RU2362106C1 - Method for guiding missiles - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: invention belongs to the field of missile guidance and can be used in tank systems and anti-tank armaments and also in lightweight anti-aircraft systems. The essence of the invention is that it is a means for guiding remote operated missiles fired from a launch device with initial parallax equipment for guidance, carrying out orientation of launch device with the missile facing the direction of the field being controlled. During the missile's flight guidance signals are generated with the proportional coordinates of the deviation of the missile from the axis of the guiding field from the axis on the vertical and horizontal planes and this produces the deviation of the missile's control according to the generated signals for its guidance. During which, programme commands are generated, proportionate to the value of the initial parallax, which is deducted from the control signals of the missile.

EFFECT: increased accuracy of fire in the nearest zone of attacks taking into account the reduction of deviation of the central mass of the missile from line of the target at the initial site.

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Description

The invention relates to the field of development of telecommand systems for missiles and can be used in complexes of tank and anti-tank weapons, as well as in small-sized anti-aircraft systems.

Currently, there is a known guided missile guidance method, implemented, for example, in the Konkurs, Kastet, Bastion, Sturm, and Cobra anti-tank systems (see Angelsky R. D. Domestic anti-tank systems, Moscow, ACT Astrel, 2002, pp. 74-75, 84, 100, 111-114 [1]), including orienting the launcher with the rocket in the direction of the control field, moving the rocket into the control field by firing from the launch device, subsequent deflection of organs rocket control in proportion to the coordinates of the rocket in the control field phenomena.

Hereinafter, the control field is understood as the region of determining the coordinates of the rocket relative to the aiming line and this can be, for example, the field of view of the direction finder of the rocket in the command control system implemented in the "Competition", "Storm", "Cobra" complexes or the information field of the beam ( radio beam or laser beam) generated by the guidance device in the beam missile control system implemented in the Kastet, Bastion, and Vortex complexes.

For design reasons, the starting device in known complexes is located relative to the information axis of the guidance device with initial parallax in the vertical and horizontal planes.

Hereinafter, by the magnitude of the initial parallax of the launcher in the vertical or horizontal plane, we mean the Cartesian coordinates Y, Z of the center of mass of the rocket before launch in the OXYZ coordinate system associated with the information field (IP) of the direction finder or guidance device (the OX axis is directed along the longitudinal axis of the IP to the aiming point).

The guidance system that implements the known method usually includes: a sight (whose optical axis is the aiming line), a launching device (gun barrel or transport and launch container) located relative to the sight with the initial parallax, coordinate determination equipment (the zero axis of the coordinate determination equipment is aligned with an aiming line), a command formation unit (BFC) for deflecting rudders of a rocket, rudders.

The operations of the method are as follows. The operator observes the terrain through the sight and, having found the target, combines the aiming line (optical axis of the sight) and the zero axis of the coordinate determination equipment coinciding with it with the aiming point, which is usually chosen in the target’s contour, after which it launches the rocket.

The rocket is fired in the control field (the field of view of the coordinate determination equipment) due to the corresponding orientation of the launch device in the direction of the control field.

The equipment for determining coordinates when a rocket appears in the field of determining coordinates determines the coordinates of the rocket relative to the line of sight.

The BFK, at the input of which the output signals of the equipment for determining coordinates are supplied, generates commands for deflecting the rudders of the rocket in accordance with them.

Closest to the proposed method is the guidance of guided missile 9M117 of the Kastet complex, which includes orienting the launcher with the missile in the direction of the control field (the area inside the laser information beam) at given angles in the vertical and horizontal planes, respectively, moving the rocket into the control field by firing from launch device (gun barrel) and the subsequent deviation of the rocket controls in proportion to the coordinates of the rocket in the control field (see "Shot 3U BK10 with a guided projectile 9M117. Technical description and instruction manual ", M .: Military publishing house, 1987, p.13 [2]).

The guidance system that implements this method contains a sight, the optical axis of which coincides with the axis of the information beam, which is a laser beam modeled by a raster disk system, a launching device (MT-12 gun) located to the left or right of the guidance device, missile coordinate determination equipment relative to the optical axis of the sight, including the radiation receiver and electronic equipment, a unit for generating steering wheel deflection commands, including a correction filter and a gyro-coordinator, p Left drive (PDU) contactor.

The operations of the method are as follows.

The operator, having detected the target, combines the aiming line (optical axis of the sight) and the zero axis of the coordinate determination equipment (optical axis of the laser radiation source) coinciding with it with the aiming point and launches the rocket. The rocket is moved into the control field by firing an anti-tank gun from the barrel, oriented in the direction of the control field at predetermined angles, respectively, in the vertical and horizontal planes.

After the rocket enters the control field, the coordinate determination equipment containing the radiation receiver receives the frequency-modulated laser radiation and, deciphering it, determines the coordinates of the rocket relative to the axis of the laser emitter (i.e., relative to the aiming line).

Signals proportional to the coordinates of the rocket relative to the axis of the beam are fed to the input of the BFK, which generates in accordance with it the command to deflect the rudders.

The PDU rudders, deviating from their middle position, create a control moment acting on the rocket. This, in turn, leads to the emergence of control forces that hold the rocket near the center of the control field throughout the entire flight of the rocket to the target.

A disadvantage of the known method of guiding a rocket is its low accuracy when firing in the near zone of possible attacks with initial parallaxes of the launcher in a vertical or horizontal plane exceeding 1.5 ... 2 m. This is due to the fact that from the moment a missile launches with initial parallax, in the FE in the missile control loop, a transition process occurs in which the rocket is brought to the FE axis from the existing initial deviation.

The specified transition process is, as a rule, of an oscillatory nature, i.e. the center of mass of the rocket periodically deviates from the axis of the SP in one direction or the other, as a result of which the missile may miss when firing in the near zone. The degree of attenuation of these oscillations, as well as the time of the transition process, to a large extent depend on the dynamic characteristics of the rocket glider (available overload, natural frequency and relative damping coefficient), which in the initial part of the flight, when the rocket, as a rule, only picks up speed, may be enough low, and, therefore, to ensure an acceptable quality of the transition process by the selection of appropriate corrective devices is not possible.

The initial deviation of the missile from the axis of the missile can be reduced by appropriate orientation of the longitudinal axis of the missile before launch (increasing the angle of approach of the missile to the beam), however, in this case there is a risk of the beam “skipping” by the missile and, therefore, disruption of guidance (M.V. Maksimov, G. I.I. Gorgonov, Radio Control of Missiles, Moscow: Soviet Radio, 1964, p.172-173 [4]).

The task of the invention is to increase the accuracy of guidance of a guided missile at the launch site. The problem is achieved due to the fact that in the known method of pointing a remote-controlled missile fired from a launcher located with an initial parallax relative to the guidance device, including orienting the launcher with a missile in the direction of the control field, generating control signals proportional to the coordinates of the deviation of the rocket from the field axis control in the vertical and horizontal planes, and the deviation of the rocket controls according to the generated control signals detecting, form software control commands which are proportional to the magnitude of the initial parallax, which is subtracted from the missile guidance signals. The value of program commands changes in proportion to the dependence:

K ^{Y, Z} _Ave = n ^{Y, Z} at ₀ t≤t;

when t ₀ <t≤t ₀ + T; (one)

K ^{Y, Z} _CR = 0 for t> t ₀ + T,

where P ^{Y, Z} is the initial parallax of the launching device relative to the guidance device, respectively, in the vertical and horizontal planes,

t is the time counted from the moment of the descent of the rocket;

t ₀ = 3 ... 5 / f _p ;

T = D _min / V _p -t ₀ ;

f _p is the natural frequency of the rocket;

D _min is the minimum range;

V _p - the average speed of the rocket at a minimum range.

In this case, t ₀ is the time of the transition process of launching the rocket to the program path and is expressed in seconds, T is the time of the launch of the rocket to the line of sight after the end of the transition process and is expressed in seconds.

The essence of the method is as follows. When a rocket enters an IS with an initial deviation from its axis equal to the initial parallax in the corresponding plane, program commands are subtracted from control signals proportional to the coordinates of the deviation of the rocket from the axis of the IS, which are proportional to the initial parallax up to the time t = t ₀ , as a result of which the total control commands in the corresponding channels up to the moment t = t ₀ are close to zero, and the rocket will fly along the programmed path, which is separated from the IP axis by the value of the initial parallax (it is assumed that the acceleration gravity is compensated by the appropriate weight compensation team, as is done in well-known anti-tank systems). From time t = t ₀ to time t = t ₀ + T, the program instructions smoothly change to zero so that the dynamic errors of the rocket during testing of the indicated change in program instructions will also be close to zero.

As a result, the rocket smoothly, without overshoot and oscillations of the center of mass, is displayed on the IP axis in the same way as if the rocket fired without initial parallax, i.e. the proposed method improves the accuracy of pointing the missile at the target by eliminating the transient component of the dynamic error due to the development by the control loop of the initial deviation of the rocket from the axis of the IP of a significant magnitude.

Presented graphic materials (figure 1, figure 2), explaining the essence of the invention. Figure 1 shows the areas of dispersion of missiles at the launch site against the background of the boundaries of the FE, obtained by the results of mathematical modeling under the action of disturbances (wind ± 15 m / s, initial angular velocity in the horizontal plane ± 0.2 1 / s). Figure 2 shows a block diagram of a beam missile control system that implements the proposed method.

The disadvantages of the known method of pointing a remote-controlled missile and the advantages of the proposed method are illustrated by the example of a guided weapon system "Whirlwind" mounted on a helicopter in which the rocket is fired from a container. The distance between the launcher (longitudinal axis of the container) and the axis of the control field (optical axis of the sight) on the helicopter is ~ 2.8 m in the horizontal plane and ~ 0.5 m in the vertical plane, the speed of the rocket leaving the container is ~ 60 m / s, the launcher is oriented at given angles θ = 0.5 ° and φ ₀ = 0 ° relative to the axis of the PI, respectively, in the vertical and horizontal planes.

Based on the characteristics of the rocket and the conditions for ensuring the minimum range, the values of the times t ₀ = 1.0 s and T = 1.5 s were determined.

As can be seen from the drawing in Fig. 1, for the initial variant of firing without an additional program command in the horizontal plane, the missile dispersion zone (zone 1) exceeds the dimensions of the beam of the beam (marked by hatching) and, therefore, there may be cases of the rocket leaving the beam and missile loss. The missile dispersion zone obtained for the firing variant with an additional program command proportional to the parallax value (zone 2) is much smaller and does not go beyond the boundaries of the IP. Moreover, the deviation of the center of mass of the rocket from the axis of the beam by the time the program command ends is also much smaller, which increases the accuracy of shooting in the near attack zone. It is important that when implementing the proposed method, a rocket with a running marching engine does not fall into the analyzed area of the telecommand of the complex, which automatically monitors the target.

The control system (Fig. 2) contains a sight and a source of modulated laser radiation, structurally made, for example, similarly to the ground control equipment 9C53 of the Kastet complex ([1], p.113, [3]).

On the rocket are located: coordinate determination equipment, BFK, PDU, similarly implemented in the 9M117 rocket ([2], p.15-18, 16, 17, 19-26, 21, fig. 13, p.22, 25, 40 -41, Fig. 24) and a block for generating signals of time functions, made, for example, on the basis of the electronic time relay circuit shown in the book by F.F. Andreev. Electronic devices of automation, M .: Engineering, 1978, p. 283, Fig. 206, 6, [5].

The times t ₀ and T are calculated preliminarily by the formula (1) and are set in the block for generating signals of time functions. When the rocket leaves the launcher (launch container or gun barrel), a contactor is activated, and the voltage from the output of the on-board battery is supplied to the input of the time function signal generation unit, where it is connected to the relay input and the input of the voltage divider, the output of which is proportional to the parallax value , during the time t ₀ for which the relay is configured, is fed to the input of the command generation unit, where it is subtracted from the control command. During this time, the rocket, gaining speed, flies parallel to the axis of the control field. When time t _{0 is} reached, the relay is activated, and the output signal from the shaper of the cosine function is supplied to the input of the BFK subtractor, which during the time T varies according to the cosine law from a value proportional to the parallax value to zero. As a result, the rocket is displayed on the axis of the control field. The shaper of the cosine function can be implemented on the basis of the scheme given in the book by I.M.Tetelbaum, Yu.R. Schneider. The practice of analog modeling of dynamic systems. M .: Energoatomizdat, 1987, p.205, fig.3.28 [6], a subtracting device can be implemented on the basis of the summing amplifier circuit presented on p.22 [6].

The proposed method of guiding a guided missile can increase the likelihood of a missile hitting a target by reducing the deviation of the missile from the aiming line in the initial section and reducing the likelihood of a missile leaving the SP.

The effectiveness of the proposed method is confirmed in the process of developing a complex of guided weapons "Whirlwind".

Information sources

1. Angelic R.D. Domestic anti-tank systems, Moscow, ACT, Astrel, 2002, p. 74, 75, 84, 100, 111-114.

2. Shot 3UBK10 with a guided projectile 9M117. Technical description and instruction manual, M .: Military Publishing House, 1987, p.13, 15-18, - prototype.

3. Ground control equipment 9C53.00.000.TO.

4. M.V. Maksimov, G.I. Gorgonov. Radio Control of Missiles, M .: Soviet Radio, 1964, p. 172-173.

5. F.F. Andreev. Electronic devices of automation, M .: Engineering, 1978, p. 283.

6. I.M. Tetelbaum, Yu.R. Schneider. The practice of analog modeling of dynamic systems, M .: Energoatomizdat, 1987, p.22, p.205.

Claims (2)

1. A method of pointing a telecontrolled missile fired from a launch device located with an initial parallax relative to the guidance device, including orienting the launch device with a rocket in the direction of the control field, generating control signals proportional to the coordinates of the deviation of the rocket from the axis of the control field in vertical and horizontal planes, and deviation of the rocket controls according to the generated control signals, characterized in that the program is additionally formed mm commands proportional to the initial parallax value, which are subtracted from the rocket control signals. 2. The method according to claim 1, characterized in that the size of the program instructions is changed in accordance with the dependencies:
K ^{Y, Z} _Ave = n ^{Y, Z} at ₀ t≤t;

when t ₀ <t≤t ₀ + T;
K ^{Y, Z} _ol = 0 for t> t ₀ + T,
where P ^{Y, Z} is the initial parallax of the launching device relative to the guidance device, respectively, in the vertical and horizontal planes;
t is the time counted from the moment of the descent of the rocket;
t ₀ = 3 ... 5 / f _p ;

;
f _p is the natural frequency of the rocket;
D _min is the minimum range;
V _p - the average speed of the rocket at a minimum range.

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