RU2280226C1 - Method for formation of control commands on roll-stabilized rocket, and control system of roll-stabilized rocket - Google Patents

Abstract

FIELD: armament, in particular, rocketry, roll-stabilized rockets.

SUBSTANCE: a linearized signal is formed on the rocket from the roll signal, which with regard to the rocket roll angle is compared with the decoded values of the command messages respectively in heading and pitching, rocket control commands are formed in the form of a width-modulated signal as a result of comparison. The swing value of the linearized signal is independent of the roll signal duration and is changed inversely proportionally to the required values of the control commands. Introduction of an OR exclusive logic circuit, relay element and a programming device in the rocket control system has enhanced the accuracy of formation of width-modulated control commands.

EFFECT: enhanced accuracy of formation of width-modulated signals.

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Description

The invention relates to a method and control systems for aircraft rotating along a roll angle, and can be used in missile control systems forming control commands on board.

There is a known method of generating control commands and a missile control system based on it (Russian Patent No. 2218540 dated January 3, 02, IPC F 41 C 7/00, F 42 B 15/01), selected as a prototype. The method of generating control commands consists in converting the electromagnetic radiation received from the control point on the rocket into an electrical signal, which is decoded according to the course and pitch, converting it according to the roll of the rocket along the roll, and then summing it with the feedback signal from the output of the power drive and pulse width modulated rocket control commands are formed from the total signal.

A well-known missile control system using this method contains control room equipment, and on a rocket there are series-connected receiver and channel separation and decoding equipment, the pitch and course outputs of which through the first and second multiplication units are respectively connected to the first and second inputs of the command converter ( coordinates), as well as the steering control channel, which includes the adder, correction filter, Schmidt trigger and two key power amplifiers, the inputs of which are sequentially connected x connected to the output of the Schmidt trigger, respectively directly and via an inverter, the input of the adder is connected to the output of inverter commands. As follows from the patent description, the command converter contains a roll (rotation) sensor.

In the known method for generating missile control commands, pulse-width modulated (PWM) missile control commands are generated from the total signal (converted according to the roll of the missile in roll angle and feedback), and feedback is implemented in the missile control system based on this method with the help of a potentiometer, from which the voltage is proportional to the steering angle, i.e. missile control teams are formed using an electro-mechanical automatic control system.

Therefore, the disadvantage of the known missile control system and the method of forming commands that it implements is the insufficiently high accuracy of the formation of pulse-width modulated missile control commands due to the inability to control the transmission coefficient.

The task of the invention is to improve the accuracy in the formation of pulse-width modulated control commands by adjusting the transmission coefficient.

The problem is solved due to the fact that in the method of generating control commands on a rocket rotating along the angle of heel, at which the rotation signal is generated, received command messages are decoded, and then the missile control commands are generated from them in the course and pitch, additionally on the rocket form rotation signal a linearized signal, which, taking into account the angle of heel of the rocket, is compared with the decoded values of the command messages according to the course and pitch, and as a result of the comparison, the command ION missile in form of a pulse width modulated signal, wherein the signal amplitude magnitude linearized produce independent of the duration of the rotation signal and changing inversely proportional to the desired value of the quantity control commands.

A control system for a rocket rotating along a roll angle implementing this method includes a coordinate transformer, a roll sensor, a power drive, as well as a receiver and channel separation and decoding equipment sequentially connected with the heading and pitch, the first and second outputs of which are connected respectively to the first and second inputs of the coordinate transformer, an exclusive OR logic circuit, a signal linearizer, a relay element and a software device are introduced into it, while the third and fourth inputs of the coordinate transformer t are connected respectively to the first and second inputs of the exclusive OR logic circuit and to the first and second outputs of the roll sensor, the output of the exclusive OR logic circuit is connected to the input of the signal linearizer, the output of the signal linearizer is connected to the input of the software device, while the output of the coordinate converter connected to the first input of the relay element, the second input of which is connected to the output of the software device, and the output of the relay element is connected to the input of the power drive.

The claimed method of forming control commands on a rocket rotating in a roll angle is implemented as follows. After the launch, the rocket rotates along the angle of heel, while a rotation signal is generated on it, for example, in the form of pulses, the repetition period of which corresponds to a 360 ° roll of the rocket along the angle of heel. The duration of the pulses and their repetition period in time is determined by the speed of rotation of the rocket around its axis.

Received command messages from the control point are decoded on the rocket, a linearized signal is generated from the rotation signal of the rocket, and these two signals (decoded and linearized) are compared in amplitude according to the course and pitch, taking into account the angle of heel. As a result of comparison, for example, using the comparator, control commands for the course and pitch are generated in the form of a pulse-width modulated signal. To exclude the influence of the rocket rotation speed along the angle of heel on the value of commands, the magnitude of the linearized signal swing, i.e. the magnitude of the amplitude of the signal from peak to peak, is generated independent of the duration of the rotation signal and is additionally programmatically changed inversely with the required change in the transmission coefficient, i.e. values of rocket control teams. Changing the values of control commands generated on board a rocket can be made, for example, from the temperature, from the time since the launch of the rocket, etc.

The invention is illustrated by drawings.

Figure 1 shows a structural electrical diagram of a missile control system rotating in roll angle, which shows: 1 - receiver (P), 2 - roll sensor (DK), 3 - channel separation and decoding apparatus for heading and pitch (ARC), 4 - logic circuit "exclusive OR" (ISKL), 5 - coordinate converter (PC), 6 - signal linearizer (LS), 7 - software device (PU), 8 - relay element (RE), 9 - power drive (SP )

Figure 2 shows the plot of the signals, which are: a - the signal at the first output of the roll sensor 2; b - signal at the second output of the roll sensor 2; in - a signal at the output of the exclusive OR logic 4; g - signal at the output of the signal linearizer 6 (solid line) and at the input of the coordinate transformer 5 (dashed line); d is the signal at the output of the relay element 8.

In Fig. 3, as an example of embodiment, a structural electric circuit of the signal linearizer 6 is shown, where: 10 — step signal shaper (FSS), 11 — synchronizer (C), 12, 15, and 17 — first, second, and third pulse shapers, respectively ( FI1, FI2, and FI3, respectively), 13 - logical circuit "I" (I), 14 - "RS" -trigger (PC), 16 - pulse counter (SI), 18 - register (RG), 19 - calculator (В ), 20 is an integrator (IN).

Figure 4 shows the plot of the signals, which are: e - the signal at the input of the first pulse shaper 12; g, h, and - signals at the outputs of the first 12, second 15, and third 17 pulse shapers, respectively; k is the signal at the output of the "RS" trigger 14; l is the signal at the output of the integrator 20 (without bias).

In a rocket control system rotating along a roll angle, the output of receiver 1 is connected to the input of channel separation and decoding equipment 3, which is connected by the first "Z" and second "Y" outputs, respectively, to the first and second inputs of the coordinate transformer 5. The third and fourth inputs of the transducer coordinates 5 are connected respectively to the first and second inputs of the exclusive OR logic 4 and connected to the first and second outputs of the roll sensor 2. The output of the exclusive OR 4 logic circuit is connected to the input of the signal linearizer 6, the output of which is connected to the input of the software device 7, while the output of the coordinate converter 5 is connected to the first input of the relay element 8, the second input of which is connected to the output of the software device 7, and the output of the relay element 8 is connected to the input of the power drive 9.

Receiver 1, channel separation and decoding equipment for heading and pitch 4 can be performed either as a prototype or as in ("Fundamentals of radio control" edited by Vejtsel V.A. and Tipugin V.N., Moscow, "Soviet Radio", 1973 G., p. 247, Fig. 4.28).

The roll sensor 2 can be performed as a positional gyroscope ("Fundamentals of radio control" edited by Vejtsel V.A. and Tipugin V.N., Moscow, "Sovetskoe Radio", 1973, pp. 49-52, Fig ..29) in this case, the axes X _Г and У _Г are interchanged, and instead of a mechanical potentiometer with a current collector, an optoelectronic LED with two pairs of LED photodiodes is used, separated by an opaque cylindrical surface with slots, and the center of the cylinder forming this surface is connected to the axis of the frame (as in the positional gyroscope), and two pairs of LED-photodiode mounted on the housing gyroscope. In this case, the coordinate transformer 5 is transformed into a multiplexer, the first and second switched inputs of which give signals "U" and "Z", and the third and fourth - minus "Y" and minus "Z" (through inverters). In the analog version, the 564KP1 chip (one channel) can be used as a multiplexer.

The exclusive OR logic 5 can be performed on the 564LP2 chip.

The relay element 8 can be performed as a comparator or a digital adder, while the sign bit of the output binary number (in parallel code) in the adder is the output of the relay element 8. The power actuator 9 can be performed as a two-position relay using two electromagnets, attracting alternately an armature connected with the rudders of the rocket, in this case two transistor output circuits are used (L.I. Leonenko “Semiconductor forming circuits”, Moscow “Energia”, 1974, p. 5, Fig. 1) operating in antiphase.

The software device 7 can be executed, for example, on a read-only memory (ROM) chip 556РТ7, while the linearized signal from the output of block 6 should be represented in the form of a binary parallel number, for example, at the first inputs of the ROM (line addresses), to the second inputs (addresses columns) serves in a binary parallel code number, for example, from a pulse counter, launched at the moment of rocket launch.

The synchronizer 11 is a quartz oscillator of pulses. The first pulse shaper 12 may be configured as a standby multivibrator. The second 15 and third 17 pulse shapers can be made each as two series-connected waiting multivibrators. As the logical circuit "And" 13 "RS" -trigger 14, you can apply the chip 564LA7 and 564TM2, respectively. As a pulse counter 16 and register 18, 564IE10 and 564IR6, respectively, can be used. The calculator 19 can be performed on a ROM, for example a 556PT7 chip. Integrator 20 can be performed as in the prototype.

The control system of a rocket rotating in a roll angle works as follows. At the initial moment of time, when the rocket is launched, the on-board power source enters the operating mode. From the moment the rocket leaves the launcher, it begins to rotate along the roll, for example, due to the rotation of the blades of the rocket stabilizers, while the roll sensor 2 starts to generate two pulse sequences shown in Fig. 2 (diagrams a and b). The levels and moments of changes in the levels of these impulses correspond to the rocket turning in roll angle.

When radiation is received at the input of receiver 1, for example, from a VIM-AM transmitted via a radio link or from a VIM transmitted via an optical communication line, receiver 1 converts this radiation into electrical pulses from a VIM.

Next, the signal from the output of the receiver 1 is fed to the input of the channel separation and decoding equipment at the heading and pitch 3, where the command values at the heading "Z" and pitch "U" corresponding to the Cartesian coordinate system of the control point are highlighted. From the output of the equipment for channel separation and decoding at the heading and pitch 3, the signals corresponding to the values of the commands at the heading "Z" and pitch "U" are received respectively at the first and second inputs of the coordinate transformer 5, the third and fourth inputs of which are given signals from the first and the second outputs of the roll sensor 2 (diagrams a and b of figure 2). In accordance with the rotation of the rocket along the roll from 0 ° to 360 °, the coordinate transformer 5 generates at the exit to each quarter of the rotation of the rocket along the angle of roll, i.e. 0 ° ... 90 °, 90 ° ... 180 °, 180 ° ... 270 ° and 270 ° ... 360 ° teams, respectively, for example, “U”, “Z”, minus “U” and minus "Z", depicted by the dotted line on the diagram d of figure 2. Thus, commands from the coordinates of the control point, which transmits guidance commands, are converted into commands associated with the rotation of the Cartesian coordinate system of the rocket.

At the same time, pulses from the first and second outputs of the roll sensor 2 are received respectively at the first and second inputs of the exclusive OR 4 logic circuit, forming pulses in each quarter of the roll period (plot in FIG. 2). These pulses are fed to the input of the linearizer of the signal 6, which forms the signal depicted by a solid line in the diagram d of figure 2.

The signal from the output of the coordinate transformer 5 is fed to the first input of the relay element 8, the second input of which receives a sawtooth signal from the output of the signal linearizer 6 (plot d in figure 2) through the software 7. When these two signals are equal, the output of the relay element 8 is formed a relay signal (diagram d in FIG. 2), the value of the command in which (in each quarter of the roll period) is determined by the ratio of the durations of the positive and negative values of the signals. The signal from the output of the relay element 8 is fed to a power single-channel drive 9, which, when the rocket rotates along the roll, alternately executes a command in each quarter of the roll period.

The signal linearizer 6 (Fig. 3) for generating control commands on a rocket operates as follows. From the moment the rocket starts, it begins to rotate along the angle of heel, for example, due to the rotation of the stabilizer blades, while roll impulses are formed. The heel period (0 ° ... 360 °) is divided from the moment the rocket begins to rotate until the rotation ends into time intervals equal to one quarter of the heel period, i.e. 0 ° ... 90 °, 90 ° ... 180 °, 180 ° ... 270 °, 270 ° ... 360 °, etc. From the roll impulses (during each time interval) a linearized signal is generated. The magnitude of the amplitude of this signal (A), generated, for example, by an integrator (L. Falkenberry. "The use of operational amplifiers and linear ICs", Moscow, 1985, p. 128) is defined as:

where U is the value of the signal at the input of the integrator;

T is the duration of the time interval during which U acts;

τ is the integrator time constant.

A missile flight is a helical movement, consisting of a rectilinear translational motion and rotation around its axis along the angle of heel (due to stabilizers creating a rotational movement). Moreover, since the flight speed of the rocket changes, the duration of the time interval T changes, and therefore the magnitude of the amplitude (for an alternating value) or amplitude (for example, for a positive value) of signal A.

For the formation of PWM commands using linearized (sawtooth) voltage ("Fundamentals of Radio Control", edited by Vejtsel V.A. and Tipugin V.N., Moscow, "Sov. Radio", 1973, p. 239, Fig. 4.22) it is required that A = const, at T = var. This can be achieved by a corresponding change in U at τ = const, which follows from expression (1)

where K = -A · τ = const is the coefficient.

Since the value of U at the input of the integrator is set from the moment the construction of the linearized signal begins, then

where i = 1, 2, ..., n.

Thus, at the initial time, a time interval is measured equal to, for example, T ₁ (see diagram l in FIG. 5), which corresponds to a signal with amplitude A ₁ . The value of T ₁ on the time interval T ₂ set at the input of the integrator value U ₂ to build A ₂ . Similarly, the measured T ₂ and put it at timeslot T ₃ value U ₃ for constructing A _3, etc.

Therefore, measure the duration of the current time interval corresponding to one quarter of the roll period, which set the magnitude of the amplitude of the linearized signal corresponding to the subsequent time interval.

Since the rocket first accelerates, and at the end of the flight, when the engine is turned off, its speed drops, the change in the value of T is monotonous in nature, while the errors in setting the values of U ₁ , U ₂ , ..., U _n from the previous values of T _{i are} small.

As follows from the above, a signal with amplitude A ₀ should be built on the previous value of the time interval, which is absent. Therefore, for the duration of the first quarter of the heeling period, the rudders of the rocket can be blocked, for example, in the middle position, or set by a value of T ₀ determined, for example, experimentally.

The shape of the linearized signal implemented according to the claimed method can be made in the form of a linear increase in the amplitude of the signal over one quarter of the roll period and “instant” decrease (as shown in diagram 5 of FIG. 5), with the change in magnitude being from minus A / 2 to A / 2, or amplitudes from zero to A with a zero level offset of minus A / 2 (by summing).

Upon receipt of a step signal 10 at the input of the driver, i.e. to the input of the first pulse shaper 12 of the signal (plot e in Fig. 4), it generates pulses from the leading and trailing edges of this signal (plot e in Fig. 4). These pulses are fed to the first input of the "RS" -trigger 14 and set its output to a zero logic level, which goes to the second input of the logic circuit "And" 13 and prevents the passage of pulses from the output of the synchronizer 11 to the counting input (input "C") of the counter pulses 16. Simultaneously, the pulses from the output of the first pulse shaper 12 are fed to the input of the second pulse shaper 15, which generates pulses delayed relative to the input ones (plot 3 in FIG. 4). These pulses are fed to the input recording information (input "C") in the register 18 and rewrite the information received at the information input of the register 18 from the output of the pulse counter 16.

At the same time, pulses from the output of the second pulse shaper 15 are fed to the input of the third pulse shaper 17, which generates pulses delayed relative to the input (plot and figure 4). These pulses reset the pulse counter 16 at the input “R” and, at the second input “RS” of the trigger 14, set a single logic level (diagram K in FIG. 4) at its output, which allows the pulses to pass from the synchronizer 11 through the logic circuit “And” 13 to the counting input (input "C") of the pulse counter 16.

Thus, during a single logical level at the output "RS" of the trigger 14, the pulse counter 16 produces a pulse count, and the binary number from the outputs of the pulse counter 16, then rewritten to register 18, is directly proportional to the duration of one quarter of the roll period, t. e. T ₁ , T ₂ , T ₃ , ..., T _n .

The binary number from the output of the stepper signal former 10, i.e. from the output of the register 18 is fed to the input of the calculator 19, which, in accordance with the expression (3), calculates the value of U _i .

Thus, the value of U _i , stepwise adjustable in each quarter of the roll period, when the rocket rotational speed changes from the output of the calculator 19, is fed to the input of the integrator 20. During each quarter of the roll period, the integrator 20 integrates the voltage value and generates a linearized signal (diagram l figure 4). At the end of the roll period, at times when the output of the “RS” trigger 14 has a logic level of zero, the integrator 20 is reset to zero by the signal from the output of the first pulse shaper (plot e in FIG. 4).

Therefore, the integrator 20 generates a linearized signal (plot l in figure 4) with amplitude A ₁ the size of the interval T ₀ , A ₂ the size of the interval T ₁ , etc.

Since the formation of commands requires an alternating linearized signal (plot r in figure 2), the output signal can, for example, be summed with a value equal to minus A / 2 in block 20.

As follows from the above, the delays introduced by the second and third 17 pulse shapers, respectively depicted in the diagrams of Fig. 4, "h" and "and" are actually extremely small, i.e. the duration of the intervals T _i = T ₁ , T ₂ , T ₃ , etc. completely match (match)

In the description, in order to simplify and facilitate understanding of the operation of the missile control system and the signal linearizer, the functioning of some nodes and blocks is set forth for signals in digital or analog forms, which is not important. However, the implemented control system is made entirely on a digital element base, with the exception of the receiver.

In the proposed method for generating control commands on a rocket rotating in a roll angle and a control system that implements it, due to the fact that a linearized signal is generated from the rotation signal on the rocket, which, taking into account the roll angle of the rocket, is compared with the decoded values of command messages, respectively, by the course and pitch and, as a result of the comparison, form missile control commands in the form of a pulse-width modulated signal, while the magnitude of the linearized signal amplitude is generated independently t of the duration of the rotation signal and change inversely with the required values of the values of the control commands, the accuracy of generating PWM control commands by adjusting the transmission coefficient is improved.

Claims (2)

1. A method for generating control commands on a rocket rotating in a roll angle at which a rotation signal is generated, received command messages are decoded, and then the rocket control commands are generated from them according to the course and pitch, characterized in that a linearized signal is generated from the rotation signal from the rocket which, taking into account the angle of heel of the rocket, is compared with the decoded values of the command messages, respectively, in the course and pitch, and as a result of the comparison, the rocket control commands are generated in the form of a pulse-width modulated signal, while the magnitude of the linearized signal span is generated independent of the duration of the rotation signal and is changed inversely with the required values of the values of the control commands. 2. A control system for a rocket rotating in a roll angle, comprising a coordinate transducer, roll sensor, power drive, as well as sequentially connected receiver and channel separation and decoding apparatus for heading and pitch, the first and second outputs of which are connected respectively to the first and second inputs of the converter coordinates, characterized in that it introduced an exclusive OR logic circuit, a signal linearizer, a relay element and a software device, while the third and fourth inputs of the coordinate converter at are connected respectively to the first and second inputs of the exclusive OR logic circuit and to the first and second outputs of the roll sensor, the output of the exclusive OR logic circuit is connected to the input of the signal linearizer, the output of which is connected to the input of the software device, while the output of the coordinate converter is connected with the first input of the relay element, the second input of which is connected to the output of the software device, and the output of the relay element is connected to the input of the power drive.

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