RU2087936C1 - Method of remote control over two-stage rocket - Google Patents

Abstract

FIELD: rocket engineering, rocket controlling. SUBSTANCE: coordinates of target and rocket are found in sequence when rocket is controlled. Ground equipment generates control command signals which are sent to board rocket. Transmission of control commands to rocket over time of rocket flight equal to 0.5-3.0 s and covering moment of separation of stages is conducted under mode of limitation of signals by amplitude. Level of limitation is chosen within bounds from 25 to 80% of full working range of amplitude of signals of control commands. EFFECT: enhanced reliability of method. 2 dwg

Description

 The invention relates to the field of control and regulation, and specifically to control missiles.

 Known methods of tele-orientation, telecontrol, homing missiles, etc.

As a prototype for the effective control of a two-stage rocket with a relatively low cost, the remote control method was selected [1]
It consists in sequentially determining the coordinates of the target and the missile, developing control commands in the ground control equipment, encrypting them and transmitting them onto the missile, practicing missile control commands in the form of converting them into rudder rotation angles and in turning the missile towards the target.

 The disadvantage of this control method is that when controlling a two-stage rocket during the separation of stages, significant disturbances arise in the control of the rocket; they are caused by lower accuracy in determining the coordinates of the rocket at the moment of separation of the stages, by a change in the flight speed of the rocket, by a change in aerodynamic loads, etc. As a result, the accuracy of rocket control and the effectiveness of pointing the rocket at the target after separation of the stages decreases.

 The aim of the invention is to improve the accuracy of telecontrol of a two-stage rocket by reducing the reaction of the rocket to significant disturbances from the separation of stages.

 This goal is achieved by the fact that in the known method of remote control, which consists in sequentially determining the coordinates of the target and the rocket, generating in the ground equipment signals of control commands, transmitting them to the rocket and processing the rocket, transmitting control commands on board at a time interval of flight of the rocket equal to 0.5 to 3 seconds and covering the moment of separation of steps, is carried out in the mode of limiting signals by amplitude, the gain level of the working range is selected in the range from 25 to 80% of the full working range and signal amplitude control commands.

 Rocket control by the proposed method is as follows. The rocket starts towards the target. Ground equipment at each point in time of flight records the coordinates of the target and the rocket. Based on these coordinates, control signals are generated that are transmitted to the rocket and processed last.

 In most circuits of telecontrol systems, the generation of control command signals in ground equipment is carried out in such a way as to combine ground equipment, a missile and a target (three-point method) on the same line of sight. If the missile deviates from the line of sight of the target, the control team returns the rocket to the line of sight.

 At the time of separation of the stages, external disturbances in some cases manifest themselves in incorrect determination of the coordinates of the rocket relative to the line of sight of the target, in particular due to the disappearance of the visibility of the rocket with ground equipment. Control commands for such disturbances can be generated very large, which lead to missile ejections at significant distances from the line of sight of the target or even to a missile failure.

 The introduction of restrictions on the signals of control commands in the region of time of separation of rocket stages allows one to work out "excessive" external influences on the rocket only with "acceptable" intensity.

 The limit level is selected in the range from 25 to 80% of the full working range of the command signal. Control commands are formed as before (with the same gain, with the same filters). This ensures constant control accuracy with "small" external influences. This is due to the fact that "small" impacts are worked out using small amplitude control commands; such commands are less than the entered restriction; they are transmitted to the rocket unchanged.

 With "large" external influences, teams are generated that are close in magnitude to the maximum amplitude; such commands are limited to the selected level (for example, up to 50% of the maximum amplitude) and arrive at the rocket within no more than permissible.

 If the level of restrictions is more than 80%, then the implemented technical solution will approach the prototype in terms of characteristics. If the level of restrictions is less than 25%, then the implemented technical solution will approach the characteristics of an uncontrolled product, which in 0.5 3 seconds with significant lateral velocity vectors can automatically lead to large missile departures from the line of sight of the target.

 To implement the above method, the ground-based equipment of the missile telecontrol system (see [1] p. 28, Fig. 1.12) must be connected with a sequentially connected software device and a control signal limiter, and the input of the software device must be connected to the missile exit sensor, and a signal limiter is installed in the control command transmission circuit.

 In FIG. 1 shows a diagram of a telecontrol system that implements the proposed method.

 A software device is implemented, for example, in the form of two parallel-running time relays (see the book "Automation of production and industrial electronics. Encyclopedia of modern technology." -V.3. M. Soviet Encyclopedia, 1964, pp. 248-249). The input of each time relay is connected to the output of the contact missile descent sensor. The first time relay determines the start of the limiter operation interval.

 The limiter is implemented, for example, in the form of a 2-1-7 diode circuit (see Tetelbaum I.M. Shneider Yu.R. 400 circuits for AVM, M. Energia, 1978, p. 54), set for the analog purpose of transmitting commands between two diodes and the main circuit are two pairs of keys. The first pair contains normally open keys controlled by the first time relay. The second pair consists of normally closed keys controlled by a second time relay.

 The software device turns on at the moment of rocket launch: depending on the time of flight of the rocket, when the moment of separation of the stages approaches, the first relay of the software device generates a signal to turn on the control command limiter to a level, for example, two times lower than in the nominal control mode; this is due to the closure of the contacts of the first key pair and the connection to the transmission circuit of the diode commands and limiting voltages. After the steps are separated, the software device (second relay) opens the contacts of the second key pair in the limiter, and the control command restriction level is restored to the original one.

 The full working range of the amplitudes of the control command signals (100% of the signal amplitude), as a rule, is limited by the design features of the system (supply voltage, rudder stops, etc.).

 In FIG. Figure 2 shows the oscillograms of the signals of control commands transmitted to the missile along the vertical and horizontal channels in one of the launches, recorded in the ground equipment before and after the limiter.

 Experiments with a two-stage rocket showed that the use of the proposed control method significantly reduced the deviation of the rocket from the program path after separation of stages, reduced the likelihood of losing control of the rocket and increased the likelihood of reaching the final goal.

 Thus, the proposed technical solution is characterized by novelty, practical feasibility and provides an effect to improve the accuracy of telecommand missiles and to increase the likelihood of achieving the ultimate goal.

Claims (1)

 A two-stage missile telecontrol method, which consists in sequentially determining the coordinates of the target and the missile, generating control command signals in the ground equipment, transmitting them to the missile board and developing the missile, characterized in that, starting from the separation of the rocket stages and ending after the separation of the stages, at the program interval time duration of 0.3 3.0 s control command signals are transmitted on board the rocket limited in amplitude within 25 to 80% of the full working range of the amplitudes of the control command signals.

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