RU2280232C1 - Method for missile control - Google Patents

Abstract

FIELD: rocketry, applicable in armament complexes of telecontrolled missiles.

SUBSTANCE: the method includes a missile launch at angle to the target sighting line, acceleration of the missile with the aid of the booster engine and formation of a program control command for ejection of the missile to the target sighting line. The novelty in the control method is in the fact that the direction of the missile launching angle in the direction of the cross-stream component of wind is formed, and the value of launching angle φ₀ is determined from the first mathematic expression, and from the launching moment the missile in the boost trajectory is turned in the direction of the cross-stream component of wind with the aid of the missile control surfaces, their deflection angle is formed proportionally to the program command determined according to the second mathematic expression.

EFFECT: reduced missile dispersion and enhanced accuracy of its injection to the target sighting line at a cross wind.

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Description

The invention relates to rocket technology and can be used in weapon systems of remote-controlled missiles.

There is a known method of controlling a rocket, including launching a rocket at an angle to the guidance line, accelerating the rocket using the starting engine, determining the deviation of the rocket from the calculated flight path, generating a control command proportional to the deviation of the rocket from the desired path, and transmitting the control command to the rocket to aim it at target ([1] AA Lebedev, VA Karabanov. Dynamics of control systems for unmanned aerial vehicles. - M.: Mashinostroenie, 1965, pp. 327-330), in which the formation of control does not take into account the effect on the movement of the rocket of the transverse (relative to the specified direction of fire) wind.

Failure to take into account the transverse component of the wind speed in the conditions of firing during the formation of rocket control results in the following disadvantages:

- the dispersion increases and the accuracy of rocket shooting in the field of direction finder capture decreases for subsequent measurement of the coordinates (direction finding) of the rocket and its control by deviation from the guidance line;

- the probability of a missile leaving the information beam of the direction-finding device increases, the accuracy of missile guidance in the near damage zone decreases, and the dead zone of the weapon complex increases.

A feature of rocket movement in the presence of wind is that (A.A.Dmitrievsky. External ballistics. - M .: Mashinostroenie, 1979, pp. 344-352), that the effect of transverse (side) wind creates additional aerodynamic force, applied in the center of pressure of the rocket. Under the influence of a moment from this force, a guided missile (since it is statically stable) will unfold its head towards the wind so that its longitudinal axis will coincide with the airspeed vector (velocity relative to the moving atmosphere). The angle of rotation of the axis of the rocket is determined by the so-called wind angle of attack, the value of which, in steady state, is equal to

where w is the transverse component of the wind speed;

V is the ground speed of the rocket.

In the presence of a wind angle of attack α _{w, the} transverse (lateral) component of the thrust force of the rocket’s acceleration engine directed against the wind will appear on the accelerating section of the rocket, under which the rocket will also move against the wind, causing a linear (or corresponding angular) deflection of the rocket (its center of mass ) and the angular rotation of the rocket (its longitudinal axis and the velocity vector associated with it) relative to a given direction of fire.

The linear (angular) deviation of the rocket is the distance (angle) between the given direction of launch of the rocket and the position of the center of mass of the rocket (tangent to the trajectory) in the plane of motion at a certain flight range of the rocket. The angle of rotation of the rocket refers to the angle between the given direction of launch of the rocket and the longitudinal axis of the rocket in the plane of motion. The linear (angular) deviation and angular rotation of the rocket determines the dispersion of the trajectory and velocity vector of the rocket, respectively, at a fixed distance. The values of linear deviation and angular rotation for a given missile at a fixed flight range are determined by the value of the transverse wind speed and, under certain conditions, can even lead to a breakdown in missile control.

There is a known method of firing uncontrolled artillery (non-reactive) shells, in which the wind speed is measured and the direction of firing is adjusted for drift of the projectile by the wind ([3] L.N. Presnukhin, L.A. Solomonov and others. Fundamentals of the theory and design of computing devices and control machines. - M.: Higher School, 1970, pp. 240-244). The wind correction is formed in proportion to the transverse component of the wind speed ([2] A. A. Dmitrievsky. External ballistics. - M.: Mashinostroenie, 1979, pp. 356-359). Due to the design features of artillery shells (the absence of an accelerating engine and the absence of (or small) plumage compared to guided missiles) when exposed to a transverse wind, they receive only the displacement of the trajectory (center of mass) relative to a given direction of fire in the direction of the wind.

This method of firing due to the introduction of an angular correction for the anticipatory turning angle of the launcher against the direction of the wind, equal to

- коэффициент чувствительности линейного отклонения снаряда Z к поперечному ветру на фиксированной дальности Д;Where

- sensitivity coefficient of the linear deviation of the projectile Z to the transverse wind at a fixed range D;

w is the transverse wind speed,

allows for a given range D to compensate for the linear drift of the projectile Z from a given direction of fire caused by the influence of a transverse wind. However, this method of compensating for the wind impact does not satisfy the rocket control requirement, since, firstly, the anticipatory angular rotation of the launcher for launching a guided missile should not be carried out against the wind, but in the direction of the wind, and secondly, this method only compensates for the linear the displacement of the trajectory (center of mass), while the angular rotation of the rocket caused by the wind, is preserved and thereby determines the additional component of the wind dispersion of the rocket.

Closest to the proposed method for the combination of essential features is a missile control method, including launching a rocket at an angle to the line of sight of the target (LCV), accelerating the rocket using the starting engine, direction finding the rocket, forming a control program command on the flight path section with the running accelerating engine and transfer of a control command to a missile for its output to the line of sight of the target ([4] RF Patent No. 2205360, IPC ⁷ F 42 B 15/01).

In the known method, when forming the control, the effect of the transverse wind on the flight of the rocket is also not taken into account and therefore, at a certain distance, by the time the rocket is gripped by a direction finder for direction finding for subsequent control by deviation from the LC, the rocket will have a linear deviation Z and an angular rotation under the influence of a transverse wind φ relative to a given direction of fire. Therefore, an additional component of the wind dispersal of the missile will appear, which increases the probability of its exit from the information beam of the direction finder, reduces the accuracy of the missile guidance in the near zone of destruction and increases the dead zone of the weapon complex.

The objective of the invention is to reduce dispersion, increase the accuracy of shooting missiles in the field of capture of the direction finder and increase the accuracy of the withdrawal and guidance of the rocket in the near zone of damage in conditions of wind exposure.

The problem is achieved due to the fact that in the rocket control method, which includes launching the rocket at an angle to the LEC, accelerating the rocket with the help of the starting engine, finding the rocket, forming a control program command on the flight path section with a working accelerating engine and transmitting the control command to the rocket for its output to the LCF, measure the transverse component of the wind speed, form the direction of the angle of launch of the rocket relative to the LCF in the direction of the transverse component of the wind speed, and at start angle φ ₀ is determined from the relation

where k ₁ is the coefficient of sensitivity of the linear deflection of the rocket to the transverse component of the wind speed at the range of the start of rocket control in deviation from the LC;

- коэффициент чувствительности углового отклонения ракеты к поперечной составляющей скорости ветра на дальности начала управления ракетой по отклонению от ЛВЦ;

- the coefficient of sensitivity of the angular deviation of the rocket to the transverse component of the wind speed at the range of the start of rocket control in deviation from the LC;

k ₂ is the coefficient of sensitivity of the linear deflection of the rocket to the angle of deflection of the rudders of the rocket control at the range of the start of rocket control in deviation from the LC;

- коэффициент чувствительность угла вектора скорости ракеты к углу отклонения рулей управления ракеты на дальности начала управления ракетой по отклонению от ЛВЦ;

- coefficient sensitivity of the angle of the rocket velocity vector to the angle of deviation of the rudders of the rocket at the range of the start of rocket control by the deviation from the LC;

D is the range of the start of rocket control by deviation from the LC;

w is the transverse component of the wind speed,

and from the moment of launching the rocket in the upper part of the flight, deploy in the direction of the transverse component of the wind speed using the rocket control rudders, the deflection angle of which is proportional to the control program command δ, determined by the ratio

In the proposed control method, the solution of the problem is based on interconnected operations to form the direction and angle of launch of the rocket relative to the LCV and the direction and angle of rotation of the rocket in the upper stage by deflecting its rudders in accordance with the control program command, determined depending on the same measured parameter - transverse wind speed, and aimed at compensating for a certain range of flight interrelated linear deviations of the trajectory of the rocket and angular rocket gate from the specified direction of flight, resulting from the impact of cross wind on the rocket that provides increased accuracy and output vstrelivaniya missiles in LVTS. The linear deflection of the rocket caused by the wind is counterbalanced by introducing an appropriate correction to the direction of fire by forming the corresponding angle of launch of the rocket φ ₀ (3), and the angular rotation of the rocket by the wind angle of attack is countered by the corresponding rotation of the rocket by means of the rocket control wheels according to command δ (4), taking their interconnected influence on each other. The interconnected formation of the angle φ ₀ and the control command δ provides the most complete

compensation for displacements of the trajectory and the angular position of the rocket from a given direction.

, входящие в соотношения (3) и (4), численно определяются как частные производные соответствующей функции по соответствующему аргументу при его фиксированном значении (индекс "0"), т.е.Sensitivity factors

entering into relations (3) and (4) are numerically determined as partial derivatives of the corresponding function with respect to the corresponding argument at its fixed value (index “0”), i.e.

where Z is the linear deviation of the rocket;

φ is the angular deviation of the rocket;

Θ is the angle of rotation of the rocket velocity vector (the angle of inclination of the tangent to the trajectory;

w is the transverse component of the wind speed;

u is the angle of deviation of the rudders of the rocket.

и т.д.For example, the sensitivity coefficient k ₁ determines the dependence of the linear deviation of the rocket on the transverse wind speed and may be equal to

etc.

определяются предварительно экспериментальным или расчетным путем, например, в соответствии с методикой, изложенной в ([5] Ф.Р.Гантмахер, Л.М.Левин. Теория полета управляемых ракет. - М.: Государственное издательство физико-математической литературы, 1959, стр.84-86, стр.114-116). Коэффициенты чувствительности могут также определены через передаточные коэффициенты ракеты по отношению к углу отклонения рулей и скорости ветра, например,

([1] A.A.Лебедев, В.А.Карабанов. Динамика систем управления беспилотными летательными аппаратами. - М.: Машиностроение, 1965, стр.104-105, стр.113).Sensitivity factors

are preliminarily determined experimentally or by calculation, for example, in accordance with the methodology described in ([5] F.R. Gantmakher, L.M. Levin. Theory of flight of guided missiles. - M.: State Publishing House of Physics and Mathematics Literature, 1959, p. 84-86, p. 114-116). Sensitivity factors can also be determined through the transmission ratios of the rocket with respect to the angle of deviation of the rudders and wind speed, for example,

([1] AA Lebedev, VA Karabanov. Dynamics of control systems for unmanned aerial vehicles. - M.: Mashinostroenie, 1965, pp. 104-105, p. 113).

Thus, when a transverse wind acts on a rocket at a speed w and the proposed operations are introduced to compensate for its effect on the rocket’s movement (formation of the rocket launch angle φ ₀ by turning the launcher with the rocket and the rocket turning by means of rudders in the accelerating section using the control command δ), we obtain of a given range D steady total transverse (lateral) missile deflection from a given direction of fire (LCF):

- linear deviation

- angular deviation

Solving equations (5) and (6) together, provided that the linear and angular deviations are zero (i.e., their compensation at the distance D)

we obtain the claimed relations (3) and (4) for the formation of an interconnected angle of launch of the rocket (turn of the launcher with the rocket) relative to the LCF φ ₀ and the program control command δ for the rotation of the rocket by means of the rudders at the required compensating angle when flying at a given range of control start from the measured the coordinates of the rocket.

Missile deflections under the influence of transverse wind are formed after the missile descends on the so-called critical section of the trajectory ([5] F.R. Gantmakher, L.M. Levin. Guided missile flight theory. - M.: State Publishing House of Physics and Mathematics, 1959, p. 105-106, 257-260), which is the initial portion of the flight, i.e. the first tens of meters in flight range, when the acceleration rate of the rocket is still commensurate with the wind speed (while the wind angle of attack (1) is significantly different from zero), and the magnitude of the available control overload of the rocket is still insufficient to control the deviation. In the general case, the wind speed appears to consist of two components: constant and random. Over a period of time sufficient for the missile to leave the launcher when starting and moving it at a critical portion of the trajectory to the range of shooting in the direction-of-reference capture field and taking into account the real integral scale of turbulence of the variable atmosphere, the wind velocity gradients in time and horizontal direction associated with the random component wind speeds are insignificant ([2] A.A. Dmitrievsky. External ballistics. - M.: Mashinostroenie, 1979, pp. 344-345). Therefore, practically the formation of rocket control is sufficient to carry out the average component of the transverse wind speed, measured at the time of launch of the rocket.

The control method is implemented, for example, by a control system, a functional diagram of which is presented in figure 1. In figure 1 is indicated:

PC - target direction finder;

PR - missile direction finder;

CPC - a device for transmitting control commands to a rocket;

PU - launcher with a guidance drive (and a missile);

DSkh - missile descent sensor from the launcher;

ДВ - wind sensor;

СРП - calculating and solving device;

R - rocket in flight.

The control system comprises a target finder 1, a missile direction finder 2, a computer 3, a control command transmission device for a rocket 4, a launcher with a guidance drive (with a missile) 5, a missile exit sensor from the launcher 6, a wind sensor 7 and a rocket 8 .

Rocket control is as follows. The direction finder of target 1 accompanies the target and determines the position of the LCF, the coordinates of which arrive at the computer 3 and set the direction of fire. The signal from the wind sensor 7, which is proportional to the transverse component of the wind speed w measured relative to the LCV, also enters the calculating and solving device 3, where the joint launch of ratios (3) and (4) determines the angle of launch of the rocket (angle of rotation of the launcher with the rocket) φ ₀ and the control command δ to the compensating angle of deviation of the rudders for rocket rotation. A signal proportional to the angle φ ₀ is fed to the guidance drive of the launcher, which, together with the missile, is deployed relative to the specified LCF direction by the required angle of the wind lead φ ₀ in the wind direction. The missile is launched at an angle φ ₀ to the LCF, and after the missile leaves the control command δ, which is proportional to the required angle of rotation of the rudder of the rocket, which from the computing and solving device 3 enters a command transmission device 4 and farther on to the missile 8. The missile, fulfilling the received control command, on the accelerating section of the flight deflects the control wheels by an angle that provides the necessary turn of the longitudinal axis and the rocket velocity vector in the direction of tra, and thereby parries to a given range of control start D its linear (angular) deviation and angular reversal from the LCV caused by wind exposure to it. At a distance of D, the missile is captured by the direction finder of missile 2, its coordinates are measured, which enter the calculating-decisive device 3, where rocket control commands are further formed proportional to the deviation of the missile from the LCF.

The computing device 3 includes a signal generation circuit proportional to the angle of launch of the rocket (angle of rotation of the launcher with the rocket) φ ₀ and the control command δ to the angle of rotation of the rudders of the rocket. The functional diagram of such a block with analogue performance is presented in figure 2. The circuit contains subtractors 9, 10, 11, amplifiers 12, 13, 14, 15, 16, a sine block 17, a potentiometer 18, an actuator Dv - a DC motor 19 and a memory circuit 20. The angle φ ₀ is determined by solving equation (3), which is carried out by a tracking system of a circuit that implements an equation of the form

- сигнал, пропорциональный значению корня уравнения (3), равного искомому углу запуска ракеты φ₀

Where

- a signal proportional to the value of the root of equation (3), equal to the desired rocket launch angle φ ₀

K is the gain of the circuit.

The value of the coefficient K of the amplifier 16 in the relationship (8) is set based on the required accuracy of determining the angle φ ₀ . The error Δφ _{0 of} determining the angle φ ₀ is ([3] L.N. Presnukhin, L.A. Solomonov and others. Fundamentals of the theory and design of computing devices and control machines. - M.: Higher School, 1970, pp. 206-207 )

and at a sufficiently large value of K (greater than 100) is negligible.

данной ракеты, входящими в соотношения (3), (4), численные значения которых определяются предварительно и заносятся в память счетно-решающего прибора 3.The transmission coefficients of the amplifiers 12, 13, 14, 15 are determined by the sensitivity coefficients

of this rocket, which are included in the relations (3), (4), the numerical values of which are determined previously and are stored in the memory of the calculating-solving device 3.

Prior to launching a rocket in accordance with the scheme of FIG. 2, elements 9, 10, 12, 13, 14, 16, 17, 18, 19 implement a solution of equation (8) to determine the angle of rotation of the launcher with rocket 5. If the signal from the output of the potentiometer 18, which is the value of the desired lap angle φ ₀ , does not correspond to the solution of equation (8), then the output of the subtractor 10 will have an error signal ε other than zero, which, after the amplifier 16, is fed to the executive motor 19, which moves the slider of the potentiometer 18 to until the error signal ε reaches the zero value e. In this case, the signal value from the output of potentiometer 18 will correspond to the solution of equation (8), i.e. the signal to the desired lapel angle φ ₀ . In this case, the values of the flap angle signals φ ₀ and the measured wind speed w from the wind sensor 7 will be related by the transfer coefficient of the circuit from point "A" to point "B", determined by the ratio

where k _dv - gear ratio of the actuating engine 19.

в момент схода ракеты. По этому запомненному сигналу и сигналу, пропорциональному скорости ветра w, поступающему с датчика ветра 7 на вход усилителя 15, в соответствии с соотношением (4), на выходе вычитателя 11 формируется сигнал, пропорциональный требуемой команде управления δ на отклонение рулей управления ракеты для компенсации ветрового воздействия на разгонном участке полета.From the output of the amplifier 14, a signal proportional to sinφ ₀ is fed to the input of the memory circuit 20. At the moment the rocket leaves the launcher, the signal from the descent sensor 6 fed to the control input of the key of the memory circuit 20 opens its normally closed contact and the output of circuit 20 the signal proportional to the value is stored

at the time of the descent of the rocket. According to this stored signal and a signal proportional to the wind speed w from the wind sensor 7 to the input of the amplifier 15, in accordance with relation (4), a signal proportional to the required control command δ for the deviation of the rocket control wheels to compensate for the wind impacts on the upper part of the flight.

For modern rockets in conditions of firing in the wind, the value of the rocket launch angle φ ₀ to compensate for wind drift, as a rule, does not exceed 3-5 degrees. Therefore, with an error of not more than 3%, it can be assumed that the numerical sinφ ₀ ≈φ ₀ then the relation (3) to start angle (angle of rotation launcher) can be written as

where does the relation for determining the compensating angle of rotation of the launcher in the form

.where a _w is a coefficient equal to

.

Then, taking into account (13), relation (4) for the command to control the rocket’s turn δ by deflecting the rudders of the rocket will take the form

.where K _w is a coefficient equal to

.

Thus, rocket control with the interconnected formation of the rocket launch angle φ ₀ and command control δ of the rocket’s rotation angle by deviating its control wheels in the accelerating section depending on the transverse wind speed compensates for linear displacement of the trajectory and angular rotation of the rocket from a given direction of fire when exposed to transverse the wind.

The proposed missile control method allows to reduce the wind dispersion of the rocket, to increase the accuracy of its shooting in the field of direction finder capture, to increase the accuracy of the missile guidance in the near strike zone and to reduce the dead zone of the missile weapons complex, which distinguishes it from the known ones.

Information sources

1. A.A. Lebedev, V.A. Karabanov. The dynamics of control systems for unmanned aerial vehicles. - M.: Mechanical Engineering, 1965.

2. A.A.Dmitrievsky. External ballistics. - M.: Mechanical Engineering, 1979.

3. LN Presnukhin, L. A. Solomonov and others. Fundamentals of the theory and design of computing devices and control machines. - M .: Higher school, 1970.

4. RF patent No. 2205360, IPC ⁷ F 42 B 15/01.

5. F.R. Gantmakher, L.M. Levin. The theory of flight guided missiles. - M .: State publishing house of physical and mathematical literature, 1959.

Claims (1)

A missile control method, including launching a rocket at an angle to the line of sight of the target, accelerating the rocket using the starting engine, direction finding the rocket, generating a control program command on a portion of the flight path with a working accelerating engine and transmitting a control command to the rocket for its output to the target sight line characterized in that they measure the transverse component of the wind speed, form the direction of the angle of launch of the rocket relative to the line of sight of the target in the direction of the transverse component s wind speed, and the angle φ start is determined from the relation ₀

where k ₁ is the coefficient of sensitivity of the linear deflection of the rocket to the transverse component of the wind speed at the range of the start of rocket control by the deviation from the line of sight of the target;

- the coefficient of sensitivity of the angular deviation of the rocket to the transverse component of the wind speed at the range of the start of rocket control in deviation from the line of sight of the target; k ₂ is the coefficient of sensitivity of the linear deflection of the rocket to the angle of deflection of the rudders of the rocket at the range of the start of rocket control in deviation from the line of sight of the target;

- the coefficient of sensitivity of the angle of the rocket velocity vector to the angle of deviation of the rudders of the rocket at the range of the start of rocket control by the deviation from the line of sight of the target; D is the range of the start of rocket control by deviation from the line of sight of the target; w is the transverse component of the wind speed, and from the moment of launching the rocket in the upper part of the flight, deploy in the direction of the transverse component of the wind speed using the rocket control rudders, the deflection angle of which is proportional to the control program command δ, determined by the ratio

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