RU2401981C2 - Method of stabilising angular position of roll-revolving controlled artillery projectile lengthwise axis - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: proposed method comprises measuring projectile lengthwise axis by one-channel relay angle transducer connected with gyro angle transducer outer frame. Gyro angle transducer is made up of three sectors, main and additional arranged on different sides of transducer zero position, and third auxiliary sector arranged on the side of additional sector. Control signal is generated by one channel of relay steering drive for time interval when inclination angle exceeds insensitivity zones of transducer sectors. Note here that insensitivity zone of the main sector equal required inclination angle, that of additional sector equals the difference between inclination angle and amplitude of projectile oscillation angle in the angle of attack and that of auxiliary sector equals 2 to 3 amplitudes of projectile oscillation angle in the angle of attack. When projectile lengthwise axis inclination exceeds insensitivity zones of the main or additional sectors, signal of control over the first channel steering drive control signal is generated. In certain conditions, control modes for the first and second steering drive.

EFFECT: increased rage of fire with no design modifications and projectile sizes.

5 dwg

Description

The present invention relates to the field of development of control systems for unmanned aerial vehicles and can be used in complexes of guided artillery weapons and other weapon systems in which combined guidance of the projectile is used: ballistic flight after firing, then inertial guidance with a constant angle of inclination of the trajectory and precise guidance on the target (for example, homing) on the final section of the trajectory.

A known method of stabilizing the angular position of the longitudinal axis of a rotating artillery guided projectile roll [152-mm 3VOF64 (3VOF93) shot with a high-explosive guided projectile 3OF39 and a full variable (reduced variable) charge. Technical description and instruction manual. M .: Military Publishing House, 1990, p.21-22], including measuring the angle of inclination of the longitudinal axis of the projectile with a single-channel relay sensor in the reference coordinate system realized by the gyroscopic device at the time of sizing, and generating a control signal for the single-channel relay steering gear for the time the angle of inclination is exceeded values of dead zones of the working sectors of the angle sensor. The current collector of the angle sensor is connected to the outer frame of the gyroscopic device, the rotor of which, prior to sizing, carried out at a certain point in time, counted from the start moment, is oriented along the longitudinal axis of the projectile, and three working sectors are rigidly connected to the shell of the projectile. The size of the dead zone of one of the sectors (main) is determined by the required angle of inclination of the axis of the projectile, the other (additional), placed relative to the initial position of the current collector on the opposite side to the main sector, the difference in the required planning angle and the amplitude of the angle of oscillation of the projectile by the angle of attack, and the third (auxiliary), placed on the side of the additional sector, is equal to the value of 2-3 amplitudes of the angle of oscillation of the projectile along the angle of attack. The formation of control commands in the planning area is carried out by signals from the primary and secondary sectors. A control signal is generated for one of two pairs of rudders in accordance with the dependencies:

where U _ү - signal to the steering gear;

U _b1 , Ub ₂ - signals of the angle sensor;

α _GI - the angle of rotation of the outer frame of the inertial gyroscope relative to the projectile in the coordinate system associated with the rotating projectile, α _GI = Δ × cosγ;

γ is the angle of heel of the projectile, measured from a vertical plane;

Δ is the absolute value of the bearing angle, i.e. the angle between the longitudinal axis of the projectile and the axis of the rotor of the gyroscope;

b ₁ , b ₂ - the values of the dead zones of the primary and secondary sectors of the angle sensor, respectively.

The formation of a control signal for only one pair of rudders significantly limits the firing range, because the control signal in the inertial guidance section cannot exceed a certain value. The possibility of increasing the compensation signal is limited by the need to introduce an additional angle sensor into the design of the gyroscopic device to control the second channel of the steering gear, since it should be installed on the inner frame, which will lead to an increase in the size of the gyroscope and a decrease in accuracy due to the introduction of a current-transmitting device into its design.

The objective of the invention is to increase the firing range of an artillery guided projectile without changing the design and dimensions of the projectile.

In the proposed method for stabilizing the angular position of the longitudinal axis of a roll of artillery guided projectile, including measuring a single-channel relay angle sensor associated with the outer frame of the gyroscopic angle sensor and made in the form of three sectors, the main and the additional, located on opposite sides from the zero position of the sensor and the third auxiliary, located on the side of the additional sector, the angle of inclination of the longitudinal axis of the projectile in the coordinate system implemented gyro m at the time of sizing, the formation of a control signal for one channel of the steering gear relay for the time the tilt angle exceeds the dead zones of the sensor sectors, while the dead zone of the main sector is equal to the desired tilt angle, and the additional one is the difference between the tilt angle and the amplitude of the projectile oscillation angle by the angle of attack and auxiliary - the value of 2-3 amplitudes of the angle of oscillation of the projectile along the angle of attack, when the angle of inclination of the longitudinal axis of the projectile of the dead zones of the main o or additional sectors, the control signal of the steering gear of the first channel is generated and at the same time on each roll rotation period the control signal from the main sector is analyzed, if it is available, operations are performed: M _n = M ₀ +1, L _n = 0, and in the absence : L _n = L ₀ +1, M _n = 0, where M _n , L _n are integer values with initial values M ₀ = 0, L ₀ = 0, the value N is assigned for the number of analyzed rotation periods, and when the condition M _n = N value M _n assign a value equal to M _n = 0, and include the following control mode p the first channel of the steering drive, which consists in generating commands for the presence of a signal with an additional signal and the absence of a signal from the auxiliary sectors of the angle sensor and determining the values of M _n , L _n , when the condition L _n = N is fulfilled, L _{n is} assigned a value equal to L _n = 0, and include previous steering gear control mode, and when the condition M _n = _N M _n value is assigned a value of M _n = 0, and includes the following control mode is the first steering drive channel, comprising forming command by the presence and absence of the signal auxiliary pickoff sector, determine the magnitude M _n, L _n, when the condition L _n = _N value L _n is assigned a value equal to L _n = 0, and include previous steering gear control mode, and when the condition M _n = _N value M _n assign a value equal to M _n = 0, and turn on the following control mode, which consists in additionally generating a command for controlling the second channel of the steering gear on a half-cycle of rotation of the projectile along the roll, determine the values of M _n , L _n , when the condition L _n = N is fulfilled, the value L _n is set equal to e L _n = 0, and include previous steering gear control mode, and when the condition M _n = _N value M _n is assigned a value of M _n = 0, and includes the following control mode, comprising the additional shaping control command the second steering drive channel during the period of rotation of the projectile along the roll, the values of M _n , L _{n are} determined, when the condition L _n = N is fulfilled, the value of L _{n is} assigned a value equal to L _n = 0, and the previous control mode of the steering gear is turned on, with the commands given to the second channel steering gear, get from control commands of the first channel by shifting them in time by a value of T / 4, where T is the period of rotation of the projectile along the roll.

The technical result is achieved by changing the law of forming the command for controlling the first channel of the steering gear and introducing control of the second channel of the steering gear when using a single-channel angle sensor. The invention is illustrated by graphic materials, where in Fig. 1 there are examples of counting the number of signal pulses from the main sector of the angle sensor and switching control modes, in Fig. 2 - formation of control signals in modes 1, 2, 3, in Fig. 3 - formation of signals control modes 4, 5, figure 4 - dependence of the team in the vertical plane on the angle Δ between the axes of the projectile and the gyroscope for various control modes (R), figure 5 is an example implementation of the control process.

In the proposed method for stabilizing the angular position of the longitudinal axis of a roll of artillery guided projectile in the process of generating a control signal for the first channel of the steering gear by signals from the main and additional sectors (mode 1) on each half-cycle of rotation, characterized by the absence of a signal from the auxiliary sector, i.e. U _b3 = 0, in addition, an analysis is made of the presence or absence of a signal from the main sector of the angle sensor that sets the required value of the angle of inclination of the projectile axis. In the case of a signal, the operations M _n = M ₀ +1, L _n = 0, and in the absence of L _n = L ₀ +1, M _n = 0, where M _n , L _n are integer values with initial values of M ₀ = 0, L ₀ = 0. When the value of M _n reaches a predetermined value of N, i.e. M _n = N, where N is the predetermined number of roll rotation periods of the projectile, the operation is carried out to assign the value of M _{n a} value equal to M _n = 0, and include the following control mode of the first channel of the steering drive. To ensure the invariance of measuring the angle of inclination of the projectile from the amplitude of the natural oscillations of the projectile by the angle of attack, the analysis time of its magnitude is selected not less than the period of natural oscillations and is set through the number of rotation periods N≥T int _. / t _rotate where t _rotation - the mathematical expectation of the roll period. The included control mode consists in generating control commands for the presence of a signal with an additional signal and the absence of a signal from the auxiliary sectors of the angle sensor (mode 2) and determining the values of M _n , L _n . When the condition L _t = N is fulfilled _{, the} value is assigned a value equal to L _n = 0, and the previous control mode of the first channel of the steering drive is turned on according to signals from the main and additional sectors, and when the condition M _n = N is fulfilled, the value M _{n is} assigned the value equal to M _n = 0, and include the following control mode of the first channel of the steering drive, which consists in generating commands for the presence and absence of a signal from the auxiliary sector of the angle sensor (mode 3) and determining the values of M _n , L _n . When the condition L _n = N is fulfilled, the value L _{n is} assigned a value equal to L _n = 0, and the previous steering control mode is activated (mode 2), and when the condition M _n = N is fulfilled, the value M _{n is} assigned a value equal to M _n = 0 , and include the following control mode, which is in addition to mode 3 the formation of a command to control the second channel of the steering gear on the half-cycle of rotation of the projectile along the roll (mode 4) and determining the values of M _n , L _n . The commands supplied to the second channel of the steering drive are obtained from the control commands of the first channel by shifting them by time by a value of T / 4, where T is the period of rotation of the projectile along the roll, determined by the signal from the auxiliary sector. When the condition L _n = N is fulfilled, the value L _{n is} assigned a value equal to L _n = 0, and the previous steering control mode is activated (mode 3), and when the condition M _n = N is fulfilled, the value M _{n is} assigned a value equal to M _n = 0 and include the following control mode, which consists in additionally generating a command for controlling the second channel of the steering gear during the roll rotation period (mode 5) and determining the values of M _n , L _n . When the condition L _n = N is fulfilled, L _{n is} assigned a value equal to L _n = 0, and the previous steering control mode is switched on (mode 4).

Control signals are formed in accordance with the dependencies:

mode 1 mode 2

U _Z = 0; U _Z = 0; mode 3 mode 4

U _Z = 0;

mode 5

Where

U _b1 , U _b2 , U _b3 - signals from the main, additional and auxiliary sectors of the angle sensor, respectively;

- сигнал, смещенный относительно сигнала по времени на величину 0.25 T;

- a signal shifted relative to the signal in time by 0.25 T;

T - the period of the signal U _b3 .

_ош, обусловленной действием на снаряд силы тяжести и равной:To explain the proposed method, we consider the process of stabilizing the angular position of the longitudinal axis of the projectile. A feature of the stabilization method is error compensation

_osh , due to the effect on the projectile of gravity and equal to:

₀ - требуемая величина угла наклона оси снаряда в вертикальной плоскости;Where

₀ - the required value of the angle of inclination of the axis of the projectile in a vertical plane;

_уст - установившаяся величина угла наклона оси снаряда в вертикальной плоскости (если влияние силы тяжести не компенсируется);

_mouth - the steady-state value of the angle of inclination of the axis of the projectile in a vertical plane (if the influence of gravity is not compensated);

g is the acceleration of gravity;

V is the velocity of the projectile;

K _PL - the transfer coefficient of the projection glider, connecting the derivative (in time) of the angle of inclination of the projectile trajectory with the angle of deviation of the rudders;

K _RP - gear ratio of the steering drive (RP), connecting the angle of deviation of the rudders with a control signal;

K _a is the transmission coefficient of the control equipment, connecting the control signal with the angle of mismatch between the desired and actual positions of the longitudinal axis of the projectile.

The influence of gravity can be compensated by generating a compensation signal equal to

When the velocity of the projectile changes, the value of the required command coefficient changes over a wide range. The possibility of increasing the transmission coefficient of the equipment without introducing corrective devices into the control equipment is limited, because with an increase in the gain of the open loop control

K _times = K _a K _rp K _pl

above a certain value, the system becomes unstable, therefore, the coefficient K _a should be selected based on the required stability margins of the system.

The value of the command in the vertical plane is defined as:

where T is the period of rotation of the projectile roll;

t is the current time;

Y (t) = Uγ (t) × cosγ + U _Z (t) × sinγ - a control signal converted to a vertical plane of a coordinate system that does not rotate along the roll;

γ is the angle of heel of the projectile.

Since the projectile in the inertial guidance section unfolds in the vertical plane under the action of gravity, there is no significant deviation of the projectile trajectory in the horizontal plane, and we can assume that

α _GI = Δ × cosγ.

The command in the vertical plane, due to the pulse of the signal U _γ , is

where -γ ₁ , γ ₁ - roll angles of the beginning and end of the formation of the control signal by the gyroscope.

The value of γ ₁ is determined from the condition

α _GI = Δ × cosγ ₁ = b ₁ ;

where from

;

;

If the bearing angle Δ exceeds the values of the dead zones of the primary and secondary sectors | b ₁ | and | b ₂ |, then the coefficient of the command in mode 1 will be

If the angle of the dead zone of the auxiliary sector b _{3 is} sufficiently close to zero, the command coefficient in mode 2 will be

in mode 3

in mode 4

in mode 5

The proposed stabilization method allows you to increase the team from 0.41 units to 1.27.

Figure 1-4 shows timing diagrams illustrating the transition of the stabilization process from one mode to another, and Fig. 5 shows the dependence of the control command in the vertical plane on the bearing angle Δ for various stabilization modes.

, обусловленного скачкообразным изменением сигнала управления. Требуемое значения команды обеспечивается введением пяти режимов формирования команды. За счет периодической «подстройки» сигнала компенсации веса уменьшается ошибка угловой стабилизации снаряда в вертикальной плоскости, обусловленная изменением скорости снаряда и коэффициента передачи планера, при достаточно малом (в том числе нулевом) коэффициенте пропорциональности между углом рассогласования Δ и сигналом управления, что позволяет увеличить максимальную дальность стрельбы при допустимой амплитуде изменения угла

.The magnitude of the change in the control signal is selected based on the allowable angle change

due to the abrupt change in the control signal. The required command value is provided by the introduction of five modes of team formation. Due to the periodic "adjustment" of the weight compensation signal, the error of the angular stabilization of the projectile in the vertical plane is reduced due to a change in the projectile speed and the glider transmission coefficient, with a sufficiently small (including zero) proportionality coefficient between the mismatch angle Δ and the control signal, which allows to increase the maximum firing range with permissible amplitude of change of angle

.

The proposed method allows for inertial guidance in such a way that the average value of the angle Δ is approximately equal to | b ₁ |, because if for a time equal to N × t _rotation , the angle Δ was greater than or equal to | b ₁ |, then the team in the vertical plane increases, if during the time N × t _{rotation the} angle Δ was less than | b ₁ |, the command decreases in the vertical plane, and if the angle Δ took values both greater and less than | b ₁ | during the N × t _rotation , the command does not change.

If we consider sufficiently large time intervals (in comparison with the value of N × t _rotation ), in the inertial guidance section an infinitely large proportionality coefficient is realized between the deviation of the angle Δ from the desired value and the change of command in the vertical plane, i.e. the command value in the vertical plane on average always corresponds to the value required so that the angle Δ is equal to the specified value. But in each of the individual modes, the command in the vertical plane either does not depend on the angle Δ (in modes 3, 4, 5), or the ratio of the change in the command to the change in the angle Δ is sufficiently small so that corrective devices are not required to ensure the stability of the inertial guidance system. It is advisable to choose the value of N so that, with a minimum period t, the _rotation of the projectile along the roll, the time N × t _{rotation is} sufficient to complete the transition process in pitch angle that occurs after switching modes, in this case, the stability of the system in each of the inertial guidance modes guarantees stability of the inertial guidance process as a whole. On the other hand, it is necessary that, at a maximum period t, the _rotation of the projectile’s rotation along the roll, the deviation of the projectile from the given trajectory during the N × t time, the _{rotation should} be small enough so that the exact hit of the projectile at the target can be ensured by precise guidance, in particular homing. The introduction of the proposed method for stabilizing the angular position of the longitudinal axis of the projectile allows you to increase the maximum firing range by 25 ... 30%.

Implementation of the proposed stabilization method is carried out by using a microprocessor system.

Claims (1)

A method of stabilizing the angular position of the longitudinal axis of an artillery guided projectile rotating along a roll, comprising measuring a single-channel relay angle sensor associated with the outer frame of the gyroscopic angle sensor and made in the form of three sectors, the main and the additional, located on different sides from the zero position of the sensor and the third auxiliary located on the side of the additional sector, the angle of inclination of the longitudinal axis of the projectile in the coordinate system implemented by the gyro at the time of emitting, generating a control signal for one channel of the relay steering gear for the time the angle of inclination of the dead zones of the sectors of the angle sensor, while the dead zone of the main sector is equal to the desired angle, additional - the difference of the angle of inclination and the amplitude of the angle of oscillation of the projectile in angle of attack, and auxiliary value of 2-3 amplitudes of the angle of oscillation of the projectile by the angle of attack, characterized in that when exceeding the angle of inclination of the longitudinal axis of the projectile dead zones of the main or additional sectors, the steering signal of the first channel is generated and simultaneously on each roll rotation period the signal from the main sector is analyzed, if it is available, operations M _n = M ₀ +1, L _n = 0 are performed, and in the absence of L _n = L ₀ +1, M _n = 0, where M _n , L _n are integer values with initial values of M ₀ = 0, L ₀ = 0, assign the value N of the number of analyzed rotation periods and, when the condition M _n = N is fulfilled, the value M _n is assigned a value of M _n = 0, and includes the following first control mode m duct steering drive consists in forming on the signal the presence of commands from the additional signal and the absence of the support angle sensor sectors and determining the values M _n, L _n, when the condition L _n = _N value L _n = _N is assigned the value equal to L _n = 0 and turn on the previous steering control mode, and when the condition M _n = N is fulfilled, M _{n is} assigned a value equal to M _n = 0 and turn on the next control mode of the first channel of the steering drive, which consists in generating commands for the presence and absence of a signal from the help sector of the angle sensor, determine the values of M _n , L _n , when the condition L _n = N is fulfilled, the value L _{n is} assigned a value equal to L _n = 0 and the previous steering control mode is activated, and when the condition M _n = N is fulfilled, the value M _{n is} assigned the value is equal to M _n = 0 and include the following control mode, which consists in additionally forming the command for controlling the second channel of the steering drive on the roll half-cycle of the projectile rotation, determine the values of M _n , L _n , when the condition L _n = N is fulfilled, L _{n is} assigned a value equal to L _n = 0 and include the previous control mode of the steering drive, and when the condition M _n = N is fulfilled, the value M _{n is} assigned a value equal to M _n = 0 and the next control mode is activated, which consists in additionally generating the command for controlling the second channel of the steering drive during the roll rotation period, determine values of M _n , L _n , when the condition L _n = N is fulfilled, the value L _{n is} assigned a value equal to L _n = 0 and the previous steering control mode is activated, while the commands given to the second channel of the steering drive are obtained from the commands board of the first channel by shifting them in time by a value of T / 4, where T is the period of rotation of the projectile along the roll.

Images