RU2235969C1 - Device for formation of commands to control a rocket rotating around its longitudinal axis - Google Patents

Abstract

FIELD: defense industry; production of tank and anti-tank weapons.

SUBSTANCE: the invention is dealt with the field of production of tank and anti- tank weapons and may be used in complexes of tank and anti-tank arms, and also in small-sized antiaircraft complexes. The purpose of the offered invention is an increase of accuracy of a rocket pointing to a target at deviations of frequency of rotation of a rocket on a roll relatively to nominal value and dispersion of dynamic characteristics of a steering drive due to correction of a phase of entrance signals of a steering drive. It is achieved due to the fact, that the device of formation of the control commands containing the following in series connected units: a receiver, a unit of electronic equipment, a gyroscopic coordinator with a roll angle sensor, the first steering drive with the first summation unit and the first potentiometer of the feedback, the second steering drive with the second summation unit and the second potentiometer of a feedback, is added with the first and second units of subtraction, the first inputs of which are correspondingly connected to the first and the second outputs of the electronic equipment unit; the first, second, third and fourth modulators. At that the signal inputs of the first and third modulators are connected to the output of the first unit of subtraction, and the signal inputs of the second and fourth modulators are connected to the output of the second unit of subtraction; the third summation unit and the third unit of subtraction and the first input of the third summation unit are connected to the output of the first modulator; the second input of the third summation unit is connected to the output of the second modulator; and the output of the third summation unit is connected to the input of the first steering drive; the first input of the third unit of subtraction is connected to the output of the third modulator; the second input of the third unit of subtraction is connected to the output of the fourth modulator; the output of the third unit of subtraction is connected to the input of the second steering drive; the fifth, sixth, seventh and eighth modulators;. At that the signal inputs of the fifth and sixth modulators are connected to the output of the feedback potentiometer of the first steering drive, and the signal inputs of the seventh and eighth modulators are connected to the output of the feedback potentiometer of the second steering drive; the basic inputs of the first, fourth, fifth and eighth modulators are connected to the first output of the sensor of gyroscopic coordinator; the basic inputs of the second, third, sixth and seventh modulators are connected to the second output of the sensor of gyroscopic coordinator; the fourth unit of subtraction and the fourth summation unit; at that the first inputs of the fourth unit of subtraction and the fourth summation unit are connected to the outputs accordingly of the fifth and sixth modulators; the second input of the fourth subtraction unit is connected to the output of the seventh modulator; the second input of the fourth summation unit is connected to the output of the eighth modulator; the first and second amplifiers. At that the input of the first amplifier is connected to an output of the fourth unit of subtraction and its output - to the second input of the first unit of subtraction; the input of the second amplifier is connected to the output of the fourth summation unit and its output - to the second input of the second unit of subtraction; a source of stabilized different-polar voltage, the first output of which is connected to the first input of the sensor of the gyroscopic coordinator and the second output of which is connected to the second input of the sensor of the gyroscopic coordinator.

EFFECT: the invention allows to increase accuracy of the rocket pointing to a target at deviations of frequency of rotation of a rocket on a roll relatively to nominal value and dispersion of dynamic characteristics of a steering drive.

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Description

The present invention relates to the field of weapons, in particular to the field of guided missiles rotating in a roll angle, and can be used in complexes of tank and anti-tank weapons, as well as small-sized anti-aircraft systems.

A device is known for generating commands for controlling a roll of a rocket rotating in an angle, comprising sequentially connected command decoder, a gyroscopic coordinator sensor, and a steering drive unit (see [1] p. 36, Fig. 26).

The decoder emits control signals proportional to the deviations of the rocket from the line of sight in the vertical and horizontal planes. The gyroscopic coordinator distributes control commands along the course and pitch channels depending on the angular position of the projectile along the roll. The steering unit converts control commands into mechanical angular movements of the rudders.

To compensate for the phase delay in the development of missile commands arising due to its rotation along the roll and the inertia of the steering unit, control commands are given to the missile with a lead. Anticipation is provided by the installation of the wings, the sensor and the brush holder of the coordinator in a certain position relative to each other.

The known device with high accuracy generates commands when the rotation frequency of the rocket rolls with the frequency, based on which compensation is made for the phase delay of the missile command.

However, the roll speed of the rocket along the roll can vary over a wide range, which will lead to the appearance of an uncompensated phase delay in the development of control commands and, as a result, to a deterioration in the accuracy of the rocket hitting the target.

The closest in technical essence to the claimed one is a device for generating 9M117 missile control commands (2), including a radiation receiver (PI), an electronic equipment block (BAE), a roll angle sensor of the gyroscopic coordinator (DHA), two steering gears (RP) with reverse potentiometers communications (pic). The device diagram is presented in figure 1.

The optical signal entering PI 1 is converted into an electric signal, amplified by power, and supplied to BAE 2, in which DC voltage components are proportional to the deviations of the rocket from the axis of the beam for each control channel. The BAE has corrective filters that stabilize the missile control loop. From the outputs of the corrective filter, the voltage is supplied to the amplifiers, the outputs of which are connected to the two inputs of the DGK 3 and through inverters to the other two inputs.

Thus, the DGK inputs from the BAE output receive antiphase signals + Uy, -Uy of the vertical and + Uz, -Uz of the horizontal control channels.

DHA converts control signals from the coordinate system of ground control equipment into a coordinate system associated with a rotating missile. The DHA element, rigidly connected with the gyrocoordinator body, and through it with the rocket body, when the rocket rotates, moves relative to the DHA current collector brushes, and the resistance between the current collector points changes. Depending on the angular position of the rocket along the roll and the magnitude of the control signals Uy, Uz, the current collection brushes pick up signals of the corresponding amplitude and sign in the coordinate system associated with the rotating missile.

The signals from the output of the DHA are fed to the adders 4, 5 RP, the second inputs of which receive signals from PIC 16, 17, kinematically connected with the rudders. The outputs of the adders are connected to the inputs of the trigger devices 6, 7. Next, the signal in each channel is amplified by one of two out-of-phase power amplifiers 8, 9, 10, 11, depending on the phase of the incoming signal. From the power amplifier, the signal enters the winding of the corresponding control electromagnet, which controls the operation of the corresponding steering machine 12, 13, 14, 15 and ensures proportionality of the steering angle to the amplitude of the input signal. Due to the presence of negative feedback and the trigger device, the rudders operate in self-oscillating mode.

The known device provides high accuracy of forming a control command when the rocket roll speed coincides with a certain nominal (average) frequency, based on which the control loop is phased by anticipating the rotation of the coordinate system associated with the gyrocoordinator relative to the measuring coordinate system of the carrier associated with the beam laser, at an angle equal to the phase delay of the RP at the nominal frequency of rotation of the rocket along the roll.

However, under real conditions, the roll speed of the rocket may vary significantly from the indicated nominal frequency. In addition, the dynamic characteristics of the RP also have a spread and vary in the flight time of the rocket.

These circumstances lead to the appearance of a misphasing of the control channels, the presence of which increases the time of launching the missile to the line of sight of the target and reduces the accuracy of pointing the missile at the target, and if the misphase exceeds 20 ... 30 °, the guidance may fail.

The objective of the invention is to increase the accuracy of pointing the missile at the target with deviations of the rocket rotation speed relative to the nominal value and the spread of the dynamic characteristics of the RP by adjusting the phase of the RP input signals in accordance with the current phase delay of the output.

The problem is solved by the fact that the first and second blocks are introduced into a device containing a gyroscopic coordinator with a roll angle sensor, a radiation receiver in series, an electronic equipment block, a first RP with a first adder and a first POS, a second RP with a second adder and a second POS subtraction, the first inputs of which are connected respectively to the first and second outputs of the BAE, the first, second, third and fourth modulators, and the signal inputs of the first and third modulators are connected to the output of the first a subtraction unit, and the signal inputs of the second and fourth modulators are connected to the output of the second subtraction unit, the third adder and the third subtraction unit, the first input of the third adder connected to the output of the first modulator, the second input of the third adder connected to the output of the second modulator, and the output of the third adder connected with the input of the first RP, the first input of the third subtraction block is connected to the output of the third modulator, the second input of the third subtraction block is connected to the output of the fourth modulator, the output of the third block power is connected to the input of the second RP, the fifth, sixth, seventh and eighth modulators, and the signal inputs of the fifth and sixth modulators are connected to the POS output of the first RP, and the signal inputs of the seventh and eighth modulators are connected to the POS output of the second RP, the reference inputs of the first, fourth, the fifth and eighth modulators are connected to the first output of the DGK, the reference inputs of the second, third, sixth and seventh modulators are connected to the second output of the DGK, the fourth subtraction unit and the fourth adder, the first inputs of the fourth block subtracting of the fourth adder are connected to the outputs of the fifth and sixth modulators respectively, the second input of the fourth subtraction unit is connected to the output of the seventh modulator, the second input of the fourth adder is connected to the output of the eighth modulator, the first and second amplifiers, and the input of the first amplifier is connected to the output of the fourth subtraction unit, and the output is to the second input of the first subtraction unit, the input of the second amplifier is connected to the output of the fourth adder, and the output is to the second input of the second subtraction unit, the source is stabilized bipolar voltage, the first output of which is connected to the first input of the DGK, and the second output is connected to the second input of the DGK.

The transfer function of the proposed device for the formation of control commands can be represented in an integrated form

where W _RP (p) is the transfer function of the steering gear;

ω ₀ is the roll speed of the rocket;

p = d / dt is the differentiation operator;

Ku is the transmission coefficient of the circuit in the PIC - amplifier section.

Assigning the transmission coefficient Ku equal to 10 ... 15, so that mod (W _RP (p-jω ₀ ) (Ku) >> 1, we obtain

whence it can be seen that the phase frequency response of the device at the zero frequency of the input signal will be equal to

φ (j ₀ ) = argW _UFK (j ₀ ) = 0,

those. the device does not have a phase shift, regardless of the change in the frequency of rotation of the rocket along the roll.

The lack of phase delay of the device when the rocket rotational speed changes due to the roll is explained by the fact that the device compares the input signals — control commands in the measuring nonrotating coordinate system with the signals representing the result of processing RP signals, which introduced the corresponding distortions in phase and amplitude, obtained by decompositions of the rotating output command vector into components in a non-rotating coordinate system.

The result of the comparison is used for such a change in the input signals of the RP, which would ensure minimal mismatch between the input signals of the device and the components of the output vector of commands.

Thus, the proposed control command generation device is a two-channel control system that does not require phasing of control channels when the rocket rotational speed changes in roll, on which the RP operates as a carrier, due to the automatic tracking of the correction device covering the RP with feedback, for the rotation frequency rockets over roll, varying over a wide range.

The device control command generation device is shown in FIG. 2. The device includes PI 1, BAE 2, the first RP containing the first adder 4, the trigger device 6, power amplifiers 8, 9, steering machines 12, 13, PIC 16, the second RP containing the second adder 5, the trigger device 7, power amplifiers 10 , 11, steering machines 14, 15, PIC 17, in addition, the device includes the first and second subtraction blocks 18, 19, modulators 20, 21, 22, 23, 27, 28, 29, 30, the third adder 24, the third subtraction block 26, the fourth subtraction unit 31, the fourth adder 32, the first and second amplifiers 33, 34, DGK 3, a stabilized voltage source 25.

PI consists of the following structural units: lenses, light filter, photodiode, amplifier (see page 41 [2]).

The BAE consists of a limiter amplifier, an adjustable amplifier with an automatic gain control circuit, a threshold device, four selective filters, four comparators, four normalizing devices, two coordinate allocation circuits, two correction filters, two amplifiers. The connections between the structural units of BAE are shown in Fig. 11, p. 18 [2].

Each RP consists of an amplifier, two steering machines and a PIC. In turn, the amplifier consists of two identical channels, which include a summing device, a correction filter, a trigger device and two antiphase power amplifiers, the loads of which are the windings of the steering electromagnets of the steering machines.

Each of the steering machines consists of a control electromagnet, a switchgear and a cylinder (see pages 20-24 [2]).

Schematic diagram of the DHA is shown in Fig. 12, p. 19 [2].

Adders and subtraction blocks are made according to the scheme of Fig. 11.1, p. 137 [3].

Modulators are made according to the quadratic multiplication scheme (see Fig. 11.41, p. 162 [3]).

Amplifiers are made according to the scheme of Fig.13.11 p.202 [3].

The stabilized voltage source is made according to the scheme of Fig. 3.12 p.102 [4].

The optical signal arriving at the PI containing information about the deviation of the rocket from the axis of the information field is converted into electrical signals that are fed to the inputs of the BAE.

The BAE converts the signals in order to isolate the constant voltage components proportional to the deviations of the rocket from the center of the field for each control channel.

Next, the control commands are converted from the coordinate system of the ground control equipment to the coordinate system rotating with the rocket by means of modulators 20, 21, 22, 23 together with the adder 24 and the subtraction unit 26 in accordance with the formulas

U ₂₄ = Uу · s (γ + γ ₀ ) + U _z · s (γ + γ ₀ ),

U ₂₆ = U _z · c (γ + γ ₀ ) -U _y · s (γ + γ ₀ ),

where c (γ + γ ₀ ), s (γ + γ ₀ ) are the functions of the current angle of the rocket roll;

γ is the current roll angle of the rocket;

γ ₀ is the initial phasing angle.

From the outputs of the adder 24 and the subtraction unit 26, the signals are fed to the inputs of two RPs, which work them out and form a vector of control forces, under the influence of which the rocket changes its angular position on the trajectory and as a result moves towards a decrease in deviations from the axis of the control field.

At the PIC outputs information is generated on steering deviations, used not only to obtain self-oscillations in the circuit of each RP, but also to organize feedback on the envelope of the RP output signals.

Modulators 27, 28, 29, 30 together with the subtracting unit 31 and the adder 32 convert the envelope of the output signal of the RP from a rotating coordinate system associated with the rocket into a non-rotating coordinate system associated with ground control equipment in accordance with the formulas

U ₃₁ = Uδ ₁ s (γ + γ ₀ ) -Uδ ₂ s (γ + γ ₀ ),

U ₃₂ = Uδ ₂ s (γ + γ ₀ ) + Uδ ₁ s (γ + γ ₀ ),

where Uδ ₁ , Uδ ₂ are the signals from the outputs of the feedback potentiometers of the first and second RP.

On the subtraction blocks 18, 19, the missile coordinate signals are compared with the signals from the outputs of amplifiers 33 and 34.

Note that the DGC is connected differently compared to the prototype circuit due to the fact that the reference DGC signal must be modulated not only by the rocket coordinate signals, as in the prototype, but also by the signals from the outputs of the RP feedback potentiometers to convert these signals from the coordinate system connected with a rotating missile into the NAU measuring coordinate system.

The difference between the DHA connection schemes is that, in the prototype, the DHA inputs are powered by variable rocket coordinate signals, and in the proposed circuit, constant bipolar voltages ± U are connected to the DHA inputs.

At the outputs of the DGK, reference signals are formed with (γ + γ ₀ ), s (γ + γ ₀ ), which vary at the rocket rotational speed along the roll and are 90 ° out of phase with each other, which arrive at the reference inputs of the modulators.

It should be noted such a new positive quality compared with the known device, as improving the reliability of the device. This is because in the event of a failure of one of the device’s channels, the other channel ensures the functioning of the device with virtually no change in the transmission coefficient and phase shift.

To test the proposed device, the dynamics of the rocket control loop was simulated with this device, the results of which showed the high efficiency of the proposed device and its advantage over the known ones.

Sources of information

1. ATGM 9M111M. Technical description and instruction manual 9M111M.00.00.000 TO, M., Military Publishing House, 1983 - analogue.

2. Shot 3UBK10 with a guided projectile 9M117. Technical description and instruction manual 3UBK 10.00.00.000 TO, M., Military Publishing House, 1987 - prototype.

3. W. Titze, C. Schenck. Semiconductor circuitry. - M.: Mir, 1982.

4. J. Lenk. Electronic circuits. - M .: Mir, 1985

Claims (1)

A control command generation device for a rocket rotating around a longitudinal axis, comprising a gyroscopic coordinator with a roll angle sensor, a radiation receiver connected in series, an electronic equipment block, a first steering gear with a first adder and a first feedback potentiometer, a second steering gear with a second adder and a second feedback potentiometer moreover, the outputs of the feedback potentiometers are connected to the second inputs of the respective adders, characterized in that four b subtraction eye, eight modulators, the third and fourth adders, the first and second amplifiers and a stabilized voltage source, the first inputs of the first and second subtraction blocks connected to the first and second outputs of the electronic equipment block, the first inputs of the first and third modulators connected to the output of the first block subtraction, and the first inputs of the second and fourth modulators with the output of the second subtraction unit, the output of the first modulator is connected to the first input of the third adder, the output of the second modulator is with the second input of the third adder, the output of which is connected to the first input of the first adder of the first steering gear, the output of the third modulator is connected to the first input of the third subtraction unit, and the fourth output is connected to the second input of the third subtraction unit, the output of which is connected to the first input of the second adder of the second steering drive, the output of the first feedback potentiometer of the first steering gear is connected to the first inputs of the fifth and sixth modulators, the output of the second feedback potentiometer of the second steering gear connected to the first inputs of the seventh and eighth modulators, the output of the fifth modulator is connected to the first input of the fourth subtraction unit, the output of the seventh modulator is connected to the second input of the fourth subtraction unit, the output of which is connected to the input of the first amplifier, the output of the first amplifier is connected to the second input of the first subtraction unit, the output of the sixth modulator is connected to the first input of the fourth adder, the output of the eighth modulator is connected to the second input of the fourth adder, the output of which is connected to the input of the second amplifier, you the course of the second amplifier is connected to the second input of the second subtraction unit, the first output of the stabilized voltage source is connected to the first input of the gyroscopic coordinator sensor, the second output is connected to the second input of the gyroscopic coordinator sensor, the first output of which is connected to the second inputs of the first, fourth, fifth and eighth modulators, the second output - with the second inputs of the second, third, sixth and seventh modulators.

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