RU2217692C2 - Guidance system of guided missile - Google Patents

Abstract

FIELD: armament, in particular, artillery guided missiles with a laser homing head. SUBSTANCE: the missile guidance system has a control actuator, inertia gyroscope with a sensor, clock mechanism and a homing head, whose "Lock-on" output is connected to the second input of the AND gate, whose output is connected to the "Compensation" input of the homing head and the first input of the OR gate, whose second input is connected to the "-Y' output of the homing head, and the output is connected to the input of the first power amplifier. The "Z" and "-Z" outputs of the homing head are connected to the inputs of the third and fourth power amplifiers respectively, the outputs of the first, second, third and fourth power amplifiers are connected to the first inputs of the first, second, third and fourth control windings of the control actuator, whose second inputs and the inertia gyroscope feed input are connected to the power source of the carry-on equipment. The input of the inertia gyroscope uncaging mechanism is connected to the output of the clock mechanism, use is made of a phase-shift device, whose first input is connected to the output of the inertia gyroscope, its second input is connected to the output of the clock mechanism. The output of the phase-shift device is connected to the first input of the AND gate, the "+Y" output of the homing head is connected to the input of the second power amplifier. The inertia gyroscope uses an optronic sensor, and the phase-shift device has the first, second and third flip-flops, nullification unit, the first, second, third and fourth pulse counters, reference frequency generator and a permanent storage. EFFECT: enhanced accuracy of guidance. 2 cl, 2 dwg

Description

 The invention relates to the field of armament, in particular to artillery guided projectiles with a laser homing head.

 A known guidance system of a guided projectile [1], comprising a steering gear (RP), an inertial gyro with a sensor (GI), a clock mechanism and a homing head (GOS), the "Capture" output of which is connected to the first input of the first And element and through the NOT element the first input of the second element And, the second inputs of which are connected respectively to the second and third outputs of the inertial gyroscope, the output of the first element And is connected to the input "Compensation" of the GOS and to the third input of the first element OR, the second input of which is connected to the first output of the gyros the inertial cop, and the output with the input of the first power amplifier, the output of the second AND element is connected to the second input of the second OR element, the output of the second OR element is connected to the input of the second power amplifier, the outputs of the homing head "-Y" and "+ Y" are connected to the first inputs the first and second elements OR, respectively, the outputs of the homing head "+ Z" and "-Z" are connected to the inputs of the third and fourth power amplifiers, respectively, the outputs of the power amplifiers are connected to the first inputs of the first, second, third and fourth windings of the control phenomena of the steering drive, the second inputs of which are connected to the power input of the inertial gyroscope and the power supply of the on-board equipment, and the input of the inertial gyroscope release mechanism is connected to the output of the clock mechanism.

 A significant drawback of this system is the lack of accuracy of guidance, due to the fact that at long firing ranges, when the duration of the inertial gyroscope after its resolution is maximum, it begins to introduce an additional phase error associated with the departure of its axis relative to its position at the time of resolution. This leads to an additional error in projecting the projectile into the “Capture” zone of the target in the inertial guidance section, which increases the time for choosing the initial miss missile, and also leads to an increase in the error when forming the gravity compensation command in the homing section. All this leads to a decrease in the accuracy of the guidance of the specified guidance system.

 The task of the invention is to improve the accuracy of the guidance system by compensating for the phase departure of the axis of the gyroscope over the entire flight interval of the projectile.

 To do this, in a guided projectile guidance system containing a steering gear, an inertial gyro with a sensor, a clock mechanism and a homing head, the “Capture” output of which is connected to the second input of the And element, the output of which is connected to the “Compensation” input of the homing head and the first input of the OR element , the second input of which is connected to the output "-Y" of the homing head, and the output is connected to the input of the first power amplifier, the outputs of the homing head "+ Z" and "-Z" are connected to the inputs of the third and fourth power amplifiers, respectively Of course, the outputs of the first, second, third, and fourth power amplifiers are connected to the first inputs of the first, second, third, and fourth steering control windings, the second inputs of which and the power input of the inertial gyroscope are connected to the power supply of the onboard equipment, and the input of the gyroscope inertial gyroscope is connected with the output of the clock mechanism, a phase shift device is introduced, the first input of which is connected to the output of the inertial gyroscope, its second input is connected to the output of the clock mechanism, and Exit phase shifter coupled to the first input of the AND gate, the output homing head "+ Y" is connected to the input of the second amplifier, and an inertial gyro sensor configured optocouplers.

 The phase shift device comprises a first, second and third trigger, a zeroing unit, first, second, third and fourth pulse counters, a reference frequency generator and read-only memory, the first input of the phase shift device being connected to the zero input of the first pulse counter, the overwriting inputs of the third and fourth pulse counters and the clock input of the second trigger, the second input of the phase shifter is connected to the installation input of the first trigger, the reset input of which is connected to the output of the block zero, the output of the first trigger is connected to the account resolution input of the second pulse counter, the outputs of which are connected to the older part of the addresses of the read-only memory, the smallest part of which is connected to the outputs of the first pulse counter and the data inputs of the fourth pulse counter, the outputs of the permanent memory are connected to the data inputs of the third pulse counter, the transfer output of which is connected to the reset input of the second trigger, the output of which is connected to the input resolution of the account of the third counter and the pulses and the clock input of the third trigger, the output of which is connected to the resolution enable input of the fourth pulse counter and the output of the device, and the clock inputs of the first, second, third and fourth pulse counters are connected to the output of the reference frequency generator, and to the D-inputs of the second and third triggers log levels are given. 1.

 Figure 1 shows a block diagram of the proposed system, where 1 is a homing head, made, for example, as in the prototype, 2 is a clock mechanism, made, for example, as in the prototype, 3 is an inertial gyro with an optocoupler sensor, consisting of an LED 17 , a lead-in resistor 18, a shutter 19, a photodiode 20, a load resistor 21, a comparator 22 and an electric igniter arrestor 16, 4 is a steering gear, made, for example, as in the prototype, 5 is a phase shifter made, for example, as shown in FIG. 2, and contains the first 24, second 31, third 32 rigger, first 26, second 27, third 29 and fourth 30 pulse counters, reference frequency generator 25, zeroing unit 23 and read-only memory 28, 6 - AND element, 7 - OR element, 8, 9, 10, 11 - first, the second, third and fourth power amplifiers, 12, 13, 14, 15 - the first, second, third and fourth steering control windings.

 Figure 3 shows a diagram of the operation of the device.

 The guidance system works as follows.

 A shot is fired and the projectile flies along a ballistic trajectory. At the calculated point of the trajectory at the output of the clockwork 2, a current pulse is generated, along which the rotor of the inertial gyroscope 3 is pulled and untwisted, they enter the power supply mode of the on-board equipment and the seeker 1, the nasal block is separated, the entrance pupil of the seeker is opened.

 Under the influence of the rotation of the projectile and a set of the bearing angle by the projectile, the inertial gyroscope shutter 19 at the rotational speed of the projectile begins to periodically close and open the light flux between the LED 17 - the photodiode 20, and at the load resistance 21 a gravity compensation signal is generated close to the meander at the projectile rotation frequency, which using the comparator 22 is normalized in amplitude (figa).

 In this case, with the inertial gyroscope operating time 3, the rotational speed of its rotor decreases, which leads to a decrease in its kinetic momentum, to an increase in the vertical exit after the ballistic turn of the projectile, and, as a consequence, to an increase in phase delay during the formation of a signal for compensating gravity with respect to initial at the time of position sizing (figb). Moreover, the longer the flight time of the projectile, the greater the magnitude of the phase delay.

 At the same time, the inertial gyroscopic signal from the output of the clock mechanism 2 is fed to the second input of the phase-shift device 5 (to the input of the installation of trigger 24, which was in the initial state under the influence of the signal from the zeroing unit 23) and sets the trigger 24 to a single state (Fig. 3d) . Signal log. 1 from the output of the trigger 24 is fed to the counter resolution input of the counter 27, the clock input of which receives a signal from the reference frequency generator 25. At the same time, a code corresponding to the current operating time of the inertial gyroscope, which arrives at the older part of the constant addresses, is generated at the output of the second pulse counter 27 storage device 28.

 The signal log.1 of gravity compensation from the output of the inertial gyroscope 3 (Fig. 3b), equal to half the period of rotation of the projectile, is fed through the first input of the phase 5 shear device to the reset input of the first pulse counter 26, allowing it to work. The counter 26 counts the pulses arriving at its clock input from the output of the reference frequency generator 25. By the time the trailing edge of the gravity compensation signal arrives from the inertial gyroscope, a code corresponding to half of the projectile rotation period will be present at the output of the pulse counter 26. This code is supplied to the younger part of the addresses of the read-only memory 28.

 T.O. by the time the trailing edge of each pulse of the gravity compensation signal arrives from the output of the inertial gyroscope 3, the address inputs of the read-only memory 28 contain information about the current operating time of the inertial gyroscope and the period of rotation of the projectile. Information on the period of rotation of the projectile is necessary, because the frequency of rotation of the projectile during the flight can vary within wide limits.

The frequency of rotation of the projectile cannot change dramatically, i.e. we can assume that the neighboring periods of rotation of the projectile cannot significantly differ from each other (i.e. they are equal), and so on. we can delay the input signal exactly for a period without loss of accuracy of the formation of control commands. And introducing a delay of 360 ^o into the signal, minus the necessary lead equal to the phase departure of the gyroscope, we thus completely compensate for the departure of the gyroscope.

 In the permanent storage device 28, the table calculation (this table is entered in the permanent storage device at the stage of on-board equipment manufacturing) calculates the phase shift value, which must be introduced at the current time in the signal coming from the output of the inertial gyroscope to compensate for the phase delay that it introduces guidance systems during the projectile flight.

That is, at the time of receipt of the trailing edge of the pulse of the signal for compensating gravity from the output of the inertial gyroscope 3, the output of the read-only memory 28
L = N- (N • f (K)) / 180 ^o ,
where the code at the output of the first pulse counter 26, equal to half the period of rotation of the projectile, K is the code at the output of the second pulse counter 27, proportional to the current operating time of the inertial gyroscope, f (K) is the law that determines the departure (phase shift) of the inertial gyroscope from its time work. The law of departure depends on the design features of the inertial gyroscope and, to a first approximation, can be represented as a linear function. The value of L is equivalent to a duration equal to 180 ^{o the} period of rotation of the projectile minus the phase shift at a given (measured) frequency of rotation of the projectile.

T.O. at the output of the read-only memory 28, there is a code that determines the required advance of the output signal, which is necessary to compensate for the phase error introduced by the gyroscope, or rather, the delay value equal to 180 ^o minus the necessary advance equal to the phase departure of the gyroscope.

 On the trailing edge of the signal from the output of the inertial gyroscope 3, this code (L) from the output of the permanent storage device is copied to the third pulse counter 29, and the code about half the period of rotation of the projectile is copied to the fourth pulse counter 30. In addition, this signal outputs the second trigger 31, a signal is set to log 1 (Fig. 3f), which, entering the resolution input of the third pulse counter 29, allows its operation at the clock input. The signal from the output of the second trigger also goes to the clock input of the third trigger 32, but does not change its state.

 At that moment in time, when the third pulse counter counts the time equal to T-t, where T is half the pulse repetition period from the inertial gyroscope (equivalent to N code), t is the time equivalent to the necessary phase advance of the signal, a pulse is generated at its transfer output. This signal, arriving at the reset input of the second trigger 31, sets the signal log.1 at its output. According to this signal, which is input to the clock input of the third trigger 32, the output of the third trigger is set to signal log.1 (Fig. 3g), which is fed to the output of the phase shifter and to the input of the operation permit of the fourth pulse counter 30, in which the code corresponding to half the period of rotation of the projectile. When the fourth pulse counts this time, a transfer pulse is formed at its output, which sets the third trigger 32 to zero.

 At the same time upon receipt of a signal log. 1, the next half-period of the signal from the output of the inertial gyroscope is measured at the input of the phase-shift device.

 T. about. at the output of the phase shift device, a signal is generated that is shifted relative to the input signal by 360-ψ, but since Since the adjacent revolutions of the projectile are equal, then there is a lead in the output signal relative to the input by a given value ψ, depending on the current time of the inertial gyroscope.

 And we have a signal at the output of the phase shift device that compensates for the phase shift introduced by the gyroscope.

 This signal from the output of the phase 5 shear device is fed to the first input of And 6. But since at the output of "Capture" (pigv) homing head 1 there is a log signal. 0, which, entering the second input of the And 6 element, prohibits the passage through it of signals from the output of the phase shift device and, therefore, from the output of the inertial gyroscope.

 When approaching the projectile to the target and when receiving pulses of laser radiation reflected from the target, the GOS generates a “Capture” signal (Fig.3c), which, entering the second input of the And 6 element, allows signals to pass from the output of the phase shift device, etc. from the output of the inertial gyroscope 3 to the input "Compensation" of the seeker (Fig. 3d) and through the first input of the OR element 7 to the first power amplifier 8 and then to the first control winding 12 of the steering gear 4.

где f - функция, определяемая пеленгационной характеристикой головки самонаведения;

угловая скорость линии "снаряд-цель";

угловая скорость прецессии головки под действием сигнала "Компенсация" с гироскопа инерциального.Under the influence of this signal, the axis of the homing head 1 will tend to turn down in a vertical plane. And in this case, a signal will be generated in the homing head that compensates for the influence of the precession caused by the signal from the inertial gyroscope 3 (from the output of the phase shifter 5), while the signal at the output of the homing head in the process of tracking it will have the following form:

where f is the function determined by the direction-finding characteristic of the homing head;

angular velocity of the projectile-target line;

angular velocity of the precession of the head under the action of the signal "Compensation" from the inertial gyroscope.

 The specified signal is the source for the formation of the control pulses of the steering gear of the autopilot (signals generated by the homing head for the outputs + Y, -U. + Z, -Z).

 These signals are fed to power amplifiers 8-11 and further to the control windings 12-15 of the steering gear 4, which leads to a deviation of the steering gear steering wheels. Under the influence of control overload, the velocity vector of the projectile approaches the direction of the line of sight of the homing target-target, which reduces the angular mismatch of the optical axis of the homing head with a direction to the target.

 T. about. by compensating for the phase departure of the inertial gyroscope, it was possible to increase the accuracy of the guidance of the system.

Sources of information
1. "152-mm round ZVOF64 (ZVOF93) with a fragmentation high-explosive guided projectile 30F39 and charge 1 (reduced variable charge). Technical description and instruction manual for ZVOF64.00.00.000TO (ZVOF93.00.00.000TO)." - M.: Military Publishing House, 1990, p. 59-64.

Claims (2)

1. Guided projectile guidance system comprising a steering gear, an inertial gyro with a sensor, a clock mechanism and a homing head, the "Capture" output of which is connected to the second input of the And element, the output of which is connected to the "Compensation" input of the homing and the first input of the OR element, the second input of which is connected to the output "-Y" of the homing head, and the output is connected to the input of the first power amplifier, the outputs of the homing head "+ Z" and "-Z" are connected to the inputs of the third and fourth power amplifiers, respectively , the outputs of the first, second, third, and fourth power amplifiers are connected to the first inputs of the first, second, third, and fourth steering control windings, the second inputs of which and the power input of the inertial gyroscope are connected to the power supply of the onboard equipment, and the input of the gyroscope inertial gyroscope is connected to the output of the clockwork, characterized in that a phase shift device is introduced into it, the first input of which is connected to the output of the inertial gyroscope, its second input is connected to the output of cial mechanism and the phase shifter output is connected to a first input of AND, homing head output "+ Y" is connected to the input of the second amplifier, and an inertial gyro sensor configured optocouplers. 2. The system according to claim 1, characterized in that the phase shifter comprises first, second and third triggers, a zeroing unit, first, second, third and fourth pulse counters, a reference frequency generator and read-only memory, the first input of the phase shifter connected to the zero input of the first pulse counter, overwrite inputs of the third and fourth pulse counters and the clock input of the second trigger, the second input of the phase shifter is connected to the installation input of the first trigger, the reset input of which the second one is connected to the output of the second pulse counter, the outputs of which are connected to the older part of the addresses of the permanent memory device, the younger part of which is connected to the outputs of the first pulse counter and the data inputs of the fourth pulse counter, the outputs of the permanent memory connected to the data inputs of the third pulse counter, the transfer output of which is connected to the reset input of the second trigger, the output of which is connected to the input m resolution resolution of the third pulse counter and the clock input of the third trigger, the output of which is connected to the resolution input of the fourth pulse counter and the output of the device, and the clock inputs of the first, second, third and fourth pulse counters are connected to the output of the reference frequency generator, and to D inputs second and third triggers filed log level 1.

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