RU2291384C1 - Method for missile control (modifications) and missile control system for its realization (modifications) - Google Patents

Abstract

FIELD: armament, in particular, rocketry, applicable in development of missile complexes, for example, with carriers on the ground in which beam guidance systems, homing systems are used.

SUBSTANCE: two methods of missile control are offered, in which the value of the angular velocity of the missile axis in one plane (for example, in pitching) is measured, or in two planes (in pitching and heading) respectively converted to on electric signal, from which at the frequency of natural oscillations of the missile a signal proportional to the amplitude of the respective natural oscillations is discriminated. Their value forms the value of the compensating command (or commands) summed up with command (or commands) from which the missile control command (commands) is (are) formed. The missile (first modification) is provided in one of the channels with an angular-rate sensor, oscillations discrimination device and a compensating command shaper. The missile (the second modification) is provided with the second adder, and each channel of the first and second circuits includes an angular-rate sensor, use is also made of a discrimating device of oscillations and a compensating command shaper.

EFFECT: enhanced reliability.

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Description

The invention relates to the field of armament, namely to rocket technology, and can be used in the development of missile systems, for example, with carriers on the ground, which use beam television guidance systems, homing systems, etc.

A known missile control method and a missile guidance system for its implementation [RF patent No. 2241950 dated 12/10/04 IPC ⁷ F 41 G 7/24, F 42 B 15/01].

The missile control method consists in converting electromagnetic radiation from the control point into electric signals of the missile coordinates along the course and pitch, forming command of the missile according to the course and pitch, and the control command according to the course form the coordinates according to the course from the electric signal, additionally on the rocket programmatically they develop the first additional command proportional to the sag of the rocket, develop the second additional command by integrating the electric signal along the pitch, and then m add up the first and second additional commands and the electric coordinate signal for pitch and form the pitch control command from the total value.

The known missile guidance system contains control center equipment, and on the rocket there is a receiver and a coordinate allocation unit connected in series, the output of which is connected to the first input of the autopilot, while the input of the receiver is connected to the control center equipment, an adder, a compensation unit, an integrator and a block are introduced turn on the integrator, connected to the control input of the integrator, the signal input of the integrator is connected to the output of the pitch coordinate unit, connected to the first input of the adder, the second input of which It is connected to the output of the integrator, and the third to the compensation unit, while the output of the adder is connected to the second input of the autopilot.

The successively connected receiver and the coordinate allocation unit in the known missile guidance system as a whole represent on-board equipment ["Fundamentals of Radio Control" / Ed. Vejcela V.A. and Tipugina V.N. Moscow, Sov. Radio, 1973, p. 276, Fig. 5.3], while the well-known technical solution is intended for use in the radiation system of television guidance.

In the known technical solution, the accuracy of the guidance of the rocket in the pitch channel is improved by compensating for the constant and variable components of the perturbations caused by the weight of the rocket, while the integrator that compensates for the variable component has a sufficiently large time constant and begins to work from the moment the transition process ends (after shooting the rocket in Ray).

A rocket’s movement consists of fast rocket oscillations relative to the center of mass, during which the pitch angle and angle of attack, called short-period, and a slow change in the position of the center of mass in space, called long-period, change most clearly. Short-period oscillations occur during an intermittent disturbing action, which causes the rudder to deviate instantly at a certain angle, for example, when a missile is shot into a beam (telemetry in the beam) or when the homing head captures a target, when the communication line is interrupted at the moment of its restoration, etc. leading to a transition process. Short-period oscillations differ from long-period ones in frequency by a factor of ten [V. T. Kochetkov, A. M. Polovko, V. M. Ponomarev "Theory of telecontrol systems and missile homing systems", ed. "Science", Moscow, 1964, pp. 106-108].

The nature of short-period oscillations, for example, in pitch during controlled flight, is reflected in a change in flight altitude or trajectory angle, which can lead to a fall of the rocket when it is flying low above the surface, and at small angles of the radiation pattern of receivers in the on-board equipment, missile loss during shooting missiles in the beam (tele-homing system in the beam) or at the moment of homing of the target by the homing head (homing system).

Thus, a disadvantage of the known method and device is the high probability of missile loss in the event of short-period oscillations, i.e. low reliability.

The objective of the present invention (method and device) is to increase reliability by reducing the amplitude of short-period oscillations.

The problem is solved due to the fact that in the rocket control method (the first option), in which two commands are generated on the rocket according to the course and pitch in two corresponding planes, while the first command forms the rocket control command in the first plane, in the second planes measure and convert into an electrical signal the angular velocity of rotation of the longitudinal axis of the rocket, from which a signal proportional to the amplitude of the natural oscillations of the rockets is isolated at the frequency of the rocket’s natural oscillations The s, by which the compensating command is formed, by the value taking into account the magnitude of the extracted signal, summarize the compensating command with the second command and form the second missile control command from the total command.

A rocket control method (second option), comprising the formation of two teams on a rocket according to the course and pitch in two corresponding planes, in which the angular velocity of rotation of the longitudinal axis of the rocket is measured and converted into electrical signals in the first and second planes, of which, at the natural vibration frequency rockets emit the first and second signals proportional to the amplitude of the rocket’s natural oscillations in the first and second planes, respectively, and the first and second signals, taking into account their values, form respectively, the first and second compensating teams, which summarize respectively the first and second teams and form the missile control teams, respectively, from the total teams.

The missile control system (first option), which implements the missile control method (first option), contains two-channel on-board equipment, the output of the first channel of which is connected to the first input of the autopilot, the output of the second channel of the on-board equipment is connected to the first input of the adder, the output of which is connected to the second input of the autopilot , the angular velocity sensor, an oscillation isolation device and a compensating command shaper are additionally introduced into the second channel in series, while the output of the comp The sensing command is connected to the second input of the adder.

The missile control system (second option), which implements the missile control method (second option), contains two-channel on-board equipment, the output of the first channel of which is connected to the first input of the first adder, the output of which is connected to the second input of the autopilot, the adder is additionally introduced into the second channel and in each channel chain, made in the form of series-connected angular velocity sensor, vibration isolation device and compensating command driver, outputs of compensating command drivers inen with the second inputs of the first and second adders, respectively, and the output of the second channel of the on-board equipment is connected to the first input of the second adder, the output of which is connected to the first input of the autopilot.

The claimed method of controlling a rocket (first option) is implemented as follows. On a rocket, for example, from the moment of launch, two teams are developed at the “Z” course and the “U” pitch, respectively, in two corresponding planes, while from the first command, for example, at the “Z” course, a rocket command is formed along the course.

Measure (for example, from the start) the value of the angular velocity of rotation of the longitudinal axis of the rocket in the second plane, for example, by pitch "U" and convert the value of the angular velocity into an electrical signal. Since the magnitude (voltage or current) of the electric signal is determined by the magnitude of the angular velocity of rotation (oscillation) of the longitudinal axis of the rocket, the magnitude of the electric signal is determined by two components: long-period (low-frequency) oscillations, which are compensated by the magnitude of the command for rocket control in the controlled portion of the flight, and a signal with short-period oscillations (at the natural frequency of the rocket) due to spasmodic disturbances that are not compensated by the cancer control team s.

In connection with the foregoing, a signal is extracted from an electrical signal (for example, by a frequency feature) a signal corresponding in the second plane in frequency to the natural vibrations of the longitudinal axis of the rocket and proportional to the amplitude of the natural oscillations. The magnitude of this signal forms the value of the compensating command, which is summed with the second command (pitch), and from the total command form the second command rocket control.

The value of the compensating team, as one of the components of the second missile control team, compensates for the rotation (at a fairly high speed) of the longitudinal axis of the rocket relative to the center of mass, while its value will always be (close) to zero.

The rocket control method described above reduces the amplitude of short-period oscillations in only one (most critical) second plane, which, for example, is vertical (in pitch). However, the second most critical plane can be horizontal (in the course). In this case, the second command may consist, for example, as in the known method of controlling a rocket [RF patent No. 2241950] in pitch from the total value of the first and second additional commands and the electrical coordinate signal in pitch, and in the course only from the electrical coordinate signal in the direction.

The claimed method of controlling a rocket (second option) is implemented as follows. On a rocket, for example, from the moment of launch, two teams are developed, respectively, to the “Z” course and the “U” pitch in two corresponding planes. Measured in the first, for example vertical, and second, for example horizontal, planes, the values of the angular velocities of rotation of the longitudinal axis of the rocket. The angular rotational velocities of the longitudinal axis of the rocket are converted into the corresponding two electrical signals, from which the first and second signals that are proportional to the amplitude of the natural oscillations in the first and second planes, respectively, are isolated (for example, by the frequency characteristic) of the rocket

The values of the first and second signals form the first and second compensating commands, respectively, summed respectively with the first and second teams, and from the total commands form, respectively, missile control commands.

This rocket control method is designed to compensate for the rotation of the longitudinal axis of the rocket both in two planes (in pitch and course), and in any intermediate between them.

The invention is illustrated by the drawings shown in FIGS. 1 and 2. FIGS. 1 and 2 show structural electrical diagrams of a missile control system, respectively, of the first and second variants, which show: 1 — angular velocity sensor (DLS) and 1a, 1b, respectively, from the first chain (ДУС1) and the second chain (ДУС2), 2 - a device for isolating vibrations (UVK) and 2a, 2b, respectively, from the first chain (UVK1) and the second chain (UVK2), 3 - shaper of the compensating team (FCK) and 3a , 3b - respectively from the first chain (FKK1) and the second chain (FKK2), 4 - on-board equipment (BA), 5 - adder (C) and 5a, 5b - respectively, the first (C1) and second (C2) adders, 6 - autopilot.

In the missile control system (first option), the output of the first channel of the on-board equipment 4 is connected to the first input of the autopilot 6. The output of the second channel of the on-board equipment 4 is connected to the first input of the adder 5, the output of which is connected to the second input of the autopilot 6. The output of the angular velocity sensor 1 is connected to the input of the oscillation isolation device 2, the output of which is connected to the input of the shaper of the compensating command 3. The output of the shaper of the compensating command 3 is connected to the second input of the adder 5.

In the missile control system (second option), the output of the first channel of the on-board equipment 4 is connected to the first input of the first adder 5a, the output of the first adder 5a is connected to the second input of the autopilot 6. The first chain and the second chain are made in the form of sensors 1a and 2b, respectively connected in series angular velocity of the first 2a and second 2b devices for isolating oscillations and the first 3a and second 3b shapers of compensating teams. The outputs of the shapers of the compensating teams from the first 3a and second 3b chains are connected to the second inputs of the first 5a and second 5b adders, respectively. The output of the second channel of the on-board equipment 4 is connected to the first input of the second adder 5b, the output of which is connected to the first input of the autopilot 6.

The angular velocity sensors 1, 1a and 1b can be made on the basis of high-speed gyroscopes, which are also used as corrective devices in the automatic control system, because when they are used, the derivative is introduced into the regulation law [V.A. Pavlov, S.A. Ponyrko, Yu.M. Khovansky "Stabilization of aircraft and autopilots". Higher School, 1964, p. 97]. Devices for isolating vibrations 2, 2a and 2b can be performed, for example, in the form of a high-pass filter, the cutoff frequency of which is equal to the minimum possible value of the frequency of the natural oscillations of the rocket [Fundamentals of radio control / Ed. Vejcela V.A. and Tipugina V.N. Moscow, Sov. Radio, 1973, p. 47].

Shapers of compensating commands 3, 3a and 3b can be performed, for example, as a series-connected analog-to-digital converter, program-memory device and digital-to-analog converter, moreover, program-memory device, for example, chip 556РТ7, to the address inputs of rows and columns of which senior and the least significant bits of the binary number from the output of the analog-to-digital Converter.

On-board equipment 4 can be performed, as in the prototype (for a beam tele-homing system), and contain a serially connected receiver and a coordinate allocation unit or as a homing head (in a homing system), which measures the mismatch parameter along the “Z” course and “U” pitch, however, it may also include corrective devices used in the automatic control system. Adders 5, 5a and 5b, as well as autopilot 6, for example, as in the prototype.

The claimed missile control system that implements the missile control method (first option) shown in figure 1, operates as follows. At the initial moment of time, before the guided missile leaves the launcher, the gyro rotor is untwisted in the angular velocity sensor 1, which "remembers" the position of the longitudinal axis of the rocket, for example, by the pitch on the launcher, while the output of the angular velocity sensor 1 will, for example, zero voltage.

After the missile leaves the launcher, it begins to be controlled by an autonomous control system, and then the main one (the tele-homing system in the beam, the homing system, etc.), i.e. at first, it is controlled by the commands of the first channel, for example, according to the course, and the second - by the pitch, from the outputs of the on-board equipment 4, while, for example, by the pitch - the team compensating for the weight of the rocket, and at the heading - zero. Then, from the moment the main control system starts operating, the on-board equipment 4 generates commands at the outputs of the first and second channels, taking into account the deviation of the missile flight path from the direction to the target.

At the time point, for example, the transition from an autonomous control system to the main one, a transient process arises in the form of short-period oscillations, for example, along the pitch "U", which are detected by the angular velocity sensor 1 and converts them into an electrical signal. In this case, overloads arising due to the action of the command to direct the missile at the target also fixes sensor 1 and converts them into an electric signal, which is much lower in frequency than the electric signal caused by short-period oscillations.

This total signal is fed to the input of the oscillation isolation device 2, which emits an electrical signal with short-period oscillations at the natural frequency of the rocket, which is converted in the shaper of the compensating command 3 into a command, i.e. An electrical signal whose value corresponds to the magnitude of the rocket’s oscillation and is opposite to the sign of the direction of rocket’s oscillation

The command from the output of the first channel of the unit of equipment 4 is supplied to the first input of the autopilot 6, and the command from the output of the second channel of the unit of equipment 4 is fed to the first input of the adder 5, the second input of which receives a command from the output of the shaper of the compensating command 3. The summed signal from the output of the adder 5 fed to the second input of autopilot 6. Autopilot 6 generates missile control commands from these commands, which are worked out in autopilot 6 by the steering gear, and the rocket moves along the flight path that coincides with the direction of the cancer you're on target. In this case, when short-period oscillations of the rocket occur in the second channel, they are compensated.

Thus, the missile control system only compensates for vibrations in the second channel, which can be either pitch (as described above) or course.

The claimed missile control system that implements the missile control method (second option) shown in figure 2, works similarly to the first option, except that it contains two chains. In this case, the first chain, for example at the heading, consisting of the angular velocity sensor 1a connected in series, the oscillation highlighting device 2a and the compensating command shaper 3a, as well as the second chain, for example, along the pitch, consisting of the angular velocity sensor 1b sequentially connected, the oscillation highlighting device 2b and the shaper of the compensating team 3b, form the corresponding compensating teams at the outputs of the shapers of the correcting teams 3a and 3b.

The electric signals corresponding to the missile guidance commands from the outputs of the first and second channels of the on-board equipment 4 are fed to the first inputs of the first 5a and second 5b adders, respectively, the second inputs of which compensating commands are given at the heading and pitch from the outputs of the compensating command formers 3a and 3b. The total commands from the outputs of the first 5a and second 5b adders arrive respectively at the second and first inputs of the autopilot 6.

Autopilot 6 generates rocket control commands from the total commands, which are worked out in autopilot 6 by the steering gear. In this case, when short-period oscillations of the rocket occur along the course and pitch, they are compensated.

Thus, the present invention — a missile control method (options) and a missile control system for its implementation (options) —can eliminate missile loss in the event of spasmodic disturbances in one of the channels (the first option) or in both channels (the second option), which is essential improves missile control reliability.

Claims (4)

1. A rocket control method, comprising generating two teams on a rocket in a course and pitch, respectively, in two corresponding planes, the first command generating a rocket control command in the first plane from the first command, characterized in that the angular is measured and converted into an electrical signal in the second plane the rotation speed of the longitudinal axis of the rocket, from which a signal is proportional to the amplitude of the rocket’s natural oscillations, which form the compensating command Do, by a value that takes into account the magnitude of the extracted signal, the compensating command is summed up with the second command and the second missile control command is formed from the total command. 2. A rocket control method, comprising forming two teams on a rocket according to course and pitch in two corresponding planes, characterized in that in the first and second planes the angular velocity of rotation of the longitudinal axis of the rocket is measured and converted into electrical signals, of which at the frequency of natural vibrations the missiles emit the first and second signals proportional to the amplitude of the natural oscillations of the rocket, respectively, in the first and second planes, the first and second signals, taking into account their values, form the corresponding -retarded first and second compensating commands that sum with the first and second commands, and commands from the summary form respectively missile control command. 3. A missile control system comprising a two-channel on-board equipment, the output of the first channel of which is connected to the first input of the autopilot, the output of the second channel of the on-board equipment is connected to the first input of the adder, the output of which is connected to the second input of the autopilot, characterized in that the second channel is additionally introduced sequentially coupled to an angular velocity sensor, an oscillation isolation device, and a compensating command driver, wherein the output of the compensating command driver is connected to the second input with ummatora. 4. A missile control system comprising two-channel on-board equipment, the output of the first channel of which is connected to the first input of the first adder, the output of which is connected to the second input of the autopilot, characterized in that the second adder and the chain made in the form of a second adder are additionally introduced into each channel angular velocity sensors, vibration isolation devices and compensating command shaper connected in series, the outputs of compensating command shapers are connected to the second inputs, respectively first and second adders, the output of the second channel onboard equipment connected to the first input of the second adder, the output of which is connected to the first input of the autopilot.

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