RU2184921C2 - Device for formation of relay control signals of spin-stabilized missile - Google Patents

Abstract

FIELD: development of missile guidance systems, applicable in guides anti-tank and guided anti-aircraft missile complexes. SUBSTANCE: the device has drivers of control signals in the vertical and horizontal planes, whose outputs are connected respectively to the first inputs of the first and second modulators, summing amplifier, whose first and second inputs are connected respectively to the outputs of the first and second modulators. The device has also a gyroscopic missile roll-angle pick-off, whose first output is connected to the second input of the first modulator, and the second output is connected to the second input of the second modulator; the signals from the first and second outputs of the gyroscopic roll-angle pick-off are relay three-position ones, shifted relative to each other through angle π/2. The device uses a driver of the linearization signal, whose input is connected to the second output of the gyroscopic roll-angle pick-off, logical device, whose input is connected to the second output of the gyroscopic rollangle pick-off, third modulator, whose first input is connected to the output of the driver of the linearization signal, the second input is connected to the output of the logical device, and the output is connected to the third input of the summing amplifier, as well as a two-position relay element (comparator), whose input is connected to the output of the summing amplifier. EFFECT: enhanced accuracy of guidance of spin-stabilized missiles with relay control actuators. 4 dwg

Description

 The invention relates to the field of development of missile guidance systems and can be used in ATGM and SAM systems.

One of the tasks to be solved in the development of control systems for rockets rotating in a roll angle is to increase the reliability of operation by simplifying the mechanical elements of a rocket without compromising guidance accuracy. A device for controlling a rotating rocket is known (/ 1 /, p.237-238, Fig. 7.16), in which the rotors of two sine-cosine rotary transformers (SCR) are connected with the axis of the outer frame of the roll angle gyroscope directed along the longitudinal axis of the rocket. Since the roll gyroscope is a free astatic gyroscope, the angle of rotation of the stator relative to the rotor of the SCWT is equal to the angle of heel γ of the rocket, measured from the vertical direction. The axes of single-phase windings laid on the rotors are mutually perpendicular. In contrast, the respective windings of the stators are parallel. Voltage is applied to the rotors of the SCWT, the magnitude and phase of which depend respectively on the magnitude and sign of the linear mismatches in the vertical h _y (in the information source h ₂ ) and horizontal h _z (in the information source h ₁ ) planes. Thus, the linear mismatch signals are modulated by harmonic signals by the roll frequency of the rocket along the roll, shifted relative to each other by an angle π / 2:
U _y = h _y cosγ,
U _z = h _z sinγ.

 The specified modulation converts control signals from a measuring coordinate system oriented relative to the earth into a rotating coordinate system associated with a rocket. The received signals are fed to the steering control windings (RP).

In single-channel missiles (/ 1 /, p.260-261), having one pair of executive bodies (rudders), a single-channel control signal on the RP is formed in accordance with the dependence:
V = k (h _y cosγ + h _z sinγ),
where k is the gear ratio.

 The disadvantage of this device is the relative complexity of its electromechanical elements - SLE, providing the implementation of harmonic signals.

 Closest to the proposed one is a device in which the high-speed computers are replaced by a collector stabilized by a roll gyroscope to simplify the equipment (/ 1 /, p. 269, Fig. 7.32). Current collectors, rotating relative to the collector together with the rocket, periodically come into contact with conductive lamellas isolated relative to each other, so that amplitude-modulated rectangular vibrations arrive at the input of the RP rotating with the rocket. The type of modulating functions c (γ), s (γ) is shown in Fig. 1.

The single-channel control signal in this device is formed in accordance with the dependence:
V = k (h _y c (γ) + h _z s (γ)).
Thus, the known device for generating control signals of a rotating single-channel missile includes control command generators in the vertical and horizontal planes, the outputs of which are connected respectively to the first inputs of the first and second modulators, a summing amplifier, the first and second inputs of which are connected respectively to the outputs of the first and second modulators, gyroscopic angle sensor γ of rocket roll, the first output of which is connected to the second input of the first modulator, and the second output is connected to the second input of the second modulator, the signals from the first and second outputs of the gyro sensor of the angle of roll three-position relay are shifted relative to each other by an angle π / 2. Next, the control signal from the summing amplifier is fed to a single-channel rocket steering gear.

 The disadvantage of this device, which works on the basis of amplitude modulation of signals, is the need to use proportional RP in a rocket, when using which rudder deviations are proportional to the control signal. Since proportional RP is a rather complicated electromechanical device, relay on-off RPs, which are the simplest, are widely used. To control a rocket with a relay RP, it is impossible without loss of pointing accuracy to use the considered device, which generates an amplitude-modulated control signal, due to the large errors in the processing of such a signal by a relay RP.

 The objective of the invention is to provide high accuracy guidance when using in a single-channel rotating missile relay on-off RP.

To achieve the task it is necessary:
- to ensure proportionality of the magnitude of the control commands and deviations of the rudders of a single-channel relay RP in each of the planes to the original control commands in the measuring coordinate system;
- to ensure in the vertical plane the coverage of the maximum possible range of control commands up and the restriction of commands down.

 The tasks are solved by summing the control signal with a periodic linearization signal and determining the sign of the sum, and a kind of linearization signal is generated that provides the maximum possible up commands and limited down commands. This is necessary to control missiles with a deficit of available overload, since in the vertical plane the rocket must develop acceleration that compensates for the kinematic acceleration from gravity. Under the available overload of the rocket is meant the greatest overload (acceleration) of the rocket, which it can develop with a maximum deflection of the rudders (/ 3 /, p. 126).

где А_л - амплитуда сигнала U_л.The problem is achieved due to the fact that elements (a shaper of the initial linearization signal, a logic device, a third modulator) are introduced into the known device, which ensure the formation of the corrected linearization signal U _l1 , in phase with the modulating signals c (γ), s (γ) supplied to the third input of the summing amplifier, as well as a two-position relay element (comparator), the input of which is connected to the output of the summing amplifier. The shaper of the initial linearization signal implements a sawtooth signal U _{l of the} form:

where A _l - the amplitude of the signal U _l .

В результате перемножения на третьем модуляторе исходного сигнала линеаризации и сигнала с выхода логического устройства скорректированный сигнал линеаризации U_л1=i U_л с выхода третьего модулятора будет иметь вид:

Вид сигналов c(γ),s(γ), U_л, i, U_л1 приведен на фиг.1.In order to ensure maximum upward commands, the logic device converts (corrects) the initial linearizing signal according to the dependence:

As a result of multiplication on the third modulator of the initial linearization signal and the signal from the output of the logic device, the corrected linearization signal U _l1 = i U _l from the output of the third modulator will look like:

The type of signals c (γ), s (γ), U _l , i, U _{l1 is} shown in Fig.1.

After summing the corrected linearization signal with the modulated linear mismatch signals h _y , h _{z, the} resulting sum is fed to a two-position relay element (comparator) that performs the function of determining the sign of the signal, i.e.

V = sign (h _y c (γ) + h _z s (γ) + U _l1 ). (4)
Thus, the resulting single-channel control signal supplied to the rocket’s single-channel steering wheel drive is a two-position relay providing control based on pulse-width modulation (PWM), in which information on the magnitude of commands is in the ratio of the durations of the upper and lower signal levels corresponding to the position rocket rudders on one or the other stop. The gain in such a device is inversely proportional to the amplitude Ad of the linearization signal.

 The structure of the proposed device is illustrated in figure 2, which presents the control signal shapers in the vertical 1 and horizontal 2 planes, the outputs of which are connected respectively to the first inputs of the first 3 and second 4 modulators, the summing amplifier 5, the first and second inputs of which are connected respectively to the outputs of the first 3 and the second 4 modulators, a gyroscopic angle sensor of rocket 6 of the rocket, the first output of which is connected to the second input of the first modulator 3, and the second output is connected to the second input of the second modulator 4, and the signals from the first and second outputs of the gyroscopic roll angle sensor 6 are three-position relay, shifted relative to each other by an angle π / 2, the linearization signal shaper 7, the input of which is connected to the second output of the gyroscopic roll angle sensor 6, the logical device 8, the input which is connected to the second output of the gyroscopic roll angle sensor 6, the third modulator 9, the first input of which is connected to the output of the linearization signal shaper 7, the second input is connected to the output of the logical device 8 and the output is connected to the third input of the summing amplifier 5, as well as a two-position relay element (comparator) 10, the input of which is connected to the output of the summing amplifier.

 The device operates as follows.

The linear mismatch signals h _y , h _z from the outputs of the control signal conditioners in the vertical 1 and horizontal 2 planes are multiplied on modulators 3 and 4, respectively, with signals c (γ), s (γ) from the outputs of the gyroscopic roll angle sensor 6, which are relay three-position ones, shifted relative to each other by an angle π / 2.
Based on information from the gyroscopic roll angle sensor 6, the linearization signal shaper 7 generates an initial periodic signal U _l according to dependence (1).

The logic device 8 in accordance with the dependence (2) carries out the correction, namely, the inversion of the initial linearization signal u _l per quarter of the rotation of the rocket along the roll angle, as a result of which the adjusted linearization signal U _l1 from the output of the third modulator 9 has the form according to dependence (3) .

 After summing the modulated mismatches with the corrected linearization signal on the summing amplifier 5 and determining the sign of the sum by the on-off relay element 10, the output relay signal has the form according to dependence (4).

 As shapers of control signals, a device including a radar station and a missile receiver presented in / 1 / s can be used. 221.

 As a summing amplifier, modulator, linearization signal shaper, logic device and comparator, the circuits presented in / 2 /, respectively, on p. 24, 53, 95, 114, 112.

 As the sensor of the gyro roll angle, the device shown in / 1 / s can be used. 269.

 To assess the effectiveness of the proposed device, we consider the principle of formation of the output signal depending on the magnitude of the signals of the control commands.

первой гармоники разложения в ряд Фурье сформированного по зависимости (4) выходного сигнала V определяется выражением:

где

V¹ _y,z - проекции комплексной амплитуды

на оси декартовой системы координат.Complex amplitude

the first harmonic of the Fourier expansion of the output signal V formed by dependence (4) is determined by the expression:

Where

V ¹ _{y, z} - projections of complex amplitude

on the axis of the Cartesian coordinate system.

комплексной амплитуды

определяется как:

В соответствии с разложением в ряд Фурье величины V¹ _y,z имеют вид:

(7)
где

Анализ зависимостей (5)-(8) показывает, что проекции V¹ _y,z (результирующие команды управления в вертикальной и горизонтальной плоскостях) пропорциональны синусу линейных рассогласований h_y,z в диапазоне изменения его аргумента ±π/4, где синусоидальный закон слабо отличается от линейного. Дополнительное приращение вверх вертикальной команды

возникающее за счет реализации в предлагаемом устройстве указанного вида сигнала линеаризации U_л1, а именно коррекции логическим устройством исходного сигнала линеаризации U_л, тем больше, чем меньше абсолютная величина исходной горизонтальной команды k_z.Module

complex amplitude

defined as:

In accordance with the expansion in a Fourier series, the quantities V ¹ _{y, z} have the form:

(7)
Where

An analysis of dependencies (5) - (8) shows that the projections V ¹ _{y, z} (resulting control commands in the vertical and horizontal planes) are proportional to the sine of linear mismatches h _{y, z} in the range of variation of its argument ± π / 4, where the sinusoidal law is weak different from linear. Extra increment up of vertical command

arising due to the implementation in the proposed device of the indicated type of linearization signal U _l1 , namely, correction by the logical device of the initial linearization signal U _l , the greater, the smaller the absolute value of the initial horizontal command k _z .

комплексной амплитуды первой гармоники. Границы этой области изображены на фиг.4 сплошной линией. Максимально возможное значение модуля комплексной амплитуды первой гармоники выходного сигнала

изображено на фиг.4 внешней штриховой окружностью. Верхняя граница поля команд управления на фиг.4 соответствует значению вертикальной команды k_y= 1 при изменении значений горизонтальной команды |k_z|≤1 и совпадает с этой окружностью, т.е. вверх обеспечивается максимально возможная команда. Нижняя граница поля на фиг.4 соответствует значению вертикальной команды k_y=-1 при изменении значений горизонтальной команды |k_z|≤1.. Боковые границы поля на фиг.4 соответствуют горизонтальным командам k_z= -1 и k_z=1 при изменении значений вертикальной команды |k_y|≤1. Внутренняя штриховая дуга на фиг.4 соответствует значению вертикальной команды k_y= 0 при изменении значений горизонтальной команды |k_z|≤1 и полностью определяется приращением ΔV $\genfrac{}{}{0ex}{}{\text{1}}{\text{Y}}$ . Поле команд управления является криволинейным. Оно представляет собой совокупность дуг, соответствующих фиксированным значениям вертикальной команды k_y при изменении значений горизонтальной команды |k_z|≤1. Результаты анализа динамики замкнутого контура управления с предлагаемым устройством показали, что за счет криволинейности поля команд управления чувствительность замкнутого контура управления к расфазировкам, вносимым элементами аппаратуры управления (например, при уходе наружной рамки гироскопа крена в процессе полета ракеты), снижается.Implemented by the proposed device, the control command field is a region of possible vector values

complex amplitude of the first harmonic. The boundaries of this region are depicted in Fig. 4 by a solid line. The maximum possible value of the complex amplitude module of the first harmonic of the output signal

depicted in figure 4 by the outer dashed circle. The upper boundary of the control command field in FIG. 4 corresponds to the value of the vertical command k _y = 1 when changing the values of the horizontal command | k _z | ≤1 and coincides with this circle, i.e. up is provided the maximum possible command. The lower boundary of the field in figure 4 corresponds to the value of the vertical command k _y = -1 when changing the values of the horizontal command | k _z | ≤1 .. The lateral boundaries of the field in figure 4 correspond to the horizontal commands k _z = -1 and k _z = 1 when changing the values of the vertical command | k _y | ≤1. The inner dashed arc in figure 4 corresponds to the value of the vertical command k _y = 0 when changing the values of the horizontal command | k _z | ≤1 and is completely determined by the increment ΔV $\genfrac{}{}{0ex}{}{\text{1}}{\text{Y}}$ . The control command field is curved. It is a set of arcs corresponding to the fixed values of the vertical command k _y when changing the values of the horizontal command | k _z | ≤1. The results of the analysis of the dynamics of the closed control loop with the proposed device showed that due to the curvature of the control command field, the sensitivity of the closed control loop to the misphasing introduced by the elements of the control equipment (for example, when the outer frame of the roll gyro moves off during the flight of the rocket) is reduced.

Formed by the proposed device, the signal V is fed to a single-channel relay RP, which processes this signal, i.e. shifting rudders in accordance with a change in its sign. A rocket rotating in a roll angle demodulates the rudder deflection, as a result of which a control moment is created in each of the planes corresponding to the initial control commands in the measuring coordinate system (linear mismatches h _y , h _z ). Ensuring maximum commands up is due to the maximum possible duration of the rudder on the stop, corresponding to half the period of rotation of the rocket along the angle of heel (see figure 3).

The advantages of the proposed device are:
- ensuring high accuracy of command formation due to the proportionality of the average command value for the period of rotation over the roll angle and deviation of the rudders of a single-channel relay RP in each of the planes to the original control commands in the measuring coordinate system;
- the ability to provide maximum commands up in a vertical plane in which kinematic acceleration from gravity acts on the rocket, which allows to provide the maximum possible range of the rocket;
- limiting the teams down, which reduces the likelihood of a rocket colliding with the underlying surface if it is in close proximity (1.0-1.5 m) to the line of sight;
- reduced sensitivity of the closed control loop to the out-of-phase introduced by the elements of the control equipment.

 Thus, the use of the proposed device allows to increase the accuracy of guidance of rotating single-channel missiles with relay drives of steering organs rotating along the roll angle.

 Comparison of the claimed technical solution with the prototype made it possible to establish compliance with its criterion of "novelty." In the study of other well-known technical solutions in this field, the features that distinguish the claimed invention from the prototype were not identified and therefore they provide the claimed technical solution according to the criterion of "significant differences".

Sources of information
1. Kuzovkov N.T. Aircraft stabilization systems (ballistic and anti-aircraft missiles). M.: Higher School, 1976, p.221, 237, 238, 260, 261, 269.

 2. Tetelbaum I.M., Schneider Yu.R. 400 schemes for AVM. - M .: Energy, 1978, p.24, 53, 95, 112, 114.

 3. Dmitrievsky A.A. External ballistics. - M.: Mechanical Engineering, 1979, p. 126.

Claims (1)

 A device for generating relay control signals for a rocket rotating in a roll angle, including control signal shapers in the vertical and horizontal planes, the outputs of which are connected respectively to the first inputs of the first and second modulators, a summing amplifier, the first and second inputs of which are connected respectively to the outputs of the first and second modulators, gyroscopic angle sensor of rocket roll, the first output of which is connected to the second input of the first modulator, and the second output is connected to the second input m of the second modulator, and the signals from the first and second outputs of the gyroscopic roll angle sensor are three-position relay, shifted relative to each other by an angle π / 2, characterized in that a linearization signal shaper is introduced into it, the input of which is connected to the second output of the gyroscopic roll angle sensor , a logical device, the input of which is connected to the second output of the gyroscopic roll angle sensor, a third modulator, the first input of which is connected to the output of the linearization signal former, the second turn is connected to the output device, and an output connected to a third input of the summing amplifier, and a relay-off element having an input connected to the output of the summing amplifier.

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