RU2111522C1 - Device for generation of single-channel control signal for rotating missile - Google Patents

Abstract

FIELD: missile control systems. SUBSTANCE: first claim of invention describes design of device which has unit for generation of guidance commands, missile rotation detector, which is connected to gyro, two comparators, power amplifier which is connected to missile control drive, two controlled clippers, two absolute value calculation units, XOR gate. Another claim of invention describes design of device which has unit for generation of guidance commands, missile rotation detector, which is connected to gyro, two comparators, power amplifier which is connected to missile control drive, two controlled clippers, two absolute value calculation units, clipper and XOR gate. EFFECT: decreased distortions in control process. 2 cl, 7 dwg

Description

 The invention relates to rocket control systems and can be used in rocket control equipment rotating around its longitudinal axis.

 Known control loop control system for a remotely controlled aircraft rotating around its longitudinal axis, according to UK patent N 1053713, in which signals of deviation of the aircraft from the base line in a rectangular coordinate system are determined using a direction finder, located in the rectangular coordinate system, then are converted into the coordinates of the polar coordinate system and then, using the electronic circuit block located in the control point, into commands reference, which are then transmitted to the aircraft, for example, via a wired connection, connect it to the control point. In this case, the teams act on the aircraft in such a way that its flight path coincides with the base line.

 In this control loop of the control system, the angle of rotation of the aircraft around its longitudinal axis with the help of reference pulses generated in the aircraft is transmitted to the control point and processed there together with the error signals determined by the direction finder in the electronic circuit block in such a way that depending on a certain angle of rotation, a guidance command is correctly assigned to this corner. In this case, the reference pulses generated in the aircraft are transmitted along the same transmission line connecting the aircraft with the control point, as a result of which this transmission line cannot be used to transmit guidance commands from the control point to the aircraft at the time of transmission of the reference signals. Therefore, at certain angles of rotation of the aircraft, determined by the moments of transmission of the reference pulses, it is not controlled by guidance commands. The block of electrical circuits necessary for calculating guidance commands, among other things, is quite complicated, because for such calculations, it is necessary to continuously restore the position of the aircraft by the angle of rotation, while only one reference pulse per revolution is available as initial information.

 Known control loop control system for a remotely controlled aircraft rotating around its longitudinal axis, according to the application of Germany N 1802223, devoid of the above disadvantages. It includes an aircraft guidance command generation unit located in the control room, and a potentiometric rotation sensor of the aircraft located on the aircraft, the current collector of which is connected to the gyroscope, to generate a sawtooth voltage proportional to the angle of rotation of the aircraft, summing amplifiers, a switch, two comparators and a device driving the gas rudder.

 The disadvantages of this device can be attributed to the need to convert the signals of the deviation of the aircraft from the base line, defined in a rectangular coordinate system, into signals in a polar coordinate system.

 To eliminate it, a device is proposed for generating a single-channel signal for controlling a rotating rocket, comprising a guidance command generation unit, a rocket rotation sensor connected to the gyroscope, two comparators, a power amplifier connected to the drive of the rocket control body, characterized in that two controlled limiters are inserted into it, two module formation blocks, two limiters and an exclusive OR logic circuit, while the first output of the guidance command generation block is connected to the input of the first control removable limiter and through series-connected the first module forming unit and the first limiter with the input of the second controlled limiter, the second output of the guidance command generating unit is connected to the second input of the second controlled limiter and through the second module forming unit and the second limiter connected in series with the second input of the first controlled limiter, the outputs of the first and second controlled limiters are connected to the inputs of the comparators, the second inputs of which are connected to the outputs yes rocket rotation sensor, and the outputs - with the inputs of the logic circuit EXCLUSIVE OR, the output of which is connected to a power amplifier.

 In FIG. Figures 1 and 2 show diagrams of signals and hodographs of the vector of control force generated by the rocket control (steering body).

The following notation was used:
U _z , U _y - guidance missile guidance on mutually perpendicular axes Z and Y, respectively;
U _VR.y , U _VR.z - sawtooth signals from a rocket rotation sensor;
U $\genfrac{}{}{0ex}{}{\text{max}}{\text{v.y}}$ , U $\genfrac{}{}{0ex}{}{\text{max}}{\text{vz}}$ - the amplitude values of the sawtooth signals from the rocket rotation sensor;
U _kz , U _ky - output signals of the comparators;
U _exercise - a single-channel steering control signal of the rocket;
R _CPR - control force formed by the steering organ of the rocket;
ω is the rotation frequency of the rocket;
t is the time;
φ ₁ -φ ₄ - the angles of change of the rocket control.

 In FIG. 3, 6 are structural diagrams of two embodiments of the proposed device.

 In FIG. 4 shows a functional diagram of the implementation of a controlled limiter.

In FIG. Fig. 5 shows graphical dependencies illustrating the formation of the guidance command restriction levels and the team coefficients (K _z , K _y ) that are realized when the rocket rotation sensor generates sawtooth (Fig. 5, a) and sinusoidal (Fig. 5, b) signals.

The symbol U _kv denotes a command to compensate for the weight of the rocket, formed on board the latter.

 FIG. 7 illustrates the principle of operation of a rocket control drive by the example of a gas relay steering machine.

 The first embodiment of the device (see Fig. 3) contains a guidance command generation unit 1, module formation blocks 2, 3, limiters 4, 5, guided limiters 6, 7, a rotation sensor 9 of the rocket 9 connected to the gyroscope 8, comparators 10, 11, a logical an EXCLUSIVE OR 12 circuit and a power amplifier 13 connected to the drive of the rocket control body 14, while the first output of the guidance command generation unit 1 is connected to the input of the controlled limiter 6 and through series-connected block formation of the module 2 and the limiter 4 to the input of the controlled limiter 7, the second output of the guidance command generation unit 1 is connected to the second input of the controlled limiter 7 and through series-connected module forming unit 3 and the limiter 5 is connected to the second input of the controlled limiter 6, the outputs of the controlled limiters 6 and 7 are connected to the inputs of the comparators 10 and 11, the second inputs of which are connected to the outputs of the rotation sensor of the rocket 9, and the outputs to the inputs of the logic circuit EXCLUSIVE OR 12, the output of which is connected to the power amplifier 13.

 Moreover, controlled limiters 6, 7 (see Fig. 4) are made on operational amplifiers 15, 16, inverter 17 and resistors 18, .. 23.

 The second variant of the proposed device (see Fig. 6) contains a block for generating guidance commands 1, blocks for forming a module 2, 3, a limiter 4, controlled limiters 6, 7, a rotation sensor for rocket 9 connected to a gyroscope 8, comparators 10, 11, a logic circuit EXCLUSIVE OR 12 and a power amplifier 13 associated with the drive of the rocket control 14, wherein the first output of the guidance command generation unit 1 is connected to the input of the controlled limiter 6 and through the series-connected formation block of module 2 and the limiter 4 to the input controlled limiter 7, the second output of the guidance command generating unit 1 is connected to the second input of the controlled limiter 7, the output of which through the forming unit of module 3 is connected to the second input of the controlled limiter 6, the outputs of the controlled limiters 6 and 7 are connected to the inputs of the comparators 10 and 11, the second inputs which are connected to the outputs of the rotation sensor of the rocket 9, and the outputs to the inputs of the logic circuit EXCLUSIVE OR 12, the output of which is connected to the power amplifier 13.

 The drive of the rocket control 14 (see Fig. 7) contains electromagnets with anchors 24, 25 and windings 26, 27, balls 28, 29 of the left and right valves, springs 30, 31, left and right exhaust cavities 32, 33, and a power cylinder 34 and piston 35 with a groove 36.

 The principle of operation of the proposed device is based on the use of two sawtooth signals proportional to the angle of rotation of the rocket around its longitudinal axis, shifted relative to each other by π / 2, to form a single-channel control signal for a rocket rotating around its longitudinal axis. The repetition rate of these signals is equal to the frequency of rotation of the rocket. In this case, the signal amplitude continuously and uniformly changes as the rocket turns around its axis from the minimum to the maximum value and vice versa.

 Missile guidance commands, formed in a rectangular coordinate system with mutually orthogonal Z and Y axes with the aim of influencing the missile so that its flight path coincides with the base line (direction to the target), are compared on comparators with sawtooth signals proportional to the angle of rotation of the missile around its longitudinal axis. From the outputs of the comparators, square-shaped signals are fed to the inputs of the EXCLUSIVE OR logic circuit, which forms a single-channel missile control signal, which is fed to the power amplifier and then to the drive of the rocket control unit, which is relay-wise moving from one extreme position to another.

, к ее максимально возможному значению

.To explain the conversion of guidance commands into a single-channel control signal, we use the notion of command coefficient, which is understood as the ratio of the control force R generated by the control element (OS) of the rocket averaged over the period of rotation of the rocket around its longitudinal axis

to its maximum possible value

.

Величина

достигает своего максимального значения при перекладывании ОУ из одного крайнего положения в другое с двухкратной частотой вращения ракеты (при перекладывании ОУ направление воздействующей на ракету управляющей силы меняется на противоположное). Применив для нахождения R_max теорему о среднем и приняв во внимание, что мгновенное значение проекции управляющей силы на любое направление определяется формулой
R = R_упр•cos(φ-φ₁), ,
получим

,
где
R_упр - воздействующая на ракету управляющая сила, развиваемая ее ОУ;
R - мгновенное значение проекции управляющей силы на то или иное направление;
φ - угол между осью OZ и вектором управляющей силы;
φ₁ - угол между осью OZ и выбранным направлением.

Value

reaches its maximum value when shifting the op-amp from one extreme position to another with twice the speed of the rocket (when shifting the op-amp, the direction of the control force acting on the rocket is reversed). Applying the mean value theorem to find R _max and taking into account that the instantaneous value of the projection of the control force in any direction is determined by the formula
R = R _control • cos (φ-φ ₁ ),,
we get

,
Where
R _control - acting on the rocket control force developed by its OS;
R is the instantaneous value of the projection of the control force in one direction or another;
φ is the angle between the OZ axis and the control force vector;
φ ₁ - the angle between the axis OZ and the selected direction.

меньше максимального в случае, когда ОУ за период вращения ракеты перекладывается больше двух раз. Эпюры напряжений, поясняющие механизм формирования одноканального сигнала управления ОУ, и годографы вектора управляющей силы приведены на фиг. 1, 2. При этом, помимо вышеприведенных использованы следующие обозначения:
U_kz, U_ky - выходные сигналы компараторов.Value

less than the maximum in the case when the OS for the period of rotation of the rocket is shifted more than two times. Voltage plots explaining the formation mechanism of a single-channel op-amp control signal and hodographs of the control force vector are shown in FIG. 1, 2. Moreover, in addition to the above, the following notation is used:
U _kz , U _ky - output signals of the comparators.

 Considering that the rate of change of missile guidance commands is much lower than its rotation frequency, and the control action is averaged over the period of missile rotation, for clarity of explanation, we assume that guidance commands are constant for one period of missile rotation. For the same purpose, we assume that the shifting of the OS from one extreme position to another occurs instantly.

где
U $\genfrac{}{}{0ex}{}{\text{max}}{\text{вр.z}}$ , U $\genfrac{}{}{0ex}{}{\text{max}}{\text{вр.y}}$ - амплитудные значения пилообразных сигналов с датчика вращения ракеты.The instantaneous values of the sawtooth signals, proportional to the angle of rotation of the rocket around its longitudinal axis, are determined from the formulas:

Where
U $\genfrac{}{}{0ex}{}{\text{max}}{\text{vz}}$ , U $\genfrac{}{}{0ex}{}{\text{max}}{\text{v.y}}$ - the amplitude values of the sawtooth signals from the rocket rotation sensor.

Из эпюр, приведенных на фиг. 1 и 2 видно, что чередование углов перекладки за период вращения ракеты различно при различных величинах команд наведения. Анализ причин изменения порядка следования углов перекладки (в первом случае (фиг. 1) φ₁, φ₃, φ₂, φ₄ , во втором (фиг. 2) φ₁, φ₂, φ₃, φ₄ показывает, что первая последовательность имеет место в случае выполнения неравенства

,
а вторая - при выполнении неравенства

,
где

При выполнении неравенства (2)

Подставив в эти выражения значения углов φ₁-φ₄ из (1) получим

Коэффициенты команд при этом будут равны

При выполнении неравенства (3)

Коэффициенты команд в этом случае равны

Анализируя формулы (4) и (5) можно сделать следующие выводы:
при выполнении неравенства (2) коэффициент команды, формируемой ОУ ракеты в направлении каждой из осей Z и Y, определяется величинами команд наведения по этим осям, в связи с чем искажения процесса управления отсутствуют;
при выполнении неравенства (3) коэффициент команды, формируемой ОУ ракеты в направлении каждой из осей, определяется величиной команды наведения по другой оси, в связи с чем имеют место искажения процесса управления.Using these relations, we find the values of the angles φ _i (i = 1, .. 4) at which the opamp is shifted (when U _{time z} = U _z and U _{time y} = U _y )

From the plots shown in FIG. 1 and 2 it can be seen that the alternation of the transfer angles for the period of rocket rotation is different for different values of guidance commands. An analysis of the reasons for changing the order of the angles of shift (in the first case (Fig. 1) φ ₁ , φ ₃ , φ ₂ , φ ₄ , in the second (Fig. 2) φ ₁ , φ ₂ , φ ₃ , φ ₄ shows that the first the sequence takes place in the case of inequality

,
and the second - when inequality

,
Where

When inequality (2) holds

Substituting the angles φ ₁ -φ ₄ from (1) into these expressions, we obtain

The odds of the teams will be equal

When inequality (3) holds

Team odds in this case are equal

Analyzing formulas (4) and (5), we can draw the following conclusions:
when inequality (2) is fulfilled, the coefficient of the command generated by the rocket op-amp in the direction of each of the Z and Y axes is determined by the values of the guidance commands along these axes, and therefore there are no distortions of the control process;
when inequality (3) is fulfilled, the coefficient of the command generated by the rocket op-amp in the direction of each of the axes is determined by the magnitude of the guidance command on the other axis, and therefore the control process is distorted.

, либо предпочтение отдается командам наведения по одной из осей (например, по оси Y), за счет уменьшения уровня ограничения команд наведения по другой оси.To exclude the possibility of distortions of the missile control process, constant levels of restriction of guidance commands can be provided in order to ensure the fulfillment of inequality (2). In this case, the restriction levels of the guidance commands U _og.z , U _og.y can be set either equal to half the amplitude of the sawtooth signals from the sensors of rotation of the rocket (in this case, the coefficients of the commands generated by the OS of the rocket in the direction of each of the axes are limited at

, or preference is given to guidance commands on one of the axes (for example, along the Y axis), by reducing the level of restriction of guidance commands on the other axis.

даже в том случае когда
U_y> U $\genfrac{}{}{0ex}{}{\text{max}}{\text{вр.y}}$ /2 .
Для устранения этого недостатка и повышения за счет этого точности наведения ракеты в устройство введены два управляемых ограничителя, два блока формирования модуля и два ограничителя.However, the presence of constant levels of restriction does not allow to realize the maximum coefficients of teams in any direction. For example, if U _z = 0 K _y does not exceed the value

even when
U _y > U $\genfrac{}{}{0ex}{}{\text{max}}{\text{v.y}}$ / 2.
To eliminate this drawback and increase due to this accuracy of pointing the rocket into the device, two controllable limiters, two module forming units and two limiters are introduced.

 Functional diagram of the device is shown in FIG. 3.

 Managed limiters 6, 7 are two-way limiters with controlled levels of restriction.

The device operates as follows. The guidance commands of a variable-sign rocket from the output of a two-channel guidance formation unit 1 are fed to the inputs of controlled limiters 6, 7 as well as to the inputs of the formation units of module 2, 3 converting them into unipolar signals. These signals then go to the inputs of the limiters 4, 5, limiting them at levels equal to half the amplitude of the sawtooth signals from the rocket rotation sensor U _VRZ and U _VRY . The specified restriction was introduced in order to make it possible to raise the restriction levels of each of the guidance commands only when the magnitude of the guidance command in the other channel is less than half the amplitude of the sawtooth signal from the rotation sensor. From the outputs of these limiters, the signals are fed to the inputs of the control of the restriction levels of the controlled limiters 6, 7.

Each of the controlled limiters 6, 7 of the guidance commands U _z and U _y can be performed on two operational amplifiers 15, 16 and inverter 17, in accordance with the circuit shown in FIG. 4. Input signals (guidance commands on one of the axes), indicated in the diagram through U _in , through a voltage divider made on resistors 18, 20, are fed to the inverting input of operational amplifiers 15, 16. Control signals of positive polarity limiting levels U _control , from the limiter 4 or 5, they go to the non-inverting input of the operational amplifier 15 directly and through the inverter 17 to the non-inverting input of the operational amplifier 16. The non-inverting inputs of the operational amplifiers 15, 16 are also connected to the reference source catch. In this case, the reference amplifier of negative polarity — U _op — is supplied to the operational amplifier 15, and the reference signal of positive polarity U _{op is} supplied to the operational amplifier 16. Resistors 19, 22 and 21, 23 are selected in such a way that at a zero value of the control signal (i.e., at a zero value of the guidance command on the other axis), the voltage equal to the negative and positive amplitude values of the sawtooth is set at the non-inverting inputs of the operational amplifiers 15 and 16 signal from the rocket rotation sensor, respectively.

With an increase in U _CPR to U _{op / 2, the} voltages at the non-inverting inputs of the operational amplifiers 15 and 16 decrease by half and become equal to half the negative and positive amplitudes of this signal, respectively. The scaling of the guidance command that controls the formation of the restriction levels is carried out in such a way that when it reaches half the amplitude value of the signal from the rocket rotation sensor, the signal _Ucont becomes equal to U _{op / 2} . Scaling can be carried out both in the module forming unit (2, 3) and in the limiter (4, 5) connected in series with it. The voltages at the non-inverting inputs of the operational amplifiers 15 and 16 set the input signal limitation levels.

, уровни ограничения управляемого ограничителя команды наведения по оси Y U_y будут равны ± U $\genfrac{}{}{0ex}{}{\text{max}}{\text{вр.y}}$ /2 и команда наведения U_y будет ограничиваться на этих уровнях. При изменении команды наведения U_z от

до нуля уровни ограничения управляемого ограничителя команды наведения U_y будут линейно возрастать от ± U $\genfrac{}{}{0ex}{}{\text{max}}{\text{вр.y}}$ /2 до ± U $\genfrac{}{}{0ex}{}{\text{max}}{\text{вр.y}}$ .Therefore, while, for example, the magnitude of the missile guidance command along the ZU _z axis is greater

, the restriction levels of the controlled limiter of the guidance command along the YU _y axis will be ± U $\genfrac{}{}{0ex}{}{\text{max}}{\text{v.y}}$ / 2 and the guidance command U _y will be limited at these levels. When changing the guidance command U _z from

to zero, the restriction levels of the controlled limiter of the guidance command U _y will linearly increase from ± U $\genfrac{}{}{0ex}{}{\text{max}}{\text{v.y}}$ / 2 to ± U $\genfrac{}{}{0ex}{}{\text{max}}{\text{v.y}}$ .

Thus, the dynamic range of guidance commands U _y (the range of the output signal of the controlled limiter U _o ) varies depending on the magnitude of the guidance commands U _z . Exactly the same dependence of the dynamic range of guidance commands U _z on the magnitude of guidance commands U _{y is} implemented in a controlled limiter of guidance commands U _z .

 It should be noted that from the point of view of the achieved result, the sequence of connection of the module forming blocks 2, 3 and limiters 4, 5 in the control circuits of the restriction levels of controlled limiters 6, 7 is not of fundamental importance. The only difference is that when the limiter is turned on after the module formation block, it can be made unilateral, since the signal from the module formation block is unipolar. When the limiter is turned on in front of the module forming unit, it must be double-sided, since the missile guidance commands on each axis are bipolar.

где
U_огр.z, U_огр.y - уровни ограничения команд наведения U_z и U_y соответственно.Thus, the device implements the following laws for controlling the upper and lower levels of restriction of guidance commands U _z and U _y

Where
U _og.z , U _og.y - restriction levels of guidance commands U _z and U _y, respectively.

The above expressions take into account the fundamental possibility of differences between the maximum values of the guidance commands U _z and U _y when
U $\genfrac{}{}{0ex}{}{\text{max}}{\text{z}}$ = U $\genfrac{}{}{0ex}{}{\text{max}}{\text{vz}}$ = U $\genfrac{}{}{0ex}{}{\text{max}}{\text{y}}$ = U $\genfrac{}{}{0ex}{}{\text{max}}{\text{v.y}}$
Limited missile guidance commands from the outputs of controlled limiters 6, 7 are fed to the inputs of comparators 10, 11, where they are compared with sawtooth signals proportional to the angle of rotation of the rocket around its longitudinal axis, coming from the rotation sensor of rocket 9. The output signals of comparators 10, 11 are fed to the inputs logic circuit EXCLUSIVE OR 12, forming a single-channel missile control signal, and then through a power amplifier 13 to the drive of the rocket control 14.

,
Следовательно, в соответствии с формулами (4) между коэффициентом команды, формируемой ОУ ракеты в направлении оси Z и максимально возможным коэффициентом команды, которая может быть сформирована ОУ ракеты в направлении оси Y существует зависимость
K $\genfrac{}{}{0ex}{}{\text{2}}{\text{z}}$ +K $\genfrac{}{}{0ex}{}{\text{2}}{\text{y}}$ _max= 1
Такая же зависимость между величинами K_{z max} и K_y.According to formulas (4), we write the maximum values of the coefficients of the commands K _{z max} , K _{y max} that can be achieved

,
Therefore, in accordance with formulas (4), between the coefficient of the command generated by the rocket op-amp in the Z axis direction and the maximum possible coefficient of the command that can be generated by the rocket op-amp in the Y-axis direction there is a relationship
K $\genfrac{}{}{0ex}{}{\text{2}}{\text{z}}$ + K $\genfrac{}{}{0ex}{}{\text{2}}{\text{y}}$ _max = 1
The same relationship between the values of K _{z max} and K _y .

 Graphical dependencies illustrating the formation of the guidance command restriction levels and the command coefficients realized with sawtooth signals from the rocket rotation sensor are shown in FIG. 5 a.

 Sometimes, taking into account the dynamic characteristics of the rocket, it becomes necessary to expand the dynamic range of commands generated by the rocket OS in one of the axes, i.e. prioritize guidance commands in the direction of this axis. The specified expansion can be carried out due to forced limitation of the dynamic range of commands generated by the op-amp in the direction of the other axis. Such a need may arise, for example, in the final section of the flight path of the rocket, when there is a need to expand the range of commands generated in the direction of the vertical axis in order to prevent the rocket from sinking below the aiming line caused by insufficient available overloads. At the initial section of the rocket’s flight path, it may be necessary to restrict negative commands formed in the direction of the vertical axis in order to eliminate the possibility of excessive rocket subsidence below the aiming line and collision with the ground, also caused by insufficient available rocket overload in this section of the path.

 In both cases, the signals to the inputs of the control of the restriction levels of the controlled limiters of guidance commands in the horizontal direction can be supplied through switches connected simultaneously to the source of the reference signals. According to the signals from the timer, either signals from a series-connected module forming unit and a limiter, or from a reference signal source can be fed to the inputs of the control of the restriction levels. In this case, the restriction levels of the limiters connected in series with the module forming units can also be changed by the signals from the timer in order to raise the restriction level of that guidance command, the dynamic range of which expands due to the forced limitation of the dynamic range of the other, in the case when the magnitude of the latter is less than constant levels restrictions set by the source of reference signals.

The best from the point of view of ensuring the possibility of obtaining maximum (equal to unity) command coefficients in any direction while ensuring priority of guidance commands on any of the axes would be such an implementation of a device in which either continuously or in separate sections of the rocket’s flight path according to signals from timer limit levels in series with the blocks forming the limiter module are set equal to KU $\genfrac{}{}{0ex}{}{\text{max}}{\text{vz}}$ and (1-K) U $\genfrac{}{}{0ex}{}{\text{max}}{\text{v.y}}$ , where 0 ≤ K ≤ 1. In this case, with a decrease in the value of the guidance command U _z from KU $\genfrac{}{}{0ex}{}{\text{max}}{\text{vz}}$ to zero, the guidance levels of the guidance command U _y will increase linearly from (1-K) U $\genfrac{}{}{0ex}{}{\text{max}}{\text{v.y}}$ to U $\genfrac{}{}{0ex}{}{\text{max}}{\text{v.y}}$ , and the guidance levels of the guidance team U _z will increase linearly from KU $\genfrac{}{}{0ex}{}{\text{max}}{\text{vz}}$ to U $\genfrac{}{}{0ex}{}{\text{max}}{\text{vz}}$ as U _y decreases from (1-K) U $\genfrac{}{}{0ex}{}{\text{max}}{\text{v.y}}$ to zero. Moreover, if K> 0.5, the priority of the guidance command on the Z axis is provided, if K <0.5 on the Y axis.

Графические зависимости, иллюстрирующие формирование уровней ограничения команд наведения и коэффициентов команд формируемых ОУ ракеты для этого случая приведены на фиг. 5, б.The proposed device can be used to expand the dynamic range of commands generated by the rocket op-amp in the direction of the Z, Y axes even when the rocket rotation sensor generates sinusoidal signals

Graphic dependencies illustrating the formation of the levels of restriction of guidance commands and the coefficients of the commands of the generated op-amp rockets for this case are shown in FIG. 5 B.

соответственно.In this case, the restriction levels of the limiters 4, 5, connected in series with the blocks of the formation of modules 2, 3 must be chosen equal

respectively.

Переход на синусоидальную форму опорных сигналов видоизменит неравенства (2) и (3) следующим образом:

При этом зависимости коэффициентов команд, формируемых ОУ ракеты, от величин команд наведения также изменятся и примут вид:
при выполнении неравенства (6)
K_z= U_z/U $\genfrac{}{}{0ex}{}{\text{max}}{\text{вр.z}}$ ; K_y= U_y/U $\genfrac{}{}{0ex}{}{\text{max}}{\text{вр.y}}$
при выполнении неравенства (7)

Последние соотношения указывают на наличие искажений процесса управления ракетой. В случае же выполнения неравенства (6) наблюдается линейная зависимость между коэффициентами команд и величинами команд наведения.The expressions for the angles φ _i at which the op-amp of the rocket is shifted, with a sinusoidal shape of the signals from the rocket rotation sensor, can be written as follows:

The transition to the sinusoidal shape of the reference signals will modify inequalities (2) and (3) as follows:

In this case, the dependences of the coefficients of the commands formed by the rocket OS on the values of the guidance commands also change and take the form:
when inequality (6) holds
K _z = U _z / U $\genfrac{}{}{0ex}{}{\text{max}}{\text{vz}}$ ; K _y = U _y / U $\genfrac{}{}{0ex}{}{\text{max}}{\text{v.y}}$
when inequality (7) holds

Recent ratios indicate the presence of distortions in the missile control process. In the case of inequality (6), a linear relationship is observed between the coefficients of the teams and the values of the guidance commands.

При этом в любом направлении могут быть получены коэффициенты команд не менее 0,924.To ensure the fulfillment of inequality (6) in controlled limiters 6, 7, the following relationships are realized between the coefficients of the command generated by the rocket OS in the direction of one of the axes and the maximum possible coefficient of the command that can be formed by the rocket OS in the direction of the other axis

Moreover, in any direction, team coefficients of at least 0.924 can be obtained.

 Thus, the use of the proposed device for generating a single-channel control signal for a rotating missile allows the op-amp of the rocket to generate maximum commands in any direction when the sawtooth signals are generated by the rocket rotation sensor, and it also significantly expands the dynamic range of the commands generated by the rocket op-amp when the missile rotation sensor generates sinusoidal signals. Moreover, in both cases, the possibility of distortions of the control process is completely excluded.

 Another embodiment of the proposed device is possible, ensuring the achievement of the same goals, in accordance with the functional diagram shown in FIG. 6.

 At the same time, two controlled limiters, two module forming blocks, a limiter and an EXCLUSIVE OR logic circuit are introduced into the device containing the guidance command generation unit, the rocket rotation sensor connected to the gyroscope, two comparators and the power amplifier associated with the drive of the rocket control body the first output of the guidance command generation unit is connected to the input of the first controllable limiter and through the first module formation unit and the limiter connected in series to the input of the second control the controlled limiter, the second output of the guidance command generation unit is connected to the second input of the second controlled limiter, the output of which through the second module generation unit is connected to the second input of the first controlled limiter, the outputs of the first and second controlled limiters are connected to the inputs of the comparators, the second inputs of which are connected to the outputs of the sensor rocket rotation, and the outputs - with the inputs of the logic circuit EXCLUSIVE OR, the output of which is connected to a power amplifier.

The limitation of guidance commands on one of the axes (for example, along the Y axis) is carried out in the same way as in the above option, and the restriction of guidance commands on the other axis (Z axis) is carried out automatically. The function of the limiter, connected in series with the module allocation unit, is performed by the controlled limiter of 7 U _y commands. Moreover, the limitation levels of guidance commands U _z equal
U $\genfrac{}{}{0ex}{}{\text{max}}{\text{vz}}$ -U $\genfrac{}{}{0ex}{}{\text{ogre}}{\text{y}}$ U $\genfrac{}{}{0ex}{}{\text{max}}{\text{vz}}$ / U $\genfrac{}{}{0ex}{}{\text{max}}{\text{v.y}}$ ,
Where
U $\genfrac{}{}{0ex}{}{\text{ogre}}{\text{y /}}$ - the value of the guidance command U _y at the output of the controlled limiter 7.

Таким образом, второй вариант реализации устройства также позволяет получить равные единице коэффициенты команд в любом направлении при одновременном исключении возможности возникновения искажений процесса управления.The law of change of the restriction levels of guidance commands U _z , U _y can be written as follows:

Thus, the second embodiment of the device also allows you to get equal to one the coefficients of the commands in any direction while eliminating the possibility of distortion of the control process.

 The module formation blocks can be performed on operational amplifiers (see Gutnikov V.S. Integrated Electronics in Measuring Devices. L .: Energoatomizdat, 1988, p. 119).

 The signal limiters connected in series with the module forming units can be performed, for example, on operational amplifiers with transistors in the feedback circuit, bypassing it when the input signals reach the limit levels.

The rocket rotation sensor can be performed, for example, by potentiometric. In this case, the potentiometer rigidly connected to the rocket body has a uniform annular winding with two diametrically opposite taps connected to a power source. The potentiometer is equipped with two current collectors perpendicularly mounted on the fixed frame of the gyroscope. This implementation of the rotation sensor allows you to generate two sawtooth signals shifted relative to each other by π / 2 with the same amplitudes
U $\genfrac{}{}{0ex}{}{\text{max}}{\text{v.y}}$ = U $\genfrac{}{}{0ex}{}{\text{max}}{\text{vz}}$
The guidance command generation unit may include, for example, a direction finder, which determines the deviation of the missile relative to the aiming line along two mutually orthogonal axes from the pulse signals of the infrared transponder of the missile, which will be further transformed in accordance with the selected control law into missile guidance commands transmitted to the missile or by wire, either using laser, radio or infrared communication lines.

 In order to minimize the onboard equipment of the rocket, guided limiters and control circuits for their levels of restriction can be implemented in the guidance command generation unit established in the guidance point. In this case, guidance commands limited by the law described above will be transmitted aboard the rocket.

In the case when a wireless communication line is used to transmit guidance commands, the so-called weight compensation command U _sq . The formation of this, for example, permanent command precisely on board the rocket is explained by the fact that during its flight along the trajectory communication breaks are possible, i.e. interruptions in the reception of commands for guidance by the onboard receiver of the rocket caused by interference arising in a combat situation, for example, smoke, explosions of shells and mines between the rocket and the transmitter of the communication line, blocking the direction of transmission of radio signals. Its purpose is that during these communication breaks under the influence of an uncompensated dead weight the rocket would not sink below the aiming line and would not touch the vegetation or folds of the terrain.

If in this case the guidance command restriction chains are implemented in the guidance command generation unit located at the control point, then guidance command restriction should be carried out taking into account the presence of a constant component of the guidance command along the Y axis of the positive sign U _sq . To this end, an adder may be introduced in the chain of forming levels of restriction of the guidance command U _z in front of the module forming unit, on which the guidance command U _{y is} summed with U _q In this case, the limitation levels of the guidance command U _z will reach a maximum value equal to U $\genfrac{}{}{0ex}{}{\text{max}}{\text{vz}}$ not at U _y = 0, but at U _y = -U _q , as shown by the dotted line in FIG. 5 a. On board the rocket, its op-amp will generate maximum commands along the Z axis in the case when the total guidance command along the Y axis (U _y + U _kv ) is equal to zero.

 As comparators, for example, 521CA3 functional microcircuits can be used.

 As an EXCLUSIVE OR circuit, for example, a 564LP2 functional logic chip can be used.

 As a power amplifier, for example, a relay transistor amplifier with two terminal stages operating in antiphase can be used.

 The drive of the rocket control can be, for example, in the form of a steering gear, controlling the movement of an aerodynamic or gas steering gear. The principle of its operation is explained in FIG. 7.

The outputs of the power amplifier 13 are connected to the windings 26, 27 of the left and right electromagnets of the steering machine, the second ends of which are connected to a power source U _pit . When current flows through the right electromagnet, the armature 25 of this electromagnet moves the ball 29 of the right valve, blocking the gas passage into the right cavity of the power cylinder 34 and opens the exhaust cavity 33. At this time, under the influence of gas pressure, the ball 28 of the left valve, overcoming the force of the spring 30, blocks the passage of gas into the exhaust cavity 32 and opens the passage into the left cavity of the power cylinder 34 under the piston 35, as a result of which the piston 35 moves to the extreme right position.

 When current flows through the left electromagnet, the armature 24 of this electromagnet moves the ball 28 of the left valve, blocking the gas passage into the left cavity of the power cylinder 34 and opening the exhaust cavity 32. At this time, under the pressure of the gas, the ball 29 of the right valve, overcoming the force of the spring 31, blocks the passage of gas into the exhaust cavity 33 and opens the passage into the right cavity of the power cylinder 34 under the piston 35, as a result of which the piston 35 moves to the leftmost position.

 When the steering gear is operating, the piston 35 occupies one of two extreme stable positions.

 The translational movement of the piston 35 through the leash, the end of which is inserted into the groove 36 of the piston 35, is formed in the angular movement of the steering element.

Claims (2)

 1. A device for generating a single-channel signal for controlling a rotating rocket, comprising a guidance command generation unit, a rocket rotation sensor connected to the gyroscope, two comparators, a power amplifier connected to the drive of the rocket control, characterized in that two controlled limiters, two blocks are inserted into it module formation, two limiters and the logic circuit EXCLUSIVE OR, while the first output of the guidance command generation unit is connected to the input of the first controlled limiter and through the first module block forming unit and the first limiter are connected to the input of the second controlled limiter, the second output of the guidance command block is connected to the second input of the second controlled limiter and through the second module forming unit and the second limiter connected in series with the second input of the first controlled limiter, the outputs of the first and the second controlled limiters are connected to the inputs of the comparators, the second inputs of which are connected to the outputs of the rocket rotation sensor, and the outputs with the inputs of the logic circuit EXCLUSIVE OR, the output of which is connected to a power amplifier.  2. A device for generating a single-channel signal for controlling a rotating rocket, comprising a guidance command generation unit, a rocket rotation sensor connected to the gyroscope, two comparators and a power amplifier associated with the drive of the rocket control, characterized in that two controlled limiters, two blocks are inserted into it module formation, the limiter and the logic circuit EXCLUSIVE OR, while the first output of the guidance command generation unit is connected to the input of the first controlled limiter and through the last the first module forming unit and the limiter are connected to the input of the second controlled limiter, the second output of the guidance command generating unit is connected to the second input of the second controlled limiter, the output of which is connected through the second module forming unit to the second input of the first controlled limiter, the outputs of the first and second controlled limiters are connected with the inputs of the comparators, the second inputs of which are connected to the outputs of the rocket rotation sensor, and the outputs - with the inputs of the logic circuit EXCLUSIVE OR, the output of which is connected to a power amplifier.

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