RU2374602C2 - Method for generation of symmetrical missile control signals - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: control signals are generated with the help of two identical control channels, in every of which the following control signals are generated for one of missile aerodynamic control surfaces pairs - control signal with feedback on angular speed, control signal with feedback on side linear acceleration and control signal with feedback on missile attack angle. At the same time signal of error proportional to difference of radio control signal and signal, which is proportional to value of side linear acceleration, are integrated, which provides for absence of offset in closed stabilisation system. The novelty is calculation of missile attack angle and generation of according signal, as a result of which positional feedback is provided by angle of missile attack, and missile control accuracy is improved.

EFFECT: improved accuracy of control.

3 cl, 3 dwg

Description

The invention relates to the control of aircraft and can be used in flight stabilization systems of symmetric anti-aircraft guided missiles (SAM) with a cross-shaped arrangement of four aerodynamic rudders.

Modern high-speed missiles can be controlled only with the help of onboard stabilization systems, which in the general case are implemented as a three-channel automatic control system: relative to the transverse axes (transverse control channels in the planes of two pairs of aerodynamic rudders) and the longitudinal axis (roll channel) of the rocket. The most common and used to stabilize SAMs is a stabilization system with feedbacks on angular velocity and linear acceleration.

There is a method of generating control signals for a symmetrical missile using two identical lateral control channels, in each of which the current values of linear lateral accelerations and angular velocities of rotation of the missile relative to its transverse axes are measured, an error signal proportional to the difference of the radio control signal and the signal proportional to the value of the linear lateral acceleration, scale the error signal with the gear ratio of the autopilot, invert the signal proportional to the angular velocity, scale they beat it with the autopilot gear ratio, these signals are used as feedback controllers according to linear acceleration and angular velocity for one of the rocket aerodynamic rudder pairs [1].

The reason that impedes the achievement of the technical result indicated below when implementing the known method for generating control signals for a symmetrical missile is the lack of accuracy of the missile control due to the presence of a systematic static error between the values of the given control command and the lateral linear acceleration practiced by the missile. This is due to the fact that the transfer function of a closed stabilization system is determined by parameters such as dynamic coefficient of static stability, aerodynamic rudder efficiency, flight speed, normal force created by the angle of attack of the rocket, and autopilot gear ratios for lateral linear acceleration. Since in the known method there is no feedback on the angle of attack of the rocket, the transfer function of the system, in principle, cannot be equal to unity, which leads to insufficient accuracy of rocket control.

The invention consists in the following. Its task is to develop a method for the astatic generation of symmetric missile control signals, in which the steady-state linear lateral acceleration of the corresponding control command is ensured in the steady state of its flight. The technical result in the implementation of the invention is expressed in improving the accuracy of control of a symmetrical missile.

The specified technical result is achieved by the fact that in the known method of generating control signals for a symmetrical rocket with a crosswise arrangement of four aerodynamic rudders using two identical control channels, in each of which the current values of linear lateral accelerations and the angular velocity of rotation of the rocket relative to its transverse axis are measured, a signal is generated errors proportional to the difference between the radio signal and the signal proportional to the value of lateral linear acceleration invert the signal the angle proportional to the angular velocity is scaled by the autopilot gear ratio and used as one control signal with angular velocity feedback for one of the rocket aerodynamic rudder pairs, according to the invention, the error signal is integrated and summed with the scaled autopilot gear ratio of the radio control signal, the received signal is scaled gear ratio of autopilot and is used as a second control signal with feedback on lateral linear acceleration for e pairs missile aerodynamic control surfaces, further generates a signal proportional to the angle of attack the missile, which is scaled gear ratio autopilot, inverted and used as the third control signal with a feedback angle of attack missiles for the same pair of missile aerodynamic control surfaces.

To obtain a signal proportional to the angle of attack of the rocket, the height and speed of the rocket’s flight are continuously measured, and signals proportional to the current value of the air mass density and sound velocity are generated from their values and tabular values of the standard atmosphere; using signals proportional to the flight speed of the rocket and the speed of sound, they generate a signal proportional to the Mach number, which calculates the lift coefficient of the rocket and generates a signal corresponding to it, which is successively multiplied with a signal proportional to the current value of the mass density of air and a signal proportional to the speed of the rocket, the resulting signal is scaled with a constant equal to the ratio of the size of the missile’s midship to its weight, and a signal is obtained proportional to the dynamic lift coefficient me rocket power, and a signal proportional to angle α missile attack is determined based on the relation:

,

,

where a ₄ is the dynamic coefficient of lift of the rocket created by the aerodynamic method due to the angle of attack;

ω is the angular velocity of rotation of the rocket relative to the transverse axis;

p is the operator d / dt.

The signals are generated in digital form, and the generated digital control signals are converted into analog form.

The invention is illustrated by drawings, in which: FIG. 1 is a structural diagram of a transverse control channel that implements the claimed method for generating control signals for a symmetrical missile; figure 2 is a graph of the speed of sound versus pitch; figure 3 is a graph of the mass density of air from height.

According to the claimed method, the symmetric rocket control signals are generated for two pairs of its aerodynamic rudders located crosswise, two identical control channels for acceleration, angular velocity and angle of attack of the rocket in the planes of rotation axes of the corresponding pairs of aerodynamic rudders. In each of these channels, the current values of linear lateral accelerations, the angular velocity of the rocket’s rotation relative to its transverse axis are measured and the angle of attack, the angle between the longitudinal axis of the rocket and the projection of the rocket’s velocity vector onto the plane of the location of the corresponding pair of aerodynamic rudders, is calculated. A digital error signal is generated in each transverse control channel, which is proportional to the difference between the digital rocket radio control signal and the digital signal proportional to the lateral linear acceleration value, integrate it. At the same time, the digital signal of rocket radio control is scaled by the gear ratio of the autopilot and summed with the integrated digital error signal, the resulting signal is scaled by the gear ratio of the autopilot, the digital signal obtained is converted into analog form and used as the first control signal of the corresponding pair of aerodynamic rudders with feedback on lateral linear acceleration . The digital signal proportional to the angular velocity is inverted, scaled by the autopilot gear ratio, the obtained digital control signal is converted into analog form and used as the second aerodynamic rudders controlling the same pair with feedback on the angular velocity of the rocket.

A signal proportional to the angle of attack of the rocket can be generated as follows. The altitude and flight speed of the rocket are continuously measured digitally, and digital signals proportional to the current value of the air mass density and sound speed are generated from their values and tabular values of the standard atmosphere [2]. Using signals proportional to the flight speed of the rocket and the speed of sound, a digital signal is generated proportional to the Mach number, from which the lift coefficient of the rocket is calculated and the corresponding digital signal is generated. This signal is successively multiplied with a digital signal proportional to the current value of the mass density of air and a digital signal proportional to the speed of the rocket. The resulting digital signal is scaled with a constant equal to the ratio of the missile midship to its weight, and a digital signal is obtained proportional to the dynamic coefficient of the rocket's lift force. The angle of attack of the rocket is determined depending on the dynamic coefficient of lift of the rocket created by the aerodynamic method due to the angle of attack and the angular velocity of rotation of the rocket relative to the transverse axis.

Next, they form a digital signal proportional to the angle of attack, invert it, scale the gear ratio of the autopilot, convert it to analog form and use it as the third control signal for the same pair of aerodynamic rudders.

For the described method of generating steering control signals for a symmetrical rocket, the transfer function of a closed stabilization system has the form:

,

,

where W is the signal proportional to the lateral linear acceleration;

λ is the radio control signal;

- коэффициент масштабирования сигнала радиоуправления;

- scaling factor of the radio signal;

T ₁ , ξ _CT , T _CT - parameters that are corrected for any current correction argument, for example, for pressure head, longitudinal acceleration, etc.

, то передаточная функция замкнутой системы стабилизации примет вид:If due to appropriate correction, for example, by the pressure head, ensure equality

, then the transfer function of the closed stabilization system will take the form:

.

.

In this case, the amount of generalized information transmitted via the exchange channel to the radio control system is halved, and at p = 0, i.e. in steady state rocket motion,

.

.

Those. a closed stabilization system becomes astatic, and there is no systematic static control error with constant external exposure, which increases the accuracy of controlling a symmetrical missile.

A device for implementing the proposed method for generating control signals for a symmetrical rocket with a cross-shaped arrangement of four aerodynamic rudders consists of two identical lateral control channels of the corresponding pair of these rudders. Each of the channels (Fig. 1) contains a digital driver of the control signal with feedback on lateral linear acceleration, a digital driver of the control signal with feedback on the angular velocity and a digital driver of the control signal with feedback on the angle of attack of the rocket. The digital driver of the control signal with feedback on lateral linear acceleration contains a lateral linear acceleration sensor 1, a first digital adder 2, a digital integrator 3, a second digital adder 4, and a first digital scaling amplifier 5, the output of which is connected to the first input of the DAC 6, in series. The first input of the digital adder 2, being the channel input, is connected to the corresponding digital output of the onboard missile control system (not shown in the diagram), to which the input to the second digital scaling amplifier 7, the output of which is connected to the second input of the second digital adder 4. The second input of the first digital adder 2 is connected to the digital output of the linear acceleration sensor 1.

The digital driver of the control signal with feedback on the angular velocity of rotation of the rocket contains an angular velocity sensor 8 with a digital output, to which the first digital inverter 9 and the third digital scaling amplifier 10 are connected in series, the output of which is connected to the second input of the DAC unit 6.

The digital driver of the control signal with feedback on the angle of attack of the rocket contains sequentially connected digital calculator of air density and sound velocity 11, the divider 12, the calculator of the lift coefficient of the rocket 13, the first 14, the second 15 and the third 16 multipliers, the calculator of the angle of attack of the rocket 17, the second an inverter 18 and a fourth scaling amplifier 19, the output of which is connected to the third input of the DAC unit 6. The first and second inputs of the calculator of air density and sound velocity 11 are connected to the on-board equipment, respectively GOVERNMENTAL to the output meter height H and V output rocket speed meter (not shown in the diagram). The second inputs of the divider 12 and the second multiplier 15 are also connected to the second input of the air density and sound velocity calculator 11, and the second input of the first multiplier 14 is connected to the second output. The second input of the third multiplier 16 is connected to a signal source proportional to the ratio of the rocket midship to its mass ( not shown in the diagram). The second input of the calculator of the angle of attack of the rocket 17 is connected to the digital output of the angular velocity sensor 8. The second inputs of the first 5, second 7, third 10 and fourth 19 scaling amplifiers are connected to the corresponding outputs of the autopilot of the rocket (not shown in the diagram). The outputs of the DAC block 6 are the outputs of the transverse control channel, which are connected to the steering gear of the corresponding pair of rocket aerodynamic rudders (not shown in the diagram). As the listed elements of the device circuit, with the exception of sensors 1 and 8, typical elements of the on-board digital computer (BCM) of the rocket can be used.

. За счет этого в передаточной функции замкнутой системы стабилизации появляется интегродифференцирующее звено

с эффектом дифференцирования, позволяющим скомпенсировать запаздывание от инерционного звена

и тем самым расширить полосу пропускания системы стабилизации. Выходной сигнал второго сумматора 4 масштабируется (5) передаточным числом автопилота, преобразуется в аналоговую форму в блоке ЦАП 6 и в качестве управляющего сигнала с обратной связью по боковому линейному ускорению подается в рулевой привод соответствующей пары аэродинамических рулей ракеты.The device operates as follows. When a rocket develops the radio control commands λ in the transverse planes of the associated coordinate system, lateral linear accelerations W and angular rotational speeds ω relative to its transverse axes arise, measured in each transverse control channel, respectively, by the sensor of lateral linear accelerations 1 and the angular velocity sensor 8. In the digital driver shaper a signal with feedback on lateral linear acceleration, a signal proportional to the value of the radio command λ is supplied to the first input of the first adder 2, to the second input of which a digital inverted signal proportional to the value of lateral linear acceleration W is supplied from the output of the lateral linear acceleration sensor 1. An error signal proportional to the difference of the radio control signal λ and the signal proportional to W. is output at the output of the first adder 2. This signal is integrated (3) and fed to the first input of the second scaling amplifier 4, the second input of which is fed from the output of the second scaling amplifier 7, the radio signal λ, scaled by the transfer chi autopilot scrapping

. Due to this, an integro-differentiating link appears in the transfer function of the closed stabilization system

with differentiation effect, which compensates for the delay from the inertial link

and thereby expand the bandwidth of the stabilization system. The output signal of the second adder 4 is scaled (5) by the gear ratio of the autopilot, converted into analog form in the DAC block 6, and fed into the steering gear of the corresponding pair of rocket aerodynamic rudders as a control signal with feedback on lateral linear acceleration.

In the digital driver of the control signal with feedback on the angular velocity of rotation of the rocket, the signal generated by the angular velocity sensor 8, which is proportional to the angular velocity ω, is inverted (9), scaled (10) by the gear ratio of the autopilot, converted into an analog form in the DAC block 6 and as a control signal with feedback on the angular velocity is fed into the steering gear of the same pair of rocket aerodynamic rudders.

The formation of the control signal with feedback on the angle of attack of the rocket is carried out using the dynamic coefficient of lift of the rocket a ₄ created by the aerodynamic method due to the angle of attack, according to the well-known expression [1, p. 383]:

- коэффициент подъемной силы ракеты;Where

- rocket lift coefficient;

- скоростной напор;

- speed head;

S - midship rocket;

m is the weight of the rocket;

V is the flight speed of the rocket.

и скорости полета

, поступают соответственно на первый и второй входы вычислителя 11, в памяти которого хранится таблица параметров стандартной атмосферы [2]. На основании показателей

и

методом интерполяции табличных значений (фиг.2, фиг.3) определяются массовая плотность воздуха ρ и скорость звука a и формируются цифровые сигналы, пропорциональные текущим значениям

и

. Цифровые сигналы, пропорциональные

, поступают также на второй вход делителя 12, на первый вход которого подаются цифровые сигналы, пропорциональные текущим значениям скорости звука

. Путем деления цифрового сигнала

на цифровой сигнал

формируется цифровой сигнал, пропорциональный текущему значению числа Маха

, который поступает в вычислитель 13, в памяти которого хранится априорная зависимость коэффициента подъемной силы ракеты

в функции числа Маха. На основании текущего значения

методом интерполяции табличных значений определяется текущее значение

и формируется пропорциональный ему цифровой сигнал, который в первом умножителе 14 перемножается с цифровым сигналом, пропорциональным массовой плотности воздуха

, поступающим со второго выхода вычислителя 11. Далее цифровой сигнал, пропорциональный произведению

, во втором умножителе 15 перемножается с цифровым сигналом, пропорциональным текущей скорости полета ракеты

, поступающим на его второй вход. Результатом обработки этих сигналов является цифровой сигнал, пропорциональный произведению коэффициента подъемной силы ракеты

на скоростной напор q, который поступает в третий умножитель 16. На его второй вход из БЦВМ ракеты поступают цифровые сигналы, пропорциональные постоянной величине отношения миделя S к весу m ракеты. Результатом обработки этих сигналов является цифровой сигнал, пропорциональный значению динамического коэффициента подъемной силы ракеты a₄, который поступает на первый вход вычислителя угла атаки 17, на второй вход которого поступает цифровой сигнал, пропорциональный угловой скорости ω с выхода датчика угловой скорости 8. С выхода вычислителя 17 снимается цифровой сигнал, пропорциональный текущему значению угла атаки ракеты α, который инвертируется (18), масштабируется (19) передаточным числом автопилота, преобразуется в аналоговую форму в блоке ЦАП 6 и в качестве управляющего сигнала с обратной связью по углу атаки подается в рулевой привод этой же пары аэродинамических рулей ракеты.For this, from the onboard equipment of the rocket, for example, from a digital inertial guidance system, digital signals proportional to the current altitude values

and flight speed

come respectively to the first and second inputs of the calculator 11, in the memory of which a table of parameters of the standard atmosphere is stored [2]. Based on indicators

and

by interpolating tabular values (FIG. 2, FIG. 3), the mass density of air ρ and the speed of sound a are determined and digital signals are generated that are proportional to the current values

and

. Digital signals proportional

also arrive at the second input of the divider 12, the first input of which digital signals are proportional to the current values of the speed of sound

. By dividing the digital signal

to digital signal

a digital signal is generated proportional to the current value of the Mach number

, which enters the calculator 13, the memory of which stores the a priori dependence of the lift coefficient of the rocket

as a function of the Mach number. Based on current value

the table value interpolation method determines the current value

and a digital signal proportional to it is formed, which in the first multiplier 14 is multiplied with a digital signal proportional to the air mass density

coming from the second output of the calculator 11. Next, a digital signal proportional to the product

, in the second multiplier 15 is multiplied with a digital signal proportional to the current speed of flight of the rocket

entering his second entrance. The result of processing these signals is a digital signal proportional to the product of the rocket's lift coefficient

to the pressure head q, which enters the third multiplier 16. Digital signals proportional to the constant ratio of the midship S to the weight m of the rocket arrive at its second input from the missile computer. The result of processing these signals is a digital signal proportional to the value of the dynamic rocket lift coefficient a ₄ , which is fed to the first input of the calculator of the angle of attack 17, the second input of which receives a digital signal proportional to the angular velocity ω from the output of the angular velocity sensor 8. From the output of the calculator 17 a digital signal is taken proportional to the current value of the angle of attack of the rocket α, which is inverted (18), scaled (19) by the gear ratio of the autopilot, converted into analog form in the block DAC 6 and as a control signal with feedback on the angle of attack is fed into the steering gear of the same pair of aerodynamic rudders of the rocket.

The introduction of an integrator in the feedback on lateral linear acceleration provides the astatism of a closed stabilization system. The inclusion of a second scaling amplifier parallel to the first adder and integrator forms an integro-differentiating link, due to which there is an effect of signal differentiation in the chain of passage of the radio control commands. The introduction of the angle of attack calculator is new and provides positional feedback on the angle of attack. The implementation of the device forming control signals on the elements of digital technology allows you to increase the natural frequency of a closed stabilization system to 50-100 Hz, which is fundamentally impossible with the analog execution of the device. All this provides an increase in the accuracy of rocket control.

Information sources

1. Designing anti-aircraft guided missiles. / Ed. I.S. Golubeva and V.G. Svetlova. M .: Publishing. MAI, 1999, pp. 404-405.

2. Table of standard atmosphere. GOST 4401-64, 1964.

Claims (3)

1. The method of generating control signals for a symmetrical rocket with a crosswise arrangement of four aerodynamic control wheels using two identical control channels, in each of which the current values of linear lateral accelerations and the angular velocity of rotation of the rocket relative to its transverse axis are measured, an error signal is proportional to the difference of the radio control signal and signal proportional to the value of lateral linear acceleration, invert the signal proportional to angular velocity, scale its transmission full-time autopilot number and is used as a control signal with feedback on the angular velocity for one of the rocket aerodynamic rudder pairs, characterized in that the error signal is integrated and summed with the radio signal, the received signal is scaled by the autopilot ratio and used as a control signal with feedback a connection along the lateral linear acceleration for the same pair of aerodynamic rudders of the rocket, at the same time they form a signal proportional to the angle of attack of the rocket, which is inverted, the scale They use the gear ratio of the autopilot and use it as the third control signal with feedback on the angle of attack of the rocket for the same pair of rocket aerodynamic rudders. 2. The method according to claim 1, characterized in that to obtain a signal proportional to the angle of attack of the rocket, the height and speed of the rocket’s flight are continuously measured, signals proportional to the current value of the air mass density and sound velocity are generated from their values and tabular values of the standard atmosphere, using signals proportional to the flight speed of the rocket and the speed of sound, they generate a signal proportional to the Mach number, from which the lift coefficient of the rocket is calculated and the corresponding signal is generated, which subsequently It is carefully multiplied with a signal proportional to the current value of the mass density of air, and a signal proportional to the speed of the rocket, the resulting signal is scaled with a constant equal to the ratio of the size of the missile’s midship to its weight, to obtain a signal proportional to the dynamic coefficient of rocket lift, and the angle of attack of the rocket is determined as depending on the dynamic coefficient of rocket lift created by the aerodynamic method due to the angle of attack, and the angular velocity of rotation of the rocket relative to erechnoy axis. 3. The method according to claim 1, characterized in that the signals are generated in digital form, and the generated digital lateral control signals are converted into analog form.

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