side of the kiln bag and the second fluid reservoir is disposed at a rear end of the outer housing. delete 16. The method of claim 15,
Wherein the step of correcting the orbit of the interceptor missile and controlling the attitude comprises:
Wherein when the attitude determination distance exceeds the predetermined reference distance at the time of requesting the orbit change of the kiln bickle, the weight adjusting fluid stored in the first fluid storing portion is moved to the second fluid storing portion, And converging the reference distance to the reference distance. 18. The method of claim 17,
Wherein the step of correcting the orbit of the interceptor missile and controlling the attitude comprises:
And blocking the transmission of the weight adjusting fluid from the first fluid reservoir to the second fluid reservoir when the attitude determination distance is less than the predetermined reference distance at the time of requesting the orbit change of the kiln bag Characterized in that the orbital correction and attitude control device for kiln buckle is operated. 16. The method of claim 15,
Wherein the step of correcting the orbit of the interceptor missile and controlling the attitude comprises:
Wherein when the attitude determination distance exceeds the preset reference distance at the time of requesting the roll of the kiln bell, a moving speed of the weight controlling fluid flowing from the first fluid storing part to the second fluid storing part is increased And controlling the attitude of the vehicle. 20. The method of claim 19,
Wherein the step of correcting the orbit of the interceptor missile and controlling the attitude comprises:
And blocking the movement of the fluid for controlling the weight from the first fluid reservoir to the second fluid reservoir when the attitude determination distance is less than the predetermined reference distance at the time of requesting the lateral rotation of the kiln bag. And the operation method of the posture control device. 16. The method of claim 15,
Wherein the step of correcting the orbit of the interceptor missile and controlling the attitude comprises:
The control unit may block the movement of the fluid for controlling the weight from the first fluid storage unit to the second fluid storage unit or decrease the moving speed of the fluid to increase the posture determination distance when the pitch correction of the back- And controlling the attitude of the vehicle. 16. The method of claim 15,
Wherein the step of correcting the orbit of the interceptor missile and controlling the attitude comprises:
Increasing the attitude determination distance by blocking the movement of the fluid for controlling the weight from the first fluid reservoir to the second fluid reservoir or decreasing the flow rate of the fluid at the time of requesting the left and right yaw of the fluid bag, And a control unit for controlling the operation of the attitude correction and attitude control apparatus for the kiln bike.

Images