RU2243494C2 - Method for monitoring of parameters of roll-stabilized guided missile, and automatic monitoring system for its realization - Google Patents

Abstract

FIELD: defense equipment, in particular, complex aids of monitoring of guided missiles.

SUBSTANCE: according to the invention, simulating values of command messages are assigned, they are modulated and converted to an electromagnetic radiation, than is fed to the input of the missile receiving channel, and the missile parameters are checked up. Simultaneously with the assignment of the simulating values of the command messages, a simulating signal of missile rolling is formed, and the signal is applied to the missile roll sensor. The current values of control commands are compared at the missile control actuator with the preliminarily assigned simulating values, and according to the results of the comparison, a conclusion is made on the conformity of the parameters under check with the assigned ones, the frequency of the missile rolling simulating signal is changed in the direct proportion to the missile flight simulating speed, and the missile guidance signal is modulated by a signal simulating the change of the missile attitude relative to the aiming point, in which realization is simplified at a high degree of accuracy of monitoring of the missile parameters. Two modifications of the automatic system of monitoring of the roll-stabilized missile are described.

EFFECT: simplified procedure at an enhanced accuracy.

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Description

The invention relates to defense technology and, in particular, to integrated means of monitoring guided missiles, for example teleoriented in the beam.

Currently, due to the high speed and high degree of confidence in the obtained control results, automated control systems are replacing conventional manual control equipment.

A known method of monitoring failures in the regulatory system described in the patent description GB 1532344, CL. G 05 B 23/00, 1978 (1), which includes the task of simulating commands, comparing the current values of the control commands on the steering gear with pre-set simulating values and evaluating the results of comparing the compliance of the controlled parameter to a given value.

Known automated control system [1], containing a series-connected source of external and internal disturbances, a service object and a control unit, the output of which through the control unit is connected to the second inputs of the service object, while the second input of the control unit is connected to the output of the allowed state block.

This well-known control system is intended for automated control of the parameters of a service object, which can be a guided missile rotating along a bank, made in the form of a receiver connected in series, channel separation and decoding equipment, and autopilot [2], which is made in the form of a conversion device connected in series commands with a roll sensor and relay steering gear [3]. The source of external disturbances during rocket testing can be represented as the source of the input signal of the receiver, i.e. command message simulator.

Since the random process x (t) describes the change in the controlled object over time under the influence of external and internal ξ (t) perturbing factors, the control of the parameters of the object is reduced to controlling the random process x (t) so that the process is constantly in the region of allowed states S $\genfrac{}{}{0ex}{}{\text{n}}{\text{p}}$ defined from the outside, while the quality of the solution to this problem determines the quality of control, i.e. speed and accuracy of measurement.

Therefore, the disadvantage of the known control method and the automated control system is the high complexity in their implementation, which affects the accuracy of the measurement of the controlled parameters.

The objective of the present invention is to provide a control method and system that are simpler in their implementation with a high degree of accuracy of control of rocket parameters.

The problem is solved due to the fact that in the method of controlling the parameters of a guided missile rotating along a roll, including the task of simulating commands, comparing the current values of the control commands on the steering wheel with preset simulating values, evaluating the results of comparing the correspondence of the controlled parameter to a given value, simultaneously with by the task of imitating commands, an imitating signal of rocket rotation along the roll angle is generated and fed to the rocket roll sensor, while the frequency is simulated of its roll rotation signal of the rocket is directly proportional to the rocket’s flight speed, command messages are used as simulating commands, which modulate, convert to electromagnetic radiation and are fed to the input of the rocket’s receiving path, and the command messages are set in the form of a function simulating a change in the position of the rocket relative to the point aiming.

An automated control system for the parameters of a guided missile rotating along a roll and consisting of a receiver in series, channel separation and decoding equipment, a command converter with a roll sensor and steering gear, containing a control unit and a command message simulator. What is new is that a missile rotation signal simulator is introduced, and the roll sensor is made in the form of N optocoupler pairs of LED-photodiode, where N = 1, ... n, the first conclusions of the LEDs and photodiodes are connected to the body, and the second conclusions are connected through the corresponding resistors with a power source, while the second terminals of N photodiodes are connected respectively to the N outputs of the rotation signal simulator and N inputs of the control unit, the (N + 1) -th input of which is connected to the input of the steering gear, and the (N + 2) -th input - to the first output of the command message simulator, the second output is a cat cerned is linked to the receiver input.

An automated control system for parameters of a guided missile rotating along a roll and consisting of successively connected receivers, channel separation and decoding equipment, a command converter with a roll sensor and steering gear, contains a control unit and a command message simulator. What is new is that a missile rotation signal simulator and matching device are introduced, and the roll sensor is made in the form of N optocoupler LED-photodiode pairs, where N = 1, ... n, the first conclusions of N photodiodes and the first LED are connected to the power source, and the second terminals of the N photodiodes and the Nth LED are connected through the resistors to the housing, the second terminal of the first LED being connected to the first terminal of the second LED, the second terminal of the second LED connected to the first terminal of the third, etc. right up to the first output of the Nth LED, the first outputs of the N LEDs and the second output of the Nth LED are connected to the corresponding outputs of the matching device, N inputs of which are connected respectively to the N outputs of the rotation signal simulator and N inputs of the control unit, (N + 1 ) the input of which is connected to the input of the steering gear, and the (N + 2) input is to the first output of the command message simulator, the second output of which is connected to the input of the receiver.

The claimed method is implemented as follows. Form command messages U _cc [2], simulating the guidance signals of the missile at the target along the course and pitch, while changing the command value in both channels as a function of U _cc = K · f (t), where K is a constant coefficient, for example, from the maximum positive value to the minimum negative in a sinusoidal manner, modulate U _cc , for example, according to the law of time-pulse modulation (VIM), converted into electromagnetic radiation and fed to the optical input or with additional amplitude modulation (VIM-AM) - to the antenna of the receiving path . Other types of modulations are possible. At the same time, a simulating signal of rocket rotation along the roll in flight is formed, for example, using an angle-to-number converter [4], which repeats the signal generated by the roll sensor located on the rocket. An imitation signal of rocket rotation along the roll is fed to the input elements of the rocket roll sensor.

By changing the frequency of the simulated rocket rotation signal along the roll (for example, the speed of the code disk in the angle-to-number converter), you can simulate the change in the flight speed of the rocket from minimum to maximum values. This follows from the fact that the flight of a rocket rotating along a roll is essentially a helical movement [4], while

where υ is the flight speed (rectilinear translational motion),

p is the parameter of the screw (for example, rocket stabilizers, creating a rotational motion),

ω is the angular velocity of the rocket in roll.

Thus, by supplying a modulated command message simulating a signal of pointing it to the target at the input of the rocket’s receiving path, and a signal that simulates its rotation along the roll, we will generate a signal at the rocket’s output, i.e. on the windings of the steering drive, control commands, the values of which are given by these simulating, time-varying signals. Since the values of the simulated commands are predefined, i.e. they are known for each current moment (interval) of time, then given (for example, programmatically changeable in time) command messages and actually measured decoded control commands on the steering drive can be compared in magnitude, and therefore, to distinguish the difference between these two current values in time, and use it to conclude that the controlled parameters correspond to the given values.

By changing the frequency of the rotation signal and the values of command messages, it is possible to simulate in real time the entire process of the flight of the rocket to the target and at the same time control the end-to-end parameters of the guided missile, for example, its transmission coefficient.

The invention is illustrated by drawings (figures 1, 2, 3 and 4).

Figure 1 shows the structural electrical diagram of an automated control system for guided missile parameters (first option) at N = 2, where 1 is a command message simulator, 2 is a missile, 3 is a receiver, 4 is a rotation signal simulator, 5 is a roll sensor (two optocoupler pairs LED-photodiode, separated by a coding disk), 6 - equipment for channel separation and decoding, 7 - command converter, 8 - control unit, 9 - steering gear.

Figure 2 shows the structural electrical circuit of the control unit 8 (an example of a single channel with N = 2), where 10 is a decoder, 11 is a 3 AND logic circuit, 12 is a 3 OR-NOT logic circuit, 13 is a quartz crystal pulse generator, 14 - exclusive OR circuit with inversion, 15 - 2 AND logic, 16 - 2 OR logic, 17 - pulse shaper, 18 - counter, 19 - delay, 20 - register, 21 - digital-to-analog converter (DAC), 22 - adder, 23 - comparator, 24 - indicator, U _pop - threshold voltage.

Figure 3 shows the waveform diagrams for N = 2, a and b - respectively, at the first and second outputs of the simulator of the rotation signal 4, c - at the output of the steering gear 9, d - at the output of the logic circuit “2 AND” 15, d - on the output of the exclusive OR circuit 14, e - at the counting input of the reversing counter 18, g - at the output of the pulse shaper 17, s - at the output of the DAC 21.

Figure 4 shows the structural electrical circuit (with an example of the implementation of its blocks for the second option) and its electrical connection with the main circuit (figure 1) at N = 2, where 25 is a matching device, R5 and R6 are current-limiting resistors, R7 and R8 - basic resistors, VD5 and VD6 - protective diodes, VT1 and VT2 - transistors operating in key mode.

The first version of the claimed device. On rocket 2, receiver 3, channel separation and decoding equipment 6, command converter 7 with roll sensor 5 and steering gear 9 are connected in series. The first outputs of the LEDs VD1, VD2 and photodiodes VD3, VD4 of N = 2 optocouplers are connected to the housing, and their the second conclusions through the corresponding resistors (R1, R2 and R3, R4) are connected to the power source E, while the second conclusions of N = 2 photodiodes VD3 and VD4 are connected respectively to N = 2 outputs of the rotation signal simulator and N = 2 inputs of the control unit 8, (N + 1) = the 3rd input of which is connected to the input of the steering gear, (N + 2) = 4th input - to the first output of the command message simulator 1, the second output of which is connected to the input of the receiver 3.

The second variant of the claimed device. On rocket 2, receiver 3, channel separation and decoding equipment 6, command converter 7 with roll sensor 5 and steering gear 9 are connected in series. The first terminals N = 2 of the photodiodes VD3, VD4 and the first LED VD1 are connected to the power source E, and the second terminals N = 2 photodiodes VD3, VD4 and the N-th (second) LED VD2 through the corresponding resistors (R2, R3 and R1) are connected to the housing. The second terminal of the first LED VD1 is connected respectively to the first terminal of the second (N = 2) LED VD2. The first terminals N = 2 of the LEDs VD1, VD2 and the second terminal N = 2 of the (second) LED VD2 are connected to the corresponding outputs of the matching device 25, N = 2 of the inputs of which are connected respectively to the N = 2 outputs of the simulator of the rotation signal 4 and N = 2 inputs of the block control 8, (N + 1) = the 3rd input of which is connected to the input of the steering gear 9, and (N + 2) = the 4th input - to the first output of the command message simulator 1, the second output of which is connected to the input of the receiver 3.

The simulator of command messages 1 can be performed, for example, as coding and channelization equipment in which U _kc1 = U _kc2 = U _{kc are} changed, for example, according to a sinusoidal law [2] with subsequent VIM modulation and with or without AM modulator.

The receiver 3, the equipment for channel separation and decoding 6, the command converter 7 with the roll sensor 5 can be performed as in [2]. In this case, the receiver 3 and the equipment 6 are the receiving path of the radio link with time-pulse modulation of the subcarrier oscillation and the amplitude modulation of the carrier (VIM-AM).

It is possible to execute receiver 3 differently, for example, without AM for the optical receiving path, while it may be a photodiode with a resistor load connected to a signal amplifier covered by the AGC. The command converter 7 with a roll sensor 5 is essentially a well-known autopilot circuit with a positional gyroscope [2, 3]. The only difference is that the axis of the external frame of the positional gyroscope is connected not to the current collector D of the potentiometer, but to the center of the coding disk [4], while N optocouplers are used as a light source and photodetectors, for example, four or two, as in the example, shown in figure 1 in the claimed device. The steering drive 9 can be made in the form of two windings of the relay mechanism, which alternately attracts the armature associated with one pair of rudders [3].

The simulator of rotation signal 4 for N = 2, unlike the angle-to-number converter [4], can be performed differently, for example, as a pulse generator (with a duty cycle of two), to the output of which two frequency dividers (by two) are connected, which are activated respectively on the leading and trailing edges of the input signal, for example, the inputs “C” and “V” of the 564IE10 chip, respectively. An example of the execution of the control unit 8 is shown in figure 2, where the logic circuitry “3 AND” 11, “3 OR-NOT” 12, “exclusive OR” with inversion 14, “2 AND” 15, “2 OR” 16 and the register is conventional microcircuits, for example the 564th series. Quartz oscillator 13 is a frequency-stabilized oscillator. The pulse generator 17, for example, a differentiating RC chain. Reversible counter 18, for example, chip 564IE11. Delay 19, for example, an integrating RC chain. DAC 21 is known, for example [4]. The adder 22 and the comparator 23 can be performed on an operational amplifier. Indicator 24, for example, an LED. _Uop , for example, a stabilized voltage source.

The claimed automated control system for parameters of a guided missile rotating along a roll works as follows. In the initial state, the coding disk in the roll sensor 5 on rocket 2 is set so that the LEDs VD1 and VD2 do not light up (when applying voltage to the rocket, and therefore to the optocoupler pair of sensor 5 from external source E), photodiodes VD3 and VD4.

From the output of the command message simulator 1, for example, an electromagnetic pulse radiation is fed through the optical fiber to the optical input of the receiver 3, which converts this radiation into an electrical pulse signal and amplifies it. From the output of the receiver 3, the signal is fed to the channel separation and decoding equipment 6, where this signal is separated by the pitch “Y” and the course “Z” and decoded, i.e. VIM is converted to the value of the command, respectively, “Y” and “Z”.

The simulator of the rotation signal 4, for example, two of its output electronic keys connected to the cathodes of the photodiodes VD3 and VD4, closing them on the housing, form an electrical signal shown in diagrams a and b of figure 3, which is transmitted to the command converter 7. Within 0. ..90 ° to the output of command converter 7 receives a command at the rate of “+ Z”, 90 ... 180 ° receives a command for pitch “+ Y”, 180 ... 270 ° receives a command “-Z”, and within 270 ... 360 ° - the “-Y" command.

Thus, the command converter 7 converts the commands from the fixed coordinates of the control point (which simulate the command message simulator 1) to the roll coordinate system of the rocket, which simulates the rotation signal simulator 4, while the rotation signal frequency (the duration of the repetition period of the T signals on the diagram a and b of figure 3) determines the angular velocity of rotation of the rocket along the roll, and hence its flight speed, as noted earlier.

The relay signal from the output of the command converter 7 (plot in figure 3) alternately at the rate of “Z” and pitch “Y” in each quarter of the roll period T, respectively, with its sign (inverted command or not) is fed to the steering gear 9, which I would work out these commands during the flight.

As noted above, the control unit 8 can be represented in the form of two identical devices at the “Z” course and “Y” pitch, therefore, further work is considered only at the “Z” course.

The signals from the first and second outputs of the rotation signal simulator 4 (diagrams a and b of FIG. 3) are respectively supplied to the first and second inputs of the control unit 8, i.e. the first and second inputs of the logic circuit “3 AND” 11 in the demodulator 10. The third input of the logic circuit “3 AND” 11 receives a signal from the input of the steering gear (plot in figure 3) At the output of the logic circuit “3 AND” 11 is formed signal for 0 ... 180 °, shown on the diagram g (figure 3).

The signals arriving at the first, second, and third inputs of the “3 AND” logic circuit 11 also arrive at the first, second, and third inputs of the “3 OR-NOT” logic circuit 12, at the output of which a signal is generated over 180 ... 360 ° shown in Fig.3 (plot d). The logic circuit “2 And” 15 combines these two signals during the period T into one (diagram g in figure 3).

The signals from the first and second outputs of the rotation signal simulator 4 (diagrams a and b in FIG. 3) are also fed to an exclusive OR 14 logic circuit, at the inverse output of which a signal is generated, shown in diagram D of FIG. 3. The signals from the output of the circuit 14 and the oscillator (with a stabilized pulse frequency) 13 are fed to the logic circuit “2 AND” 16, the output of which is formed by a burst of pulses with a duration of 1/4 T (plot e in figure 3).

The pulse shaper 17 generates from the signal from the output of the circuit 14 (plot d in Fig. 3) pulses (plot ж in Fig. 3), which arrive through the delay 19 to the input of zeroing "R" of the reverse counter 18 and set its outputs (binary digits ) to the logical state zero.

The signal from the output of circuit 15 (diagram r in Fig. 3) to the input for switching the counting direction (input "± 1") of the reverse counter 18 determines the counting mode summing (increasing the binary number) or subtracting (decreasing the binary number) for pulses, arriving at the counting input "C" of the reverse counter 18 from the output of the circuit 16.

Thus, at the output of the reversible counter 18, at the end of each quarter corresponding to the “Z” and “-Z” commands, binary numbers are formed whose values are equal to the difference in the durations of the positive and negative values of the commands. Each value of the command value is written (rewritten) from counter 18 to register 20 by a pulse from the output of shaper 17 (plot 3 in FIG. 3), which then resets counter 18 through delay 19, after which the process is repeated again.

From the output of register 20, a binary number is fed to the inputs of the DAC 21, where it turns into an analog signal (diagram 3 in Fig. 3), which is added to the adder 22 in antiphase with a command message U _кc , from the second output of the command message simulator 1 (diagram 3 figure 3). In this case, an error signal is generated, the value of which is directly proportional to the amplitude of this (difference) signal.

The error signal from the output of the adder 22 is fed to the first input of the comparator 23, where it is compared with the tolerance value, i.e. the value of the threshold voltage U _pop . If the error signal exceeds the value of U _pop , the comparator 23 abruptly changes the sign of the voltage at its output and the indicator 24 registers an error indicating the parameter is out of tolerance.

As follows from the above, it is possible to control the pitch channel “Y” in the same way, for example, alternately (the simplest case) or simultaneously, for which it is necessary to simultaneously remove two teams U _kc1 (in course) and U _kc2 (in pitch), for example, from the second and the third (not shown in FIG. 1) outputs of the command message simulator 1 and apply respectively to the fourth and fifth (not shown in FIG. 1) inputs of the control unit 8.

The second version of the automatic control system functions similarly, with the only difference being that the circuitry of block 5 (Fig. 4) is different from the previous one shown in Fig. 1, and the photodiodes VD3 and VD4 in Fig. 4 are lit in the initial state. Therefore, the LEDs VD1 and VD2 are switched by shorting them with transistor switches VT1 and VT2 located in the matching device 25, the inputs of which are similarly connected to the simulator of the rotation signal.

As follows from the above, in the claimed automated control system of a rocket rotating along a roll (two options), they monitor the parameters of the rocket current in time with real-time simulation of the flight speed and the location of the rocket in the control field, i.e. end-to-end control of the electric parameters of the rocket is performed (at the input of the steering gear, for example, on its control windings), while the rocket 2 and the control unit 8 are

a) the same signals from the rotation simulator 4;

b) the values of command messages from simulator 1 for rocket 2 are temporarily pulse modulated, and for control unit 8 unmodulated;

c) the signal from the output of the rocket 2 (from the input of the steering gear 9) comes only to the control unit 8, where it is decoded and compared with the set ones (U _kc1 and U _kc2 ), i.e. with signals from the second output of block 1.

Therefore, the control accuracy, which is determined practically by the accuracy of the time-pulse modulation in the command message simulator and the decoding accuracy in the control unit, which are determined by the digital implementation of the bit number, can be performed very high with a fairly simple implementation.

Thus, in the method for monitoring the parameters of a guided missile rotating along the roll, due to the fact that simultaneously with setting the simulating values of the command messages, a simulating missile rotation signal is generated along the angle of the heel and fed to the rocket heel sensor, the current values of the control commands on the steering gear of the rocket are compared with pre-set simulating values and according to the results of comparison, they conclude that the controlled parameters correspond to the specified ones, while changing the frequency of the simulated rotation signal of the cancer you roll in direct proportion to the missile’s flight speed, and the value of command messages is set in the form of a function that simulates a change in the position of the rocket relative to the aiming point, its implementation is simplified with a high degree of accuracy of control of the rocket parameters.

The introduction of a rotation signal simulator and the roll sensor in the form of N optocouplers into an automated control system for the parameters of a guided missile rotating along a roll made it easy to implement this device (in two versions), which has small overall mass and cost characteristics, with a high degree of control accuracy rocket parameters.

Sources of information

1. V.D. Kudritsky, M.A. Tit, P.I. Chinaev. Automation of control of electronic equipment, M .: Soviet radio, 1977, p. 5-7, Fig. 1.1.

2. V.A. Weitzel, V.N. Tipugin. Fundamentals of Radio Control, Moscow: Soviet Radio, 1973, pp. 41-44, 49-52, Fig. 1.27, 1.29; 237-239, 246-248, fig. 4.28.

3. V.A. Pavlov, S.A. Ponyrko, Yu.M. Khovansky. Stabilization of aircraft and autopilots, Moscow: Higher School, 1964, p. 115, 208, 209, Fig. 6.11.

4. V.P. Demidov, N.Sh. Kutyev. Anti-aircraft missile control, M .: Military publishing house, 1989, pp. 283-287, Fig. 10.3, 10.4; p. 291-293.

5. Physical Encyclopedic Dictionary, Ch. Editor A.M. Prokhorov, Moscow: Sov. Encyclopedia, 1984, p. 77.

Claims (3)

1. A method of controlling the parameters of a guided missile rotating along a roll, including the task of simulating commands, comparing the current values of the steering commands on the steering wheel with pre-set simulating values, evaluating the results of comparing the compliance of the controlled parameter with a given value, characterized in that at the same time as specifying the simulating commands form a simulating signal of rotation of the rocket along the angle of heel and feed it to the sensor of the roll of the rocket, while changing the frequency of the simulating rotation signal of the cancer you roll in direct proportion to the missile’s flight speed, use command messages as modulating commands, which modulate them, convert them to electromagnetic radiation and feed them to the missile’s receiving path, and command messages are set in the form of a function that simulates a change in the position of the rocket relative to the aiming point. 2. An automated control system for the parameters of a guided missile rotating along a roll and consisting of successively connected receivers, channel separation and decoding equipment, a command converter with a roll sensor and steering gear, comprising a control unit and a command message simulator, characterized in that it is equipped with a signal simulator rocket rotation, and the roll sensor is made in the form of N optocoupler pairs of LED-photodiode, where N = 1, ... n, the first conclusions of the LEDs and photodiodes are connected to the housing, and the second conclusions through the corresponding resistors are connected to the power source, while the second terminals of N photodiodes are connected respectively to the N outputs of the rotation signal simulator and the N inputs of the control unit, the (N + 1) -th input of which is connected to the input of the steering gear, and the (N + 2) -th input - to the first output of the command message simulator, the second output of which is connected to the input of the receiver. 3. An automated control system for parameters of a guided missile rotating along a roll and consisting of series-connected receiver, channel separation and decoding equipment, a command converter with a roll sensor and steering gear, comprising a control unit and a command message simulator, characterized in that it is equipped with a signal simulator rocket rotation, matching device, and the roll sensor is made in the form of N optocoupler pairs of LED-photodiode, where N = 1, ... n, the first conclusions of N photodiodes and the first LED are connected to a power source, and the second terminals of the N photodiodes and the Nth LED are connected through the resistors to the housing, the second terminal of the first LED being connected respectively to the first terminal of the second LED, the second terminal of the second LED connected to the first terminal of the third, etc. right up to the first output of the Nth LED, the first outputs of the N LEDs and the second output of the Nth LED are connected to the corresponding outputs of the matching device, N inputs of which are connected respectively to the N outputs of the rotation signal simulator and N inputs of the control unit, (N + 1 ) the input of which is connected to the input of the steering gear, and the (N + 2) input is to the first output of the command message simulator, the second output of which is connected to the input of the receiver.

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