RU2206916C2 - Method and device for controlling object motion path, object motion path control system (alternatives), method for determining channel-to- channel channels phase connection and transfer constant of object in object motion path control system - Google Patents

Abstract

FIELD: automatic control systems. SUBSTANCE: method for controlling object motion path involves addition of program signals to control instructions, determination of phase shift between instruction vector and coordinate vector, phase shift correction by turning vector through this angle, estimation of ratio of instruction vector to coordinate vector modules, and compensation for object gain variation by varying object control instructions. This method is implemented by introducing two adjustable-gain amplifiers, phase shifter, and device for computing gain and phase into system. Control system operates normally under impact of disturbing factors, interferences, and tracking object maneuvers. These problems are solved by estimating instruction vector spatial position relative to coordinate vector using Fourier transforms. EFFECT: enhanced operating precision of control system. 7 cl, 4 dwg

Description

 The invention relates to automatic control systems and can be used in samples of equipment operating under the influence of interference and the disappearance of information signals, as well as in installations for scientific research.

 A known method of controlling a moving object [1], which consists in the fact that select the coordinates of the object, determine the magnitude of the error, proportional to the difference between the input coordinate and the coordinate of the object, form commands to control the object in accordance with the magnitude of the error.

 The control system for implementing the specified method comprises serially connected receiving devices of the input signal and the output signal, a device for generating control commands, a telecontrol device, a normal overload control system.

 The determination method for implementing the specified control method is that in order to reduce the phase coupling of the channels of the control object, an initial gyroscope is rotated.

 A device for implementing this method allows the initial rotation of the gyroscope frames by a predetermined angular value.

 The disadvantage of these technical solutions is the low accuracy of the control system due to the phase coupling of the object channels caused by the changing inertia of the steering drives, and the inaccuracy of the gyroscope, and changes in the transmission coefficient of the object.

 Closest to the claimed technical solutions (control method and control system) is the object control method [2], which consists in the fact that program signals are fed to the input of the control system, the signals at the input and output of the control system are measured, the received signals are compared with each other and through integrating links are fed into the main control system to change its parameters.

 The control system of the aircraft [2] for the implementation of this method contains vertical and horizontal control channels. Each control channel has a first and second adder, connected in series with a program signal setter (device for setting the disturbing setting), the first (second for another control channel) error generating unit, the first (second for another control channel) control unit, control object (aircraft), the first (second for another control channel) output of which is connected to the second input of the first (second for another control channel) error generating unit, and connected in series to a device for monitoring the characteristics of a closed system, the inputs of which are connected to the output of the setter of program signals and the output of the control object, and a device for correcting the parameters of the system, the output of which is connected through the third, fourth and fifth control units (first, second and third integrators) with an additional input of the first (second - for another control channel) control unit.

 A method for determining the phase coupling of channels [3], which consists in measuring the control commands and the output coordinates of the steering gear in horizontal and vertical control planes, determining using Fourier transforms the phase shifts introduced by the steering gears at the rocket speed, and turning the input signal through an angle, opposite to measured.

 The device [3] for the implementation of this method contains two Fourier converters (four smoothing filters, four triggers and an integrator), three adders, an integrator. The opposite orthogonal components of the command vector and the coordinate vector of the steering drives are multiplied among themselves, the two products obtained are compared with each other, and the resulting difference is fed to the integrator, the output of which is a signal proportional to the phase shift introduced by the steering drives at the rocket speed.

 The disadvantage of these technical solutions is the low accuracy (even a breakdown in control is possible) of the operation of the control system due to the phase coupling of the object’s channels, caused by the inaccuracy of the gyroscope’s operation (its departure) and changes in the transmission coefficient of the object under the influence of disturbing factors, interference, and tracking maneuvers.

 The objective of the invention is to improve the accuracy of the control system with phase communication channels and changes in the transmission coefficient of the object under the influence of disturbing factors, interference and maneuvers of the tracking object. The problem is solved by determining the spatial position of the command vector relative to the coordinate vector using Fourier transforms.

 The solution to this problem is achieved by the fact that in the control method, including for the vertical and horizontal channels, determining the current input coordinate and the coordinate of the object, calculating the difference between the input coordinate and the coordinate of the object, setting program signals and generating control commands for the object by the difference between the input coordinate and the coordinate of the object , set the time points for the start and end of the supply of program signals, from the start time to the end time add to the command The program signals determine the phase shift between the command vector and the coordinate vector, compensate for the phase shift by turning the command vector by this angle, determine the ratio of the modules of the command vector and the coordinate vector, and compensate for the change in the transmission coefficient of the object by changing the value of the object control commands.

 To implement this method, in the control system of the object’s trajectory containing the control object, the first and second adders, a program signal generator, the first and second outputs of which are connected respectively to the first inputs of the first and second adders, the first error generating unit is connected in series, the second input of which is connected with the first output of the control object, the first correction filter, connected in series to the second error generation unit, the second input of which is connected to the second With the output of the control object, the second correction filter, the input signal in the vertical and horizontal channels is supplied to the first inputs of the first and second error generating units, the first amplifier with an adjustable gain is introduced, the input of which is connected to the output of the first correction filter, the second amplifier with an adjustable gain the input of which is connected to the output of the second correction filter, a phase rotator, the first and second outputs of which are connected to the second inputs, respectively the first and second adders, a coefficient and phase calculator, the first and second inputs of which are connected to the outputs of the first and second error generation units, the first and second inputs of the phase rotator are connected to the outputs of the first and second amplifiers with adjustable gain, the control inputs of which connected respectively to the first and second outputs of the device for calculating the coefficient and phase, the first and second inputs of the control object are connected to the outputs, respectively of the first and second adders and, respectively, to the third and fourth inputs of the coefficient and phase calculation device, and the third and fourth outputs of the software signal generator are connected respectively to the fifth and sixth inputs of the coefficient and phase calculation device, the third output of which is connected to the third input of the phase rotator.

 To implement this method, in the control system of the object’s trajectory containing the control object, the first and second adders, a program signal generator, the first and second outputs of which are connected respectively to the first inputs of the first and second adders, the first error generating unit is connected in series, the second input of which is connected with the first output of the control object, the first correction filter, connected in series to the second error generation unit, the second input of which is connected to the second With the output of the control object, the second correction filter, as well as the first, second and third control units, the input signals in the vertical and horizontal channels are supplied to the first inputs of the first and second error generation units, a coefficient and phase calculator is introduced, the first and second inputs of which are connected with outputs of the first and second error generating units, respectively, the first amplifier with an adjustable gain, the input of which is connected to the output of the first adder and the third input of the device calculating the coefficient and phase, the second amplifier with adjustable gain, the input of which is connected to the output of the second adder and the fourth input of the device for calculating the coefficient and phase, a phase rotator, the first and second outputs of which are connected respectively to the first and second inputs of the control object, the first and second the input of the phase rotator is connected to the outputs of the first and second amplifiers with an adjustable gain, respectively, the control inputs of which are connected respectively through the first the second control unit with the first and second outputs of the coefficient and phase calculation device, the output of the first correction filter is connected to the second input of the first adder, the output of the second correction filter is connected to the second input of the second adder, and the third and fourth outputs of the software signal generator are connected to the fifth and sixth, respectively the inputs of the device for calculating the coefficient and phase, the third output of which is connected through the third control unit to the third input of the phase rotator.

 The solution to this problem is achieved by the fact that in the method for determining the phase coupling of channels and transmission coefficient, including the measurement of control commands and object coordinates in the horizontal and vertical control planes, the orthogonal components are calculated in each measured command and coordinate using the Fourier transform according to the calculated orthogonal components determine the module and the rotation angles of the command vector and coordinate vector, from the calculated values of the command vector module and the vector module ordinates determine the transmission coefficient of the object, and the calculated values of the rotation angles of the vector of commands and the coordinate vector determine the phase relationship of the channels of the object.

 To implement this method, a third and fourth Fourier converters, a first module calculator, the second input of which is connected to the output of the first adder, a first angle calculator, are introduced into the coefficient and phase calculation device containing the first and second Fourier converters, the first, second and third adders the first input of which is connected to the output of the second adder and the first input of the first device for calculating the module, connected in series to the second device for calculating the module, the second input to otoroho connected to the output of the third adder, a coefficient calculation device, the second input of which is connected to the output of the first module calculation device, a fourth adder connected in series, the first input of which is connected to the second output of the fourth Fourier converter, the second angle calculation device, the first input of which is connected to the first input a second module calculating device, a phase calculating device, the second input of which is connected to the output of the first angle calculating device, the first output being the first Fourier converter is connected to the second input of the second adder, the first input of which is connected to the second output of the second Fourier converter, the second output of the first Fourier transform is connected to the second input of the first adder, the first input of which is connected to the first output of the second Fourier transform, the first output of the third Fourier transform with the second input of the fourth adder, the second output of the third Fourier converter is connected to the second input of the third adder, the first input of which is connected to the first m is the output of the fourth Fourier transform, the first input of the first Fourier transform is connected to the first inputs of the second, third and fourth Fourier transforms, the second input of the first Fourier transform is connected to the second inputs of the second, third and fourth Fourier transforms, the output of the first adder is connected to the second input of the first calculation device angle, and the output of the third adder is connected to the second input of the second device for calculating the angle, while the third inputs of the first, second, third and fourth transform The Fourier transforms are respectively the first, second, third and fourth inputs of the coefficient and phase calculator, the first inputs of the first, second, third and fourth Fourier converters correspond to the fifth input of the coefficient and phase calculator, the second inputs of the first, second, third and fourth Fourier converters the sixth input of the coefficient and phase calculating device, the output of the coefficient calculating device is the first and second outputs of the coefficient and phase calculating device, and the output of the phase calculator is the third output of the coefficient and angle calculator.

 To implement this method, a third and fourth Fourier converters, a first coefficient calculator, the second input of which is connected to the output of the first adder, a first angle calculator, are introduced into the coefficient and phase calculation device containing the first and second Fourier converters, the first, second and third adders the first input of which is connected to the output of the second adder, the second coefficient calculation device, the second input of which is connected to the output of the second adder, is connected in series the fourth adder, the first input of which is connected to the second output of the fourth Fourier transform, a second angle calculator, the first input of which is connected to the first input of the second coefficient calculating device, a phase calculator, the second input of which is connected to the output of the first angle calculating device, the first output the first Fourier transform is connected to the second input of the second adder, the first input of which is connected to the second output of the second Fourier transform, the second output of the first pre The Fourier generator is connected to the second input of the first adder, the first input of which is connected to the first output of the second Fourier converter, the first output of the third Fourier converter is connected to the second input of the fourth adder, the second output of the third Fourier converter is connected to the second input of the third adder, the first input of which is connected to the first the output of the fourth Fourier transform, the first input of the first Fourier transform is connected to the first inputs of the second, third and fourth Fourier transforms, the second input q of the first Fourier transform is connected to the second inputs of the second, third and fourth Fourier converters, the output of the first adder is connected to the second input of the first angle calculator, and the output of the third adder is connected to the second second input of the angle calculator and the first input of the first coefficient calculating device, while the third inputs of the first, second, third and fourth Fourier converters are respectively the first, second, third and fourth inputs of the coefficient calculation device and phases, the first inputs of the first, second, third and fourth Fourier converters correspond to the fifth input of the coefficient and phase calculation device, the second inputs of the first, second, third and fourth Fourier converters correspond to the sixth input of the coefficient and phase calculation device, the output of the first coefficient calculation device is the first the output of the device for calculating the coefficient and phase, the output of the second device for calculating the coefficient is the second output of the device for calculating the coefficient and phase, and The output of the phase calculator is the third output of the coefficient and angle calculator.

 In the claimed technical solutions, in order to improve the accuracy of the control system during phase communication of channels and change the transmission coefficient of the object under conditions of input signals filtered from noise, the module and the rotation angle of the coordinate vector and command vector are determined using the Fourier transform, the phase coupling of the channels and the magnitude are determined changes in the transmission coefficient of the object and the formation of the corresponding compensation of the phase coupling of the channels and changes in the transmission coefficient of the object a.

 The proposed technical solution is illustrated in FIG. 1, 2, 3 and 4, where FIG. 1 depicts a first embodiment of a control system, FIG. 2 depicts a second embodiment of a control system, FIG. 3 depicts a first embodiment of a coefficient and phase calculating device, FIG. 4 depicts a second embodiment of a device coefficient and phase calculations.

 The first embodiment of the object control system is illustrated in FIG. 1, which indicates: 1, 2 - the first and second error generation blocks; 3, 4 - the first and second adders; 5 - control object; 6, 7 - the first and second amplifiers with adjustable gain; 8 - phase rotator; 9 - device for calculating the coefficient and angle; 10 - setpoint program sines; 11, 12 - the first and second correction filters.

 The second embodiment of the object control system is illustrated in FIG. 2, which indicates: 1, 2 - the first and second error generation blocks; 3, 4 - the first and second adders; 5 - control object; 6, 7 - the first and second amplifiers; 8 - phase rotator; 9 - device for calculating the coefficient and angle; 10 - setpoint program sines; 11, 12 - the first and second correction filters; 13, 14 and 15 - the first, second and third control units.

 The first embodiment of the device for calculating the coefficient and phase is illustrated in Fig. 3, which indicates: 21, 22, 23 and 24 - the first, second, third and fourth Fourier transforms; 25, 26, 27 and 28 - the first, second, third and fourth adders; 29, 30 - the first and second device computing module; 31, 32 - the first and second devices for calculating the angle, 33 - device for calculating the phase; 34 is a coefficient calculating device.

 A second embodiment of the coefficient and phase calculating apparatus is illustrated in FIG. 4, on which is indicated: 21, 22, 23 and 24 - the first, second, third and fourth Fourier transforms; 25, 26, 27 and 28 - the first, second, third and fourth adders; 31, 32 - the first and second devices for calculating the angle, 33 - device for calculating the phase; 34, 35 - the first and second devices for calculating the coefficient.

 Devices 1, 2, 26, 28 and 33 are an adder of analog signals with two inputs (inverting and non-inverting), implemented on the basis of the OU 153UD6 (see [4] p.75 ... 77, Fig.3.2).

 Devices 3, 4, 25 and 27 of the adder of analog signals (see [4] p. 75 .. .77, Fig. 3.1), implemented on the basis of OU153UD6.

 The control object 5, including a gyroscope 16, steering drives 17, 18, glider 19 and kinematic relations 20, is made according to the well-known scheme (see [5] p. 388 ... 404, [1] p. 372 ... 379) .

 Devices 6, 7 are an amplifier with adjustable gain (see [4] p. 57 ... 62, Fig. 2.5) and an analog storage unit (see [4] p. 178 ... 190, Fig. 7.9 ) at the input of the coefficient regulation, implemented on the basis of OU 153UD6.

 A signal from the output of the pulse generating device with a leading edge of the beginning and a trailing edge of the end of storage, which is a series-connected analog integrator implemented on the basis of OU 153UD6 (see [4] p. 77 ... 82, fig. . 3.3, 3.4), a comparator, which is a single-threshold comparison circuit implemented on the basis of the 153UD6 operational amplifier (see [4], p. 167.. 172, table 7.2), and an analog signal adder with two inputs (inverting and not inverting), realizes data on the basis of OU 153UD6 (see [4] p. 75. ..77, Fig. 3.2), the inverting input of which is connected via an adjustable pulse delay line (see [4] p. 204 ... 205) with the analog output integrator.

сигнал с i-го выхода (входа) j-го устройства, w - частота сигнала, Uвх₃ - это сигнал с выхода аналогового запоминающего блока (см. [4] стр.178...190, рис. 7.9), вход которого является третьим входом устройства 8. На управляющий вход аналогового запоминающего блока подается сигнал с выхода устройства формирующего импульс с передним фронтом начала и задним фронтом окончания запоминания, представляющего собой последовательно соединенные аналоговый интегратор, реализованный на базе ОУ 153УД6 (см. [4] стр. 77. . . 82, рис. 3.3, 3.4), компаратор, представляющий собой одно-пороговую схему сравнения, реализованную на базе операционного усилителя 153УД6 (см. [4] , стр.167... 172, табл.7.2), и сумматор аналоговых сигналов с двумя входами (инвертирующим и не инвертирующим), реализованным на базе ОУ 153УД6 (см. [4] стр.75...77, рис. 3.2), инвертирующий вход которого соединен через регулируемую линию задержки импульса (см. [4] стр.204...205) с выходом аналогового интегратора.Device 8 provides on the basis of analog multipliers (see [4] p. 91 ... 100, Fig. 3.15), analog signal adders (see [4] p. 75 ... 77, Fig. 3.1) and analog trigonometric converters (see [6] p. 33 ... 38, Fig. 2.1-2.3) implementation of the following transformation [3]:
U _out1 = U _in1 • cos (U _in3 ) + U _in2 • sin (U _in3 );
U _o2 = U _in2 • cos (U _in3 ) -U _in1 • sin (U _in3 ); (1)
Where

the signal from the i-th output (input) of the j-th device, w is the signal frequency, Uin ₃ is the signal from the output of the analog storage unit (see [4] p.178 ... 190, Fig. 7.9), the input of which is the third input of device 8. A signal from the output of the pulse generating device with a leading edge of the front and a trailing edge of the end of storage, which is a series-connected analog integrator implemented on the basis of the OU 153UD6 (see [4] p. 77), is supplied to the control input of the analog storage unit ... 82, Fig. 3.3, 3.4), a comparator, which is a single a threshold comparison circuit implemented on the basis of the operational amplifier 153UD6 (see [4], pp. 167 ... 172, table 7.2), and an adder of analog signals with two inputs (inverting and non-inverting) implemented on the basis of the OU 153UD6 ( see [4] p. 75 ... 77, Fig. 3.2), the inverting input of which is connected via an adjustable pulse delay line (see [4] p. 204 ... 205) with the output of the analog integrator.

 Device 10 represents a sinusoidal oscillation generator implemented on the basis of OU 153UD6 (see [4] p. 129.,. 138, Fig. 5.12, 5.13). Signaling is carried out only in a predetermined time interval.

 Devices 11 and 12 are a correction filter implemented on the basis of OU 153UD6 (see [1] p. 366 ... 371, Fig. 7.15).

 Devices 13 and 14 are a series-connected adder of analog signals with two inputs (inverting and non-inverting), implemented on the basis of OU 153UD6 (see [4] p. 75 ... 77, Fig. 3.2), and an analog integrator, implemented based on the OU 153UD6 (see [4] p. 77 ... 82, Fig. 3.3). The inverting input of the adder is the input of the devices 13, 14, and a signal equal to unity is supplied to the non-inverting input.

 The device 15 is an analog integrator implemented on the basis of the OU 153UD6 (see [4] p.77 ... 82, Fig. 3.3).

где U_вх1=cos(wt), Uвx₂=sin(wt), Δt - время дискретизации; Тn, Tk - время начала и конца обработки входного сигнала.Devices 21, 22, 23 and 24 provide on the basis of analog multipliers (see [4] p. 91 ... 100, fig. 3.15), analog signal adders (see [4] p. 75 ... 77, fig. . 3.1) the implementation of the Fourier transform function (see [7] p. 41 ... 59):

where U _in1 = cos (wt), Ux ₂ = sin (wt), Δt is the sampling time; Tn, Tk - time of the beginning and end of processing the input signal.

где U_вх1, U_вх2, U_вых - сигналы на первом и втором входах и выходе устройств 29, 30.Devices 29, 30 provide an implementation on the basis of analog multipliers (see [4] p. 91 ... 100, Fig. 3.15), an adder of analog signals (see [4] p. 75 ... 77, Fig. 3.1) and a root calculation unit (see [6] p. 33 ... 38, Fig. 2.1-2.3), implemented on the basis of OU153UD6, of the following function:

where U _in1 , U _in2 , U _out - signals at the first and second inputs and outputs of devices 29, 30.

Devices 31, 32 provide an implementation based on an analog divider (see [4] p. 100 ... 101, Fig. 3.22) and an arctangent calculation unit (see [6] p. 33... 38, Fig. 2.1- 2.3), implemented on the basis of OU153UD6, of the following function:
U _out = arctg (U _in1 / U _in2 ), (4)
where U _in1 , U _in2 , U _out - signals at the first and second inputs and output of devices 31, 32.

 Devices 34, 35 represent an analog divider (see [4] p. 100 ... 101, Fig. 3.22), implemented on the basis of OU153UD6.

 Newly introduced blocks are implemented on the basis of elements that are standard and manufactured by the industry with standard accuracy.

 The first version of the control system with a device for calculating the coefficient and phase, which implement the proposed methods for determining and controlling an object, works as follows.

 Consider the operation of the control system. The input signal is supplied in the vertical and horizontal channels to the first inputs of the first error generating unit 1, respectively, the second input of which receives the signal from the first output of the control object 5, and the second error generating unit 2, to the second input of which the signal from the second output of the control object 5 . At the output of the first error generating unit 1, a signal is generated that is proportional to the deviation of the object's output coordinate Fout (t) from the input signal Fout (t) in the vertical control plane: ΔFy (t) = Fвxy (t) -Foutput (t), and at the output of the second error generating unit 2, a signal is generated proportional to the deviation of the object output coordinate Fвxz (t) from the input signal Фвxz (t) in the horizontal control plane: ΔFz (t) = Fвxz ( t) -Foutz (t). The signal from the output of the first error generating unit 1 is converted by the first correction filter 11, the input signal of which is supplied to the first input of the coefficient and angle calculation device 9, and the first amplifier 6, to the control input of which a signal is proportional to the value of the transmission coefficient of the object 5 from the first output of the device calculating the coefficient and angle 9, and is fed to the first input of the phase rotator 8. The signal from the output of the second error generating unit 2 is converted by the second correction filter 12, the input signal l of which is fed to the second input of the device for calculating the coefficient and angle 9, and the second amplifier 7, to the control input of which a signal is proportional to the transmission coefficient of the object 5, from the second output of the device for calculating the coefficient and angle 9, and is fed to the second input of the phase rotator 8 The signals from the third and fourth outputs of the setter of program signals 10 are received respectively at the fifth and sixth inputs of the device for calculating the coefficient and angle 9, from the third output of which a signal is supplied, proportional the value of the phase coupling of the channels to the third input of the phase rotator 8. The signal from the first output of the phase rotator 8 through the first adder 3, the first input of which receives the signal from the first output of the program signal setter 10, is fed to the first input of the control object 5. The signal from the second the output of the phase rotator 8 through the second adder 4, the first input of which receives a signal from the second output of the program signal setter 10, is fed to the second input of the control object 5. The gyroscope 16 decomposes the input signals of the control object 5 and feeds them to the first and second steering drives 17, 18. Changing the position of the rudders of the drives 17, 18 leads to a change in space of the position of the airframe 19 and the coordinates of the control object 5 at its first and second outputs through kinematic relations 20. The signals transformed in this way errors in the vertical and horizontal planes ΔFy (t) and ΔFz (t) in the control signals Uy (t) and Uz (t) from the output of the first and second adders 3 and 4 affect the control object 5. The direction of the object 5 in the vertical and horizontal planes Finu (t) and Foutz (t) cm space, and the initial angular mismatches ΔFy (t) and ΔFz (t) between the directions to the tracking object Fvxy (t) and Fвxz (t) and to the object 5 Fout (t) and Foutz (t) decrease.

 The first version of the coefficient and angle calculator works like this.

 The first and second inputs of the first, second, third and fourth Fourier converters 21, 22, 23, 24 receive program signals, respectively, from the first and second outputs of the setter 10. The signals supplied to the first, second, third and fourth inputs of the device 9 are supplied, respectively to the third input of the first, second, third and fourth Fourier converters 21, 22, 23 and 24. The signal from the first output of the first Fourier converter 21 is fed to the second input of the second adder 26, to the first input of which the signal from the second output of the second Fourier transformer 22. The signal from the first output of the second Fourier converter 22 is supplied to the first input of the first adder 25, the second input of which is fed from the second output of the first Fourier transformer 21. The signal from the output of the first adder 25 is supplied to the second inputs of the device 29 and 31, the first inputs of which the signal from the output of the second adder 26. The signal from the first output of the third Fourier converter 23 is fed to the second input of the fourth adder 28, the first input of which is fed from the second output of the third converter Fourier generator 23. The signal from the first output of the fourth Fourier converter 24 is fed to the first input of the third adder 27, the second input of which is fed from the second output of the third Fourier transformer 23. The signal from the output of the third adder 27 is fed to the second inputs of the device 30 and 32, the first inputs of which there is a signal from the output of the fourth adder 28. A signal proportional to the value of the angle of rotation of the coordinate vector, from the output of the device 31 is fed to the second input of the phase computing device 33, the first input of which is a signal is proportional to the magnitude of the angle of rotation of the vector of commands from the output of the device 32. A signal proportional to the magnitude of the module of the coordinate vector is output from the output of the device 29 to the second input of the coefficient calculation device 34, the first input of which receives a signal proportional to the magnitude of the vector of commands, s the output of the device 30. The signal from the output of the device 34 corresponds to the signal from the first and second outputs of the device 9, and the signal from the output of the device 33 corresponds to the signal from the third output of the device 9.

 The second version of the device for calculating the coefficient and angle works like this.

 The first and second inputs of the first, second, third and fourth Fourier converters 21, 22, 23, 24 receive program signals, respectively, from the first and second outputs of the setter 10. The signals supplied to the first, second, third and fourth inputs of the device 9 are supplied, respectively to the third input of the first, second, third and fourth Fourier converters 21, 22, 23 and 24. The signal from the first output of the first Fourier converter 21 is fed to the second input of the second adder 26, to the first input of which a signal from the second output of the second Fourier educator 22. The signal from the first output of the second Fourier converter 22 is fed to the first input of the first adder 25, the second input of which is fed from the second output of the first Fourier converter 21. The signal from the output of the first adder 25 is fed to the second input of the device 31, to the first input which receives the signal from the output of the second adder 26. The signal from the first output of the third Fourier converter 23 is fed to the second input of the fourth adder 28, the first input of which is fed from the second output of the third transform Fourier device 23. The signal from the first output of the fourth Fourier converter 24 is fed to the first input of the third adder 27, the second input of which is fed from the second output of the third Fourier transformer 23. The signal from the output of the third adder 27 is fed to the second input of the device 32, to the first input which receives a signal from the output of the fourth adder 28. A signal proportional to the angle of rotation of the coordinate vector, from the output of the device 31 is fed to the second input of the phase computing device 33, the first input of which receives a signal al, proportional to the value of the angle of rotation of the vector of commands, from the output of the device 32. A signal proportional to the value of the orthogonal component of the module of the coordinate vector, from the output of the device 25 is fed to the second input of the first device for calculating the coefficient 34, the first input of which receives a signal proportional to the value of the orthogonal component of the module vector of commands from the output of the device 27. A signal proportional to the value of the orthogonal component of the module of the coordinate vector, from the output of the device 26 is fed to the second input the second coefficient calculating device 35, the first input of which receives a signal proportional to the orthogonal component of the command vector module from the output of the device 28. The signals from the outputs of the devices 34, 35 are signals from the first and second outputs of the device 9, and the signal from the output of the device 33 corresponds to the signal from the third output of the device 9.

 The sequence of operation of the first version of the control system with the first version of the device for calculating the coefficient and angle is as follows.

 T0 is the point in time of the start of operation of the control system.

 T1 - the time point of the start of the signal from the output of the device 10.

 T2 - the time point of the beginning of determining the magnitude of the phase coupling of the channels of the object 5 and the change in the transmission coefficient of the object 5.

 T3 - the time point for determining the phase coupling magnitude of the channels of the object 5 and changing the transmission coefficient of the object 5, supplying compensating signals to the devices 6, 7, 8 and stopping the supply of signals from the output of the device 10.

 The sequence of operation of the first version of the control system with the second version of the device for calculating the coefficient and angle is as follows.

 T0 is the point in time of the start of operation of the control system.

 T1 - the time point of the start of the signal from the output of the device 10.

 T2 - time point of the beginning of determining the magnitude of the phase coupling of the channels of the object 5.

 T3 - the time point of determining the phase coupling magnitude of the channels of the object 5, applying a compensating signal to the device 8 and the beginning of determining the magnitude of the transmission coefficients through the channels of the object 5.

 T4 - the time point of determining the magnitude of the change in the transmission coefficients of the object through channels 5, the supply of compensating signals to devices 6, 7, and the termination of the supply of signals from the output of the device 10.

In the first embodiment of the control system, an increase in reliability is achieved by
- determining the modulus and the angle of rotation of the coordinate vector using the Fourier transform on the elements 21, 22, 25, 26.29, 31;
- determination of the module and the angle of rotation of the vector of commands using the Fourier transform on the elements 23, 24, 27, 28, 30, 32;
- determining the magnitude of the phase coupling of the channels and changing the transmission coefficient of the object 5 at the output of the device 9 on the time interval for supplying program signals at the output of the device 10 using the elements 33, 34 and 35;
- compensation of the phase coupling of the channels of the object 5 using the device 8;
- compensation for changes in the transmission coefficient of the object 5 using devices 6 and 7;
- a specific sequence of connections of newly introduced elements 6-9, 23, 24, 28-35 and the implementation of certain parametric relations.

 Justify the operation of the first version of the control system with the first version of the device for calculating the coefficient and angle as follows.

 In the time range T0 ... T1, the start of control of the object 5 is carried out.

 Due to the presence of phase coupling of the channels and changes in the transmission coefficient of object 5, overflow of control commands from one channel to another is observed in this time range, which leads to an unraveling of object 5 relative to its motion path.

где

сигналы с первого, второго, третьего и четвертого выходов устройства 10; А1, А2, A3, А4 - амплитуды сигнала, w - частота сигнала. Значения Al, A2, w задаются из условия обеспечения в вертикальной и горизонтальной плоскостях максимальных величин сигналов ошибки ΔFy(t) и ΔFz(t) и сигналы управления Uy(t) и Uz(t).In the time range T1 ... T2, the vertical and horizontal channels of the control system provide program signals from the first and second outputs of device 10:

Where

signals from the first, second, third and fourth outputs of the device 10; A1, A2, A3, A4 - signal amplitudes, w - signal frequency. The values of Al, A2, w are set from the condition of ensuring in the vertical and horizontal planes the maximum values of the error signals ΔFy (t) and ΔFz (t) and the control signals Uy (t) and Uz (t).

 T1 time interval. ..T2 is selected from the condition of ensuring the steady-state process of developing program signals by the control system (5). In this time interval, object 5 moves along the programmed path relative to the nominal path of movement.

 In the time range T2 ... T3, the phase coupling of the channels and the change in the transmission coefficient of the object 5 are determined in the following sequence.

(6)

(7)

(8)

(9)

(10)

(11)

(12)

(13)
Использование преобразований Фурье (6)-(13) позволяет формировать вертикальные и горизонтальные ортогональные составляющие вектора координат и вектора команд при наличии помех в измеряемых сигналах.1. At the outputs of the first, second, third and fourth Fourier converters 21, 22, 23 and 24, the vertical and horizontal orthogonal components of the coordinate vector and the command vector are formed:

(6)

(7)

(8)

(9)

(10)

(eleven)

(12)

(thirteen)
Using the Fourier transforms (6) - (13), it is possible to form vertical and horizontal orthogonal components of the coordinate vector and the command vector in the presence of interference in the measured signals.

3. На выходах устройств 29 и 31 вычисляется модуль и угол разворота вектора координат:

U_вых31 = arctg(U_вых26/U_вых25), (19)
где U_вых29, U_вых31 - амплитудный и фазовый спектр вектора координат Х (см. [8] стр.512 ):

4. На выходах устройств 30 и 32 вычисляется модуль и угол разворота вектора команд:

U_вых32 = arctg(U_вых28/U_вых27), (21)
где U_вых30, U_вых32 - амплитудный и фазовый спектр вектора координат U (см. [8] стр.512):

5. На выходе устройства 33 вычисляется величина фазовой связи каналов объекта 5:
U_вых33=U_вых31-U_вых32. (22)
6. На выходе устройства 34 вычисляется величина изменения коэффициента передачи объекта 5:

где g=9,81 м/с; n_p - располагаемая перегрузка объекта 5.2. At the outputs of the first, second, third and fourth adders 25, 26, 27 and 28, the orthogonal components of the coordinate vector and the command vector are formed:

3. At the outputs of devices 29 and 31, the module and the angle of rotation of the coordinate vector are calculated:

U _o31 = arctg (U _o26 / U _o25 ), (19)
where U _out29 , U _out31 is the amplitude and phase spectrum of the coordinate vector X (see [8] p. 512):

4. At the outputs of devices 30 and 32, the module and the rotation angle of the command vector are calculated:

U _o32 = arctg (U _o28 / U _o27 ), (21)
where U _o30 , U _o32 is the amplitude and phase spectrum of the coordinate vector U (see [8] p. 512):

5. At the output of the device 33, the phase coupling value of the channels of the object 5 is calculated:
U _o33 = U _o31 -U _o32 . (22)
6. At the output of the device 34, the magnitude of the change in the transfer coefficient of the object 5 is calculated:

where g = 9.81 m / s; n _p - disposable overload of the object 5.

 The time interval T2 ... T3 is selected from the condition for determining the magnitude of the phase coupling of the channels and changing the coefficient of the object 5 and is set at least 1-1.5 periods of the program signal. In this time interval, object 5 continues to move along the programmed path relative to the nominal path of movement.

 When the control time is longer than T3, the signal is stopped from the output of the device 10 and to the third input of the device 8 and the control inputs of the devices 6, 7 the stored compensating signal is fed through the phase coupling of the channels (22) and the change in the transmission coefficient (23) of object 5. In this interval time, object 5 moves along its path without fluctuations caused by the presence of phase coupling of channels in object 5 and a change in the transfer coefficient.

 Justify the operation of the first version of the control system with the second version of the device for calculating the coefficient and angle as follows.

 In the time range T0 ... T1, the start of control of the object 5 is carried out.

 Due to the presence of phase coupling of the channels and changes in the transmission coefficient of object 5, overflow of control commands from one channel to another is observed in this time range, which leads to an unraveling of object 5 relative to its motion path.

 In the time range T1 ... T2, the vertical and horizontal channels of the control system supply program signals from the first and second outputs of the device 10 in accordance with formula (5).

 T1 time interval. ..T2 is selected from the condition of ensuring the steady-state process of developing program signals by the control system (5). In this time interval, object 5 moves along the programmed path relative to the nominal path of movement.

 In the time range T2 ... T3, the phase coupling value of the channels of the object 5 is determined in the following sequence.

 1. At the outputs of the first, second, third and fourth Fourier converters 21, 22, 23 and 24, the vertical and horizontal orthogonal components of the coordinate vector and the command vector are formed in accordance with formulas (6) - (13).

 Using the Fourier transforms (6) - (13), it is possible to form vertical and horizontal orthogonal components of the coordinate vector and the command vector in the presence of interference in the measured signals.

 2. At the outputs of the first, second, third and fourth adders 25, 26, 27 and 28, the orthogonal components of the coordinate vector and the command vector are formed in accordance with formulas (14) - (17).

 3. At the output of the device 31, the rotation angle of the coordinate vector is calculated in accordance with formula (19).

 4. At the output of the device 32, the rotation angle of the command vector is calculated in accordance with formula (21).

5. At the output of the device 33, the phase coupling value of the channels of the object 5 is calculated in accordance with the formula (22)
The time interval T2 ... T3 is selected from the condition for determining the magnitude of the phase coupling of the channels of object 5 and is set at least 1-1.5 periods of the program signal. In this time interval, object 5 continues to move along the programmed path relative to the nominal path of movement.

 When the control time is longer than T3, the memorized compensating signal is transmitted to the third input of device 8 via the phase coupling of the channels of object 5.

 In the time range T3 ... T4, the amount of change in the transmission coefficient over the channels of object 5 is determined in the following sequence.

 1. At the outputs of the first, second, third and fourth Fourier converters 21, 22, 23 and 24, the vertical and horizontal orthogonal components of the coordinate vector and the command vector are formed in accordance with formulas (6) - (13).

 Using the Fourier transforms (6) - (13), it is possible to form vertical and horizontal orthogonal components of the coordinate vector and the command vector in the presence of interference in the measured signals.

 2. At the outputs of the first, second, third and fourth adders 25, 26, 27 and 28, the orthogonal components of the coordinate vector and the command vector are formed in accordance with formulas (14) - (17).

4. На выходе устройства 34 вычисляется величина изменения коэффициента передачи в горизонтальном канале объекта 5:

(25)
При времени управления больше Т4 осуществляется прекращение подачи сигналов с выхода устройства 10 и на управляющие входы устройств 6, 7 подаются запомненные компенсирующие сигнал (24), (25) по изменению коэффициента передачи по каналам объекта 5. В этом интервале времени объект 5 движется по своей траектории без колебаний, вызванных наличием в объекте 5 фазовой связи каналов, и изменения коэффициента передачи по каналам.3. At the output of the device 34, the magnitude of the change in the transfer coefficient in the vertical channel of the object 5 is calculated:

4. At the output of the device 34, the magnitude of the change in the transfer coefficient in the horizontal channel of the object 5 is calculated:

(25)
When the control time is longer than T4, the signal is stopped from the output of the device 10 and the stored compensating signal (24), (25) is fed to the control inputs of the devices 6, 7 by changing the transmission coefficient through the channels of object 5. In this time interval, object 5 moves along its trajectories without fluctuations caused by the presence of phase coupling of channels in the object 5, and changes in the transmission coefficient of the channels.

 The above analysis shows that an increase in the accuracy of the control system during phase coupling of the channels and a change in the transmission coefficient of the object is ensured under the influence of disturbing factors, interference, and tracking maneuvers.

 The second version of the control system with a device for calculating the coefficient and phase, which implement the proposed methods for determining and controlling an object, works as follows.

 Consider the operation of the control system. The input signal is supplied in the vertical and horizontal channels to the first inputs of the first error generating unit 1, respectively, the second input of which receives the signal from the first output of the control object 5, and the second error generating unit 2, to the second input of which the signal from the second output of the control object 5 . At the output of the first error generating unit 1, a signal is generated proportional to the deviation of the object's output coordinate Fout (t) from the input signal Fxy (t) in the vertical control plane: ΔFy (t) = F xy (t) -Fout (t), and the output of the second error generating unit 2 produces a signal proportional to the deviation of the object's output coordinate Foutz (t) from the input signal Fвxz (t) in the horizontal control plane: ΔFz (t) = Fвxz ( t) -Foutz (t). The signal from the output of the first error generating unit 1 is converted by the first correction filter 11, the input signal of which is supplied to the first input of the coefficient and angle calculating device 9, by the first adder 3, the first input of which is supplied with the signal from the first output of the device 10, and the first amplifier 6, the control input of which is supplied through the first control unit 13, a signal proportional to the value of the transmission coefficient of the object 5, from the first output of the coefficient and angle calculating device 9, and is fed to the first input of the phase rotation switch 8. The signal from the output of the second error generating unit 2 is converted by the second correction filter 12, the input signal of which is supplied to the second input of the coefficient and angle calculating device 9, by the second adder 4, the first input of which is supplied by the signal from the second output of the device 10, and by the second amplifier 7, to the control input of which is supplied through the second control unit 14 a signal proportional to the value of the transfer coefficient of the object 5, from the second output of the device for calculating the coefficient and angle 9, and is fed to the second input rotator 8. The signals from the third and fourth outputs of the setter of program signals 10 are respectively supplied to the fifth and sixth inputs of the coefficient and angle calculator 9, from the third output of which a signal proportional to the phase coupling of the channels is supplied through the third control unit 15 to the third phase input rotator 8. The signal from the first output of the phase rotator 8 is fed to the first input of the control object 5. The signal from the second output of the phase rotator 8 is sent to the second input of the control object 5. The gyroscope 16 is expanded input signals of the control object 5 and feeds them to the first and second steering drives 17, 18. A change in the position of the rudders of the drives 17, 18 leads to a change in space of the position of the glider 19 and the coordinates of the control object 5 at its first and second outputs through kinematic relations 20. The error signals transformed in this way in the vertical and horizontal planes ΔFy (t) and ΔFz (t) into control signals Uy (t) and Uz (t) from the first and second outputs of the phase rotator 8 act on the control object 5. The direction to the object 5 in vertical and mountains the horizontal planes Fout (t) and Foutz (t) are shifted in space, and the initial angular mismatches ΔFy (t) and ΔFz (t) between the directions to the tracking object Fвxy (t) and Fвxz (t) and to the object 5 Rvykhu (1) and Foutz (t) decrease.

 The first version of the coefficient and angle calculator works like this.

 The first and second inputs of the first, second, third and fourth Fourier converters 21, 22, 23, 24 receive program signals, respectively, from the first and second outputs of the setter 10. The signals supplied to the first, second, third and fourth inputs of the device 9 are supplied, respectively to the third input of the first, second, third and fourth Fourier converters 21, 22, 23 and 24. The signal from the first output of the first Fourier converter 21 is fed to the second input of the second adder 26, to the first input of which a signal from the second output of the second the Fourier educator 22. The signal from the first output of the second Fourier converter 22 is fed to the first input of the first adder 25, the second input of which is the signal from the second output of the first Fourier converter 21. The signal from the output of the first adder 25 is fed to the second inputs of the device 29 and 31, the first inputs of which the signal from the output of the second adder 26. The signal from the first output of the third Fourier converter 23 is fed to the second input of the fourth adder 28, the first input of which is fed from the second output of the third converter Fourier call 23. The signal from the first output of the fourth Fourier converter 24 is fed to the first input of the third adder 27, the second input of which is fed from the second output of the third Fourier transformer 23. The signal from the output of the third adder 27 is fed to the second inputs of the device 30 and 32, the first inputs of which receive a signal from the output of the fourth adder 28. A signal proportional to the magnitude of the angle of rotation of the coordinate vector, from the output of the device 31 is fed to the second input of the phase calculation device 33, to the first input of which it receives a signal proportional to the magnitude of the angle of rotation of the vector of commands from the output of the device 32. A signal proportional to the magnitude of the module of the coordinate vector, from the output of the device 29 enters the second input of the device for calculating the coefficient 34, the first input of which receives a signal proportional to the magnitude of the module of the vector of commands, s the output of the device 30. The signal from the output of the device 34 corresponds to the signal from the first and second outputs of the device 9, and the signal from the output of the device 33 corresponds to the signal from the third output of the device 9. The second option factor calculating device and the angle of works.

 The first and second inputs of the first, second, third and fourth Fourier converters 21, 22, 23, 24 receive program signals, respectively, from the first and second outputs of the setter 10. The signals supplied to the first, second, third and fourth inputs of the device 9 are supplied, respectively to the third input of the first, second, third and fourth Fourier converters 21, 22, 23 and 24. The signal from the first output of the first Fourier converter 21 is fed to the second input of the second adder 26, to the first input of which a signal from the second output of the second Fourier educator 22. The signal from the first output of the second Fourier converter 22 is fed to the first input of the first adder 25, the second input of which is fed from the second output of the first Fourier converter 21. The signal from the output of the first adder 25 is fed to the second input of the device 31, to the first input which receives the signal from the output of the second adder 26. The signal from the first output of the third Fourier converter 23 is fed to the second input of the fourth adder 28, the first input of which is fed from the second output of the third transform Fourier device 23. The signal from the first output of the fourth Fourier converter 24 is fed to the first input of the third adder 27, the second input of which is fed from the second output of the third Fourier transformer 23. The signal from the output of the third adder 27 is fed to the second input of the device 32, to the first input which receives a signal from the output of the fourth adder 28. A signal proportional to the angle of rotation of the coordinate vector, from the output of the device 31 is fed to the second input of the phase computing device 33, the first input of which receives a signal al, proportional to the value of the angle of rotation of the vector of commands, from the output of the device 32. A signal proportional to the value of the orthogonal component of the module of the coordinate vector, from the output of the device 25 is fed to the second input of the first device for calculating the coefficient 34, the first input of which receives a signal proportional to the value of the orthogonal component of the module vector of commands from the output of the device 27. A signal proportional to the value of the orthogonal component of the module of the coordinate vector, from the output of the device 26 is fed to the second input the second coefficient calculating device 35, the first input of which receives a signal proportional to the orthogonal component of the command vector module from the output of the device 28. The signals from the outputs of the devices 34, 35 are signals from the first and second outputs of the device 9, and the signal from the output of the device 33 corresponds to the signal from the third output of the device 9.

 The sequence of operation of the second variant of the control system with the first variant of the device for calculating the coefficient and angle is as follows.

 T0 is the point in time of the start of operation of the control system.

 T1 - the time point of the start of the signal from the output of the device 10.

 T2 - the time point of the beginning of determining the magnitude of the phase coupling of the channels of the object 5 and the change in the transmission coefficient of the object 5.

 T3 - the time point of the beginning of the supply of compensating signals to the control inputs of the devices 6, 7 and the third input of the device 8, respectively, through the control units 13, 14 and 15.

 T4 is the time instant for determining the phase coupling magnitude of the channels of the object 5 and changing the transmission coefficient of the object 5, supplying the stored compensating signals from the outputs of the first, second and third control units 13, 14, 15, respectively, to the control inputs of the device 6, 7 and the third input of the device 8 and stopping the signal output from the device 10.

 The sequence of operation of the second variant of the control system with the second variant of the device for calculating the coefficient and angle is as follows.

 T0 is the point in time of the start of operation of the control system.

 T1 - the time point of the start of the signal from the output of the device 10.

 T2 - time point of the beginning of determining the magnitude of the phase coupling of the channels of the object 5.

 T3 - the time point of the beginning of the supply of compensating signals to the third input of the device 8 through the control unit 15.

 T4 is the time point for determining the phase coupling magnitude of the channels of the object 5, applying the stored compensating signal from the output of the third control unit 15 to the third input of the device 8, and starting to determine the magnitude of the change in the transmission coefficients for the channels of the object 5.

 T5 - the time point of the start of the supply of compensating signals to the control inputs of the device 6, 7, respectively, through the control units 13, 14.

 T6 is the time point for determining the magnitude of the transmission coefficients of the object through channels 5, supplying the stored compensating signals from the outputs of the first and second control units 13, 14, respectively, to the control inputs of the devices 6, 7 and stopping the signaling from the output of the device 10.

In the first embodiment of the control system, an increase in reliability is achieved by
- determining the modulus and the angle of rotation of the coordinate vector using the Fourier transform on the elements 21, 22, 25, 26, 29, 31;
- determination of the module and the angle of rotation of the vector of commands using the Fourier transform on the elements 23, 24, 27, 28, 30, 32;
- determining the magnitude of the phase coupling of the channels and changing the transmission coefficient of the object 5 at the output of the device 9 on the time interval for supplying program signals at the output of the device 10 using the elements 33, 34 and 35;
- compensation of the phase coupling of the channels of the object 5 using devices 8, 15;
- compensation for changes in the transmission coefficient of the object 5 using devices 6, 7, 13 and 14;
- a specific sequence of connections of newly introduced elements 6-9, 23, 24, 28-35 and the implementation of certain parametric relations.

 To justify the operation of the second version of the control system with the first version of the device for calculating the coefficient and angle, you can as follows.

 In the time range T0 ... T1, the start of control of the object 5 is carried out.

 Due to the presence of phase coupling of the channels and changes in the transmission coefficient of object 5, overflow of control commands from one channel to another is observed in this time range, which leads to an unraveling of object 5 relative to its motion path.

 In the time range T1 ... T2, the vertical and horizontal channels of the control system supply program signals from the first and second outputs of the device 10 in accordance with formula (5).

 T1 time interval. ..T2 is selected from the condition of ensuring the steady-state process of developing program signals by the control system (5). In this time interval, object 5 moves along the programmed path relative to the nominal path of movement.

 In the time range T2 ... T3, the phase coupling of the channels and the change in the transmission coefficient of the object 5 are determined in the following sequence.

 1. At the outputs of the first, second, third and fourth Fourier converters 21, 22, 23 and 24, the vertical and horizontal orthogonal components of the coordinate vector and the command vector are formed in accordance with formulas (6) - (13).

 Using the Fourier transforms (6) - (13), it is possible to form vertical and horizontal orthogonal components of the coordinate vector and the command vector in the presence of interference in the measured signals.

 2. At the outputs of the first, second, third and fourth adders 25, 26, 27 and 28, the orthogonal components of the coordinate vector and the command vector are formed in accordance with formulas (14) - (17).

 3. At the outputs of devices 29 and 31, the module and the rotation angle of the coordinate vector are calculated in accordance with formulas (18) - (19).

 4. At the outputs of devices 30 and 32, the module and the rotation angle of the command vector are calculated in accordance with formulas (20) - (21).

 5. At the output of the device 33, the phase coupling value of the channels of the object 5 is calculated in accordance with the formula (22).

 6. At the output of the device 34, the magnitude of the change in the transfer coefficient of the object 5 is calculated in accordance with formula (23).

 The time interval T2 ... T3 is selected from the condition for determining the magnitude of the phase coupling of the channels and changing the coefficient of the object 5 and is set at least 1-1.5 periods of the program signal. In this time interval, object 5 continues to move along the programmed path relative to the nominal path of movement.

 In the time range T3 ... T4, the calculation of signals (3) - (23) continues and a compensating signal is supplied via the phase coupling of the channels (22) through the third control unit 13 to the third input of the device 8 and compensating signals for changing the transmission coefficient (23) of the object 5 to the control inputs of the devices 6, 7 through the first and second control units 14, 15, respectively. The signals from the first and second outputs of the device 9 tend to zero, and the signal from the third output of the device 9 tends to zero. At the output of the first and second control units 13, 14, a signal is generated proportional to the change in the transfer coefficient of the object 5, and at the output of the third control unit 15, a signal is generated proportional to the phase coupling of the channels of the object 5. Using the first, second and third control units 13, 14, 15 provides a more accurate development of compensating signals for the phase coupling of channels and a change in the transmission coefficient of object 5 than in the first embodiment of the control system. This is due to the fact that regulation in this case is carried out by deviation.

 T3 time interval. ..T4 is selected from the condition of ensuring the completion of transient processes for regulating the compensation of the magnitude of the phase coupling of the channels and changing the coefficient of the object 5.

 When the control time is longer than T4, the signal is stopped from the output of the device 10, and the memorized compensating signal is fed to the third input of the device 8 and the control inputs of the devices 6, 7 through the phase coupling of the channels 5 and the transfer coefficient of the object 5 respectively from the outputs of the first, second, and third blocks control 13, 14, 15. In this time interval, the object 5 moves along its path without fluctuations caused by the presence of phase communication channels in the object 5 and a change in the transfer coefficient.

 Justify the operation of the second version of the control system with the second version of the device for calculating the coefficient and angle as follows.

 In the time range T0 ... T1, the start of control of the object 5 is carried out.

 Due to the presence of phase coupling of the channels and changes in the transmission coefficient of object 5, overflow of control commands from one channel to another is observed in this time range, which leads to an unraveling of object 5 relative to its motion path.

 In the time range T1 ... T2, the vertical and horizontal channels of the control system supply program signals from the first and second outputs of the device 10 in accordance with formula (5).

 T1 time interval. ..T2 is selected from the condition of ensuring the steady-state process of developing program signals by the control system (5). In this time interval, object 5 moves along the programmed path relative to the nominal path of movement.

 In the time range T2 ... T3, the phase coupling value of the channels of the object 5 is determined in the following sequence.

 1. At the outputs of the first, second, third and fourth Fourier converters 21, 22, 23 and 24, the vertical and horizontal orthogonal components of the coordinate vector and the command vector are formed in accordance with formulas (6) - (13).

 Using the Fourier transforms (6) - (13), it is possible to form vertical and horizontal orthogonal components of the coordinate vector and the command vector in the presence of interference in the measured signals.

 2. At the outputs of the first, second, third and fourth adders 25, 26, 27 and 28, the orthogonal components of the coordinate vector and the command vector are formed in accordance with formulas (14) - (17).

 3. At the output of the device 31, the rotation angle of the coordinate vector is calculated in accordance with formula (19).

 4. At the output of the device 32, the rotation angle of the command vector is calculated in accordance with formula (21).

5. At the output of the device 33, the phase coupling value of the channels of the object 5 is calculated in accordance with the formula (22)
The time interval T2 ... T3 is selected from the condition for determining the magnitude of the phase coupling of the channels of object 5 and is set at least 1-1.5 periods of the program signal. In this time interval, object 5 continues to move along the programmed path relative to the nominal path of movement.

 In the time range T3 ... T4, signals (3) - (22) continue to be generated and a compensating signal is supplied via the phase coupling of channels (22) through the third control unit 15 to the third input of device 8. In this case, the signal from the third output of device 9 tends to to zero. The output of the third control unit 15 generates a signal proportional to the phase coupling of the channels of the object 5. Using the third control block 15, more accurate processing of the compensating signals for the phase coupling of the channels of the object 5 is provided than in the first embodiment of the control system. This is due to the fact that regulation in this case is carried out by deviation.

 T3 time interval. ..T4 is selected from the condition of ensuring the completion of transient processes for regulating the compensation of the magnitude of the phase coupling of the channels of object 5.

 When the control time is longer than T4, a stored compensation signal is fed to the third input of device 8 via the phase coupling of the channels of object 5 from the output of the third control unit 15.

 In the time range T4 ... T5, the magnitude of the change in the transmission coefficient over the channels of object 5 is determined in the following sequence.

 1. At the outputs of the first, second, third and fourth Fourier converters 21, 22, 23 and 24, the vertical and horizontal orthogonal components of the coordinate vector and the command vector are formed in accordance with formulas (6) - (13).

 Using the Fourier transforms (6) - (13), it is possible to form vertical and horizontal orthogonal components of the coordinate vector and the command vector in the presence of interference in the measured signals.

 2. At the outputs of the first, second, third and fourth adders 25, 26, 27 and 28, the orthogonal components of the coordinate vector and the command vector are formed in accordance with formulas (14) - (17).

 3. At the output of the device 34, the magnitude of the change in the transmission coefficient in the vertical channel of the object 5 is calculated in accordance with formula (24).

 4. At the output of the device 34, the magnitude of the change in the transmission coefficient in the horizontal channel of the object 5 is calculated in accordance with formula (25).

 In the time range T5 ... T6, signals (3) - (18), (20), (24) and (25) continue to be generated and compensating signals (24), (25) are applied by changing the transmission coefficient over the channels of object 5 by the control inputs of the devices 6, 7 through the first and second control units 13, 14, respectively. The signals from the first and second outputs of the device 9 tend to zero. At the output of the first and second control units 13, 14, a signal is generated proportional to the change in the transmission coefficient over the channels of the object 5. Using the first and second control units 13, 14, more accurate processing of the compensating signals for the change in the transmission coefficient over the channels of the object 5 is provided than in the first embodiment implementation of the management system. This is due to the fact that regulation in this case is carried out by deviation.

 T5 time interval. ..Т6 is selected from the condition of ensuring the completion of transient processes for regulating the compensation of the magnitude of the change in the transmission coefficient over the channels of object 5.

 When the control time is longer than T6, the signal is stopped from the output of the device 10, and the memorized compensating signal is supplied to the third input of the device 8 and the control inputs of the devices 6, 7 by phase coupling the channels and changing the transfer coefficient of the object 5 from the outputs of the first, second, and third blocks control 13, 14, 15. In this time interval, the object 5 moves along its path without fluctuations caused by the presence in the object 5 of the phase communication channels and changes in the transmission coefficient of the channels.

 The above analysis shows that increasing the accuracy of the control system during phase coupling of channels and changing the transmission coefficient of an object is ensured under the influence of disturbing factors, interference, and maneuvers of the tracking object.

 Therefore, the use of the new elements 6-9, 23, 24, 28-35 connected in accordance with FIG. 1, 2, 3 and 4 with the specified characteristics (1) - (25) in the proposed control system, favorably distinguishes the proposed technical solutions from the prototype, as it improves the accuracy of the control system during phase communication of channels and changes in the transmission coefficient of the object under exposure interference and maneuvers of the tracking object.

Sources of information
1. Lebedev A.A., Karabanov V.A. The dynamics of control systems for unmanned aerial vehicles. M .: Mechanical Engineering, 1965, p. 28-30, Fig. 1.7.

 2. Bodner V. A. Theory of automatic flight control. M .: Nauka, 1964, p. 290-293, Fig. 7.7-7.9.

 3. Pipe V. D., Parfenov Yu.L. Two-channel autopilot with stabilization of the phase shift of the steering gears at the rocket speed // In the book: Problems of design and production of systems and complexes. - Tula: TSU, 1999, p. 360- 362.

 4. Aleksenko A.G., Colombet E.A., Starodub G.I. The use of precision analog ICs. M .: Radio and communications, 1981.

 5. Kochetov V. T., Polovko A. M., Ponomarev V. M. The theory of remote control and homing missiles. M .: Nauka, 1964.

 6. Gorbatsevich E. D., Levinson F. F. Analog modeling of control systems. - M.: Science, 1984.

 7. Design of specialized information and computing systems. M., "Higher School", 1984. Ed. Yu.M. Smirnova.

 8. The Encyclopedia of Cybernetics. Ch. ed. Ukrainian Soviet Encyclopedia. Kiev, 1974. Volume 2.

Claims (6)

 1. A method of controlling the path of the object, including for vertical and horizontal channels, determining the current input coordinates and coordinates of the object, calculating the difference between the input coordinates and coordinates of the object, setting program signals and generating control commands for the object by the difference of the input coordinates and coordinates of the object, characterized in that set the time of the start and end of the supply of program signals, from the time of the start to the time of the end add to the control commands of the program mnye signals determine the phase shift between the vector instructions and vector coordinates to compensate the phase shift commands to steer vector, this angle is determined ratio modules vector instructions and vector coordinates and compensate change of transmission ratio change in the value of the object the object of control commands.  2. An object trajectory control system comprising a control object, first and second adders, a program signal generator, the first and second outputs of which are connected respectively to the first inputs of the first and second adders, the first error generating unit connected in series, the second input of which is connected to the first output the control object, the first correction filter, connected in series to the second error generating unit, the second input of which is connected to the second output of the control object, the second correction filter, the first signal of the first and second error generating blocks receives an input signal in the vertical and horizontal channels, characterized in that the first amplifier with adjustable gain is introduced, the input of which is connected to the output of the first correction filter, the second amplifier with adjustable gain, input which is connected to the output of the second correction filter, a phase rotator, the first and second outputs of which are connected to the second inputs of the first and second, respectively adders, a coefficient and phase calculator, the first and second inputs of which are connected to the outputs of the first and second error generation units, the first and second inputs of the phase rotator are connected to the outputs of the first and second amplifiers with adjustable gain, the control inputs of which are connected respectively to the first and second outputs of the device for calculating the coefficient and phase, the first and second inputs of the control object are connected to the outputs of the first and second adders and, respectively, to the third and fourth inputs of the coefficient and phase calculation device, and the third and fourth outputs of the program signal setter are connected respectively to the fifth and sixth inputs of the coefficient and phase calculation device, the third output of which is connected to the third input of the phase rotator.  3. An object trajectory control system comprising a control object, first and second adders, a program signal generator, the first and second outputs of which are connected respectively to the first inputs of the first and second adders, the first error generating unit connected in series, the second input of which is connected to the first output the control object, the first correction filter, connected in series to the second error generating unit, the second input of which is connected to the second output of the control object, the second a correction filter, as well as the first, second and third control units, the input signal in the vertical and horizontal channels is supplied to the first inputs of the first and second error generating units, characterized in that a coefficient and phase calculation device is introduced, the first and second inputs of which are connected to the outputs respectively, of the first and second error generating units, a first amplifier with an adjustable gain, the input of which is connected to the output of the first adder and the third input of the coefficient calculation device phase and phase, a second amplifier with adjustable gain, the input of which is connected to the output of the second adder and the fourth input of the device for calculating the coefficient and phase, a phase rotator, the first and second outputs of which are connected respectively to the first and second inputs of the control object, the first and second inputs phase rotator connected to the outputs of the first and second amplifiers with adjustable gain, the control inputs of which are connected respectively through the first and second blocks control with the first and second outputs of the device for calculating the coefficient and phase, the output of the first correction filter is connected to the second input of the first adder, the output of the second correction filter is connected to the second input of the second adder, and the third and fourth outputs of the software signal generator are connected to the fifth and sixth inputs of the device, respectively calculating the coefficient and phase, the third output of which is connected through the third control unit to the third input of the phase rotator.  4. A method for determining the phase coupling of channels and the transmission coefficient of an object in an object trajectory control system, including measuring control commands and object coordinates in horizontal and vertical control planes, characterized in that the orthogonal components are calculated in each measured command and coordinate using the Fourier transform , from the calculated orthogonal components determine the module and the rotation angles of the command vector and coordinate vector, from the calculated values of the eyelid module ora module commands and vector coordinates determine the transfer coefficient of the object, and the computed values of rotation angle of the vector instructions and vector coordinates determine the phase of the object link channels.  5. A device for calculating the coefficient and phase, containing the first and second Fourier converters, the first, second and third adders, characterized in that the third and fourth Fourier converters are introduced, the first device for calculating the module, the second input of which is connected to the output of the first adder, the first calculation device angle, the first input of which is connected to the output of the second adder and the first input of the first device for calculating the module, connected in series to the second device for calculating the module, the second input of which is connected with the output of the third adder, a coefficient calculator, the second input of which is connected to the output of the first module calculator, a fourth adder is connected in series, the first input of which is connected to the second output of the fourth Fourier transducer, the second angle calculator, the first input of which is connected to the first input of the second device a computing module, a phase computing device, the second input of which is connected to the output of the first angle computing device, the first output of the first transform The Fourier generator is connected to the second input of the second adder, the first input of which is connected to the second output of the second Fourier converter, the second output of the first Fourier converter is connected to the second input of the first adder, the first input of which is connected to the first output of the second Fourier converter, the first output of the third Fourier converter the second input of the fourth adder, the second output of the third Fourier converter is connected to the second input of the third adder, the first input of which is connected to the first output of the four of the Fourier transform, the first input of the first Fourier transform is connected to the first inputs of the second, third and fourth Fourier transforms, the second input of the first Fourier transform is connected to the second inputs of the second, third and fourth Fourier transforms, the output of the first adder is connected to the second input of the first angle calculator, and the output of the third adder is connected to the second input of the second device for calculating the angle, while the third inputs of the first, second, third and fourth Fourier transforms i are the first, second, third, and fourth inputs of the coefficient and phase calculator, the first inputs of the first, second, third, and fourth Fourier converters correspond to the fifth input of the coefficient and phase calculator, the second inputs of the first, second, third, and fourth Fourier converters correspond to the sixth input coefficient and phase calculation devices, the output of the coefficient calculation device is the first and second outputs of the coefficient and phase calculation device, and the output of the device wa is the third phase calculation output unit calculation coefficient and phase.  6. A device for calculating the coefficient and phase, containing the first and second Fourier converters, the first, second and third adders, characterized in that the third and fourth Fourier converters are introduced, the first coefficient calculator, the second input of which is connected to the output of the first adder, the first calculation device angle, the first input of which is connected to the output of the second adder, the second coefficient calculation device, the second input of which is connected to the output of the second adder, the fourth connected in series an adder, the first input of which is connected to the second output of the fourth Fourier transform, a second angle calculator, the first input of which is connected to the first input of the second coefficient calculator, a phase calculator, the second input of which is connected to the output of the first angle calculator, the first output of the first converter Fourier is connected to the second input of the second adder, the first input of which is connected to the second output of the second Fourier transform, the second output of the first Fourier transform connected to the second input of the first adder, the first input of which is connected to the first output of the second Fourier transform, the first output of the third Fourier transform is connected to the second input of the fourth adder, the second output of the third Fourier transform is connected to the second input of the third adder, the first input of which is connected to the first output of the fourth Fourier transform, the first input of the first Fourier transform is connected to the first inputs of the second, third and fourth Fourier transforms, the second input of the first The Fourier generator is connected to the second inputs of the second, third and fourth Fourier converters, the output of the first adder is connected to the second input of the first angle calculator, and the output of the third adder is connected to the second input of the second angle calculator and the first input of the first coefficient calculator, while the third inputs the first, second, third and fourth Fourier converters are respectively the first, second, third and fourth inputs of the device for calculating the coefficient and phase, the first input the odes of the first, second, third and fourth Fourier converters correspond to the fifth input of the coefficient and phase calculator, the second inputs of the first, second, third and fourth Fourier converters correspond to the sixth input of the coefficient and phase calculator, the output of the first coefficient calculator is the first output of the coefficient calculator and phase, the output of the second coefficient calculation device is the second output of the coefficient and phase calculation device, and the output of the device phase calculation is the third output of the coefficient and phase calculation device.

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