RU2423658C2 - Method of controlling and stabilising mobile carrier, integrated system, device for turning antenna reflector in two mutually-perpendicular planes and device for actuating differential aerodynamic controllers for realising said method - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: invention relates to systems for controlling, stabilising and precision homing of a mobile carrier onto a given viewing object, having a device with varying orientation of the directional pattern of waves emitted by the antenna. Signals, which are proportional to current values of vector parameters for viewing the said viewing object, are generated based on the given initial coordinates of the mutual position of the mobile carrier and the viewing object and the initial conditions for exhibiting the inertial measuring system, as well as based on projections of the apparent acceleration vector and projections of the absolute angular velocity of the viewing vector of the given viewing object to the corresponding axes of the base antenna coordinate system, measured from the beginning of the movement of the mobile carrier.

EFFECT: high precision processing of generated signals and noise immunity of controlling and stabilising the direction of the viewing vector of the viewing object and signals for controlling and stabilising the mobile carrier with simultaneous regulation of the rotation speed of axes and shafts, respectively, of the device for turning the antenna reflector in two mutually perpendicular planes and the device for actuating differential aerodynamic controllers of the mobile carrier.

4 cl, 10 dwg

Description

The invention relates to control systems, stabilization and high-precision homing of mobile carriers to a given object of sight (OB), containing devices with a changing orientation of the radiation pattern of the waves emitted by the antenna, namely rotary-sensitive devices based on the use of gyroinertial sensors of signals of spatial movement of a moving medium, as well as control devices for aerodynamic rudders (ADRs) of a mobile carrier.

The invention is intended to control and stabilize a movable carrier in the process of homing to an initially specified aiming point (TP) when it moves along a path autonomously and / or when location contact with an OB is movable or fixed, and can be used:

- in inertial measuring systems, in particular systems of inertial measurement of the parameters of the vector of sight of a given OB for its independent direction finding in two mutually perpendicular planes in the base antenna coordinate system and its inertial auto tracking;

- in inertial homing systems of mobile carriers on a given OB,

- in integrated integrated airborne homing systems (BSSN) as part of control systems and stabilization of mobile carriers,

- in control and stabilization systems from short-period oscillations relative to the center of mass, including mobile carriers rotating along the roll,

- in control systems and stabilization of the direction of the line (vector) of the sight of antenna devices, for example, radar and inertial (autonomous) auto tracking OB,

- in control systems ADR of mobile carriers.

When creating mobile carriers with high-precision homing to the originally specified OB, equipped with a control and stabilization system containing an integrated BSSN, including a radar antenna device containing a biaxial gimbal, supporting accelerometers and gyroscopes, an important task is:

- providing high-quality inertial direction control to the initially specified OB of the mirror, for example, a radar antenna device on an autonomous section of the homing trajectory of a mobile carrier,

- high-quality orientation of the radiation pattern of the waves emitted by the device, the base of which is rigidly fixed inside the bow of the head compartment of the mobile carrier, including the one rotating along the roll, with qualitative stabilization (from short-period oscillations of the mobile carrier relative to its center of mass) of the direction of the antenna device mirror preset OB,

- at the same time, ensuring high-precision homing of the movable carrier (including the roll roll) to a given OB,

- the formation of control signals and stabilization of the mobile carrier with high-precision homing based on the information of the inertial meter of the parameters of the vector of sight (IIPVV) of a given OB as an inertial measuring system,

- development of technical and special design solutions that provide high-precision and high-speed development of control signals and stabilization of the direction of the vector (line) of the target OBV and development of control signals and stabilization of the mobile carrier, as well as the smallest possible, technologically feasible weight and size characteristics of the control and stabilization system equipment intended for equipping mobile carriers for various purposes.

Known, for example, the following control and stabilization methods, systems and devices that implement them:

1. The method of aeroballistic control of an aerodynamic aircraft (WO 49361 A1, 16.02.99, 7F41G 7/22), "which consists in the fact that the aircraft contains an inertial system, an on-board computer and an active radar or passive homing optical head. According to this method, the flight of an aerodynamic aircraft takes place along an arbitrary trajectory on its descending part until a predetermined turn of the apparatus is achieved. The method additionally involves changing the direction of the velocity vector of the aircraft and the inclusion of the planning descent mode. In the reduction section, the aircraft’s velocity vector successively changes direction in the vertical plane relative to its direction at the top of the trajectory. ”

2. A method and device for rocket control (WO 9939149 A1, 01/20/99, 6F41G 7/20, F42B 15/01), in which "the rocket has information about its position, speed vector and future velocity profile, and also continuously receives information about position and speed vector of the target. Based on this information, the position of point A is predicted at which an interception is expected. Then, the missile’s flight time to the predicted point A is calculated. Additionally, a fictitious point B is calculated at which the intercept of the missile target is expected, and this point is located at a higher height than the predicted interception point. The distance between points A and B depends on the calculated flight time. Finally, the rocket velocity vector is sent to the indicated fictitious point. "

3. A missile control system with an operation algorithm containing a non-linear gain (US 5975460 A, 10.11.97, 6F41G 7/00), which "generates control commands for aiming the missile at the target and contains a control system for guiding the missile at the target and contains a system controls, calculator, block, autopilot and a set of electromagnetic sensors. The control system receives current guidance parameters from rocket sensors and guidance heads. The guidance parameters contain navigation data, the speed of approach with the target, the speed of the line of sight, the maneuverability of the rocket and the speed of the rocket. Using the software, the calculator determines the current coefficient of effort of the guidance parameter depending on the current rocket maneuverability characteristics. In a separate embodiment, the system contains a non-linear target that generates an acceleration command depending on the guidance parameters, which vary when the rocket maneuverability changes. The block determines the law of pointing the missile at the target. An autopilot provides predetermined rocket maneuverability characteristics. The non-linear gain is a function of the ratio of the speed of the line of sight to the maximum speed of the ideal line of sight and depends on the current characteristics of the rocket. "

4. The method of autonomous control of an artillery shell stabilized by rotation, and an autonomous guided projectile for implementing the method (DE 19740888 A1, 09.17.97, 6F41G 7/00, F42B 30/08, G05D 1/12), designed "to aim at an artillery target rotation stabilized projectile. " In this case, “it is required that the projectile accurately hit the target at a distance of ≥35 km. To this end, it is envisaged to transfer to the projectile before firing predefined target data. After the projectile is fired, this data is compared with the projectile position data detected by the satellite navigation receiving station. Correction data obtained from this comparison are used to control the projectile. For this, the projectile is transferred shortly before the control phase is reached from the state of flight stabilized by rotation to flight stabilized by the plumage. And then the aerodynamic control of the projectile is carried out using the hinged wing wing mounted on its nose and in the locked state the rotation brakes act as bearing surfaces. "

5. The method of generating control signals during homing (RU 2239769 C2, 2002.11.27, 7F41G 7/22), the essence of which "consists in the following: the homing of the homing antenna to the target after the disappearance of the signal reflected from the target is carried out with a variable angular velocity, proportional to the current estimate of the angular mismatch generated by integrating the difference in the angular velocity of the line of sight obtained from the optimal filter used to generate control commands in the homing system, and its value, measured head homing. A zero value can also be used as an estimate of the angular velocity. ”

6. Inertial guidance and measurement system (WO 3085358 A1, 03/31/2003, 7G01C 19/30, B64G 1/28, B64C 17/06) consist of a “gyro with a controlled moment, a cardan joint, a suspension device for the cardan joint for the possibility of rotation of the hinge of the universal joints around the axis and the hinge engine for rotation of the hinge around the axis to drop torque. Using the sensor, the angular velocity of the vehicle is determined by the magnitude of the torque and angular acceleration of the cardan joint ”.

7. Homing system for a self-propelled projectile (GB 2331352 A1, 07.02 / 84, 6F41G 7/22, G05D 1/12), which "is equipped with a target sensor with an asymmetric field of view. Yaw, pitch and roll autopilots operate in accordance with commands received from the required acceleration signals based on elevation, bearing and elevation. To keep the target in a limited field of view, the roll angular velocity command includes a calculated component derived from the pitch angular velocity and taken in the inverse scale with respect to the azimuth angle. The sensor provides an increased view in azimuth and due to this it can be asymmetrically offset in azimuth relative to the line of sight. After receiving a command corresponding to a large estimated angular velocity along the roll, the system stops yawing or temporarily replaces the input signals entering the autopilots with control signals along the aiming line. "

8. The rudder control unit on a rocket or projectile (US 6604705 B2, 03/19/2002, 7F42D 10/06), which "contains an insulated housing. On the outside of the case there are two control surfaces in the form of rudders or semi-rudders, which are mounted on hinges, can be rotated and controlled by drives. The housing has two cavities with electric motors. Through the lowering gear reducer, the motors control the oscillations relative to the longitudinal axis of the control unit of two rings installed in the sockets. Semi steering wheels are coupled to the rings by means of end connectors, which are mounted opposite each other on an additional ring. This ring is located in the housing socket and can rotate freely about the longitudinal axis. "

9. The steering gear unit of the guided projectile (RU 2248519 C1, 2003.10.15, 7F42B 15/00), which "includes the rudder axis with a rocker, to which the power cylinders are connected with a membrane type piston with a rigid center and a one-sided rod, as well as centering units pistons. Each centering assembly is in the form of a central rod of constant diameter installed in the cylinder cavity and an annular guide sleeve made on the rod from the outlet side of an axial blind hole formed on the rod forming a movable fit with the rod. The distance from the axis of the rudders to the axis of each cylinder is determined by a certain relationship. "

10. Block driven drive of a guided projectile (RU 2248520 C1, 2003.07.02, 7F42B 15/01), in which “the rudders are connected by means of a semi-axis, in which a central hole is made along the longitudinal axis of the projectile, coaxial holes are made perpendicular to the longitudinal axis for setting the steering axles . The axle shaft contains elements for connecting to the power cylinders. ”

11. The steering drive of a guided projectile (RU 2257534 C1, 2004.03.30, 7F42B 15/00), which "contains a steering machine with a power cylinder, a switchgear and a control electromagnet. The switchgear is located in the input channel of the steering machine, connected with the cavities of the power cylinder, in which filters and throttles are installed, nozzles are installed at the outlet of the cavity of the power cylinder, which are blocked by a shutter connected to the armature of the control electromagnet. The throttle area and nozzle area are made at a certain ratio. "

12. The steering gear unit of the guided projectile (RU 2258895 C1, 2004.04.14, 7F42B 15/00), which "contains the frame, steering wheels, steering machine with a rod. The steering machine is rigidly fixed with a frame, a carrier with an aperture perpendicular to the axis of the piston with a liner placed in it is fixed at the end of the rod. A hole is made in the insert, in which a cylindrical pin is mounted, mounted on a lever connected to the rudders. "

13. The rocket control method and the steering drive unit (options) (RU 2288439 C1, 2005.07.04, F42B 15/00, 10/60, B64C 13/40), which includes the formation of a missile control system signal to the steering gear and the corresponding angular deviation aerodynamic rudders driven relative to the longitudinal axis of the rocket in the range between two maximum values. At the moment the aerodynamic rudders reach the maximum deviation angle, the signal of the control system on the steering gear is terminated, in which they form an effect that ensures the angular deviation of the aerodynamic rudders in the opposite direction. In the first embodiment, the steering drive unit comprises a steering machine with a piston in the form of a rocker arm mounted on the axis of the aerodynamic rudders, which is mounted in a housing divided by a partition located along the axis of the rudders into working chambers, the side walls of which have spherical surfaces. The common rear wall is made with holes communicating the working chambers with a pneumatic distribution device. An intermediate cavity is formed at the back wall by undercutting of the side walls. The distance from the axis of rotation of the aerodynamic rudders to the rear wall and the length of the spherical surfaces from the axis of rotation of the aerodynamic rudders in the direction from the rear wall are made by a value determined from the first mathematical expression. In a second embodiment, the steering drive unit comprises serially connected an input adder, an amplifier, a steering machine and a feedback sensor. A voltage limiter of positive and negative values of the feedback sensor signal, two comparators, an analog multiplexer and a shaper of maximum control commands are introduced into it. ”

14. A guided projectile (RU 2295698 C1, 2005.09.20, F42B 15/00), which contains “in the head compartment a base on which the steering wheel opening mechanism is located. The fairing made grooves for the exit rudders. "The area of the grooves in the fairing, which is the discharge channels, is made in the ratio of 10-15 of the area of the air intake device."

Therefore, according to the problem mentioned above, which must be solved, none of the analogues discussed above can be accepted as being closest in technical essence and purpose as a prototype of the proposed technical solutions (method, system and devices for its implementation).

The purpose of the claimed technical solutions (method, integrated system and devices for its implementation) is to solve the problem of optimal construction of an integrated integrated BSSN and, on its basis, an integrated control system and stabilization of a mobile carrier while ensuring its enhanced technical characteristics and consumer properties.

изменения углов визирования, определяющих текущее направление зеркала антенного устройства на заданный OB в горизонтальной и в вертикальной плоскости (фиг.1, фиг.3), а также сигналы, пропорциональные текущим значениям модуля скорости изменения наклонной дальности сближения с заданным OB подвижного носителя, начальным и текущим значениям тангажа и рыскания подвижного носителя. Для этого во время предстартовой подготовки к пуску подвижного носителя системы управления и стабилизации определяют и задают сигналы, пропорциональные начальным координатам L₀, ε^Н ₀, ε^Г ₀ взаимного положения подвижного носителя и первоначально заданного OB (фиг.4). Затем формируют сигналы в виде пакета последовательных информационных слов. Пакет содержит начальные значения:The essence of the invention lies in the fact that the proposed method generates long-period control signals proportional to the speed

changes in the viewing angles that determine the current direction of the mirror of the antenna device to a given OB in the horizontal and vertical plane (Fig. 1, Fig. 3), as well as signals proportional to the current values of the modulus of the rate of change of the inclined approach distance with the given OB of the mobile carrier, the initial and current pitch and yaw values of the mobile carrier. To do this, during prelaunch preparations for launching the mobile carrier, the control and stabilization systems determine and set signals proportional to the initial coordinates L ₀ , ε ^Н ₀ , ε ^Г _{0 of the} relative position of the mobile carrier and the initially specified OB (Fig. 4). Then, signals are generated in the form of a packet of sequential information words. The package contains initial values:

- bearings, i.e. the angle of inclination ε ^Н ₀ and the azimuth ε ^А _{0 of the} specified OB relative to the base of the antenna device, rigidly mounted inside the housing of the mobile carrier, in the coordinate system Ox ₁ y ₁ z ₁ connected to the center of mass of the mobile carrier (Fig. 4);

сближения с заданным OB основания антенного устройства вместе с подвижным носителем в предстартовом положении (фиг.1);- oblique range L ₀ to a given OB and oblique speed

rapprochement with a given OB of the base of the antenna device together with the movable carrier in the prelaunch position (figure 1);

- yaw ψ ₀ , pitch ϑ ₀ and roll γ _{0 of the} mobile carrier together with the base of the antenna device (figure 5),

as well as the initial conditions for the inertial measurement of the parameters of the vector of sight of a given OB, i.e. signals proportional to the initial values:

- projections V ⁰ _ζ , V ⁰ _η , V ⁰ _{ξ of the} vector V of the linear velocity of the prelaunch motion of the base of the antenna device together with the movable carrier on the corresponding axis of the local horizontal coordinate system Oξηζ (Fig. 1, Fig. 3);

- Cartesian coordinates ξ ⁰ (D ⁰ ), η ⁰ (Н ⁰ ), ζ ^{0 of the} moving carrier in the local horizontal coordinate system (figure 1);

- longitude λ ₀ and geographical latitude φ _{0 of the} mobile carrier (Fig. 1) and, in addition, signals proportional to the required operating parameters in range, a control word and a command word.

Next, the generated signals are checked in the form of a packet of sequential information words for the absence of distortions in them. After that, the signals characterizing the package of sequential information words are converted into a parallel form for inertial measurement of the parameters of the vector of sight of a given OB. Then, on board the mobile carrier, signals are proportional to the initial conditions of the exhibition of inertial measurement of the parameters of the vector of sight of a given OB into signals proportional to the initial values:

линейной скорости предстартового движения основания антенного устройства вместе с подвижным носителем на соответствующие оси базовой антенной системы координат Оxyz (фиг.1, фиг.2),- projections V ⁰ _x , V ⁰ _y , V ⁰ _{z of the} vector

the linear velocity of the prelaunch motion of the base of the antenna device, together with the movable carrier, on the corresponding axis of the base antenna coordinate system Oxyz (figure 1, figure 2),

- angles ε ^Г ₀ and ε ^В _{0 of the} sight of a given OB, respectively, in the horizontal and vertical planes in the local horizontal coordinate system Оζηξ (Fig. 1, Fig. 3),

заданного OB в базовой антенной системе координат Оxyz, т.е. сигналов рассогласования (ошибки) между направлением оптической оси зеркала антенного устройства и направлением вектора (линии) визирования на заданный OB, отсчитываемых в базовой антенной системе координат относительно оптической оси зеркала антенного устройства во взаимно перпендикулярных плоскостях пеленгования OB (фиг.2),- components of e ⁰ ₁ and e ⁰ ₂ spatial angular coordinates

a given OB in the base antenna coordinate system Oxyz, i.e. mismatch signals (errors) between the direction of the optical axis of the mirror of the antenna device and the direction of the vector (line) of sight on a given OB, counted in the base antenna coordinate system relative to the optical axis of the mirror of the antenna device in mutually perpendicular direction finding planes OB (figure 2),

- guide cosines β ⁰ _ij (where i, j = 1, 2, 3), which determine the initial relative position of the base antenna coordinate system Oxyz and the reference geocentric coordinate system Сξ ₀ η ₀ ζ ₀ , connected by its own axis Сζ ₀ with a given OB, located on the earth's surface (figure 1).

кажущегося линейного ускорения движения и проекциям ω_x, ω_y, ω_z вектора

абсолютной угловой скорости поворота зеркала антенного устройства на соответствующие оси системы координат Ох_зy_зz_з, связанной с зеркалом антенного устройства. По этим измеренным сигналам с учетом переменной электрической редукции между углами поворота зеркала антенного устройства и линии и/или вектора визирования заданного OB определяют сигналы, пропорциональные проекциям n_x, n_y, n_z вектора

кажущегося линейного ускорения движения и проекциям ω_х, ω_y, ω_z вектора

абсолютной угловой скорости поворота вектора визирования заданного OB на соответствующие оси базовой антенной системы координат Oxyz. По полученным сигналам формируют с учетом сигналов, определенных и заданных во время предстартовой подготовки подвижного носителя, сигналы, пропорциональные текущим значениям параметров вектора визирования заданного OB, а именно:At the moment the mobile carrier starts, the update of the initial information signals stops, and during its movement along the trajectory after the start, signals proportional to the projections n _x , n _y n _{z of the} vector are measured

apparent linear acceleration of motion and projections ω _x, ω _y, ω _{z of the} vector

absolute angular velocity of mirror antenna device of the respective axes of the coordinate system Ox z _{z z} y _z associated with a mirror of the antenna device. Based on these measured signals, taking into account the variable electric reduction between the rotation angles of the mirror of the antenna device and the line and / or the vector of sight of a given OB, signals proportional to the projections n _x , n _y , n _{z of the} vector are determined

apparent linear acceleration of motion and projections ω _x , ω _y , ω _{z of the} vector

the absolute angular velocity of rotation of the vector of sight of a given OB on the corresponding axis of the base antenna coordinate system Oxyz. Based on the received signals, taking into account the signals defined and specified during the prelaunch preparation of the mobile carrier, signals are proportional to the current values of the parameters of the vector of sight of a given OB, namely:

линейной скорости сближения с заданным OB основания антенного устройства вместе с подвижным носителем на соответствующие оси базовой антенной системы координат,- projections V _x , V _y , V _{z of the} vector

linear approach speed with a given OB of the base of the antenna device together with a movable carrier on the corresponding axis of the base antenna of the coordinate system,

сближения с заданным OB основания антенного устройства вместе с подвижным носителем,- oblique range L and oblique speed

rapprochement with a given OB of the base of the antenna device together with a movable carrier,

заданного OB в базовой антенной системе координат Оxyz,- components e ₁ and e ₂ spatial angular coordinates

the specified OB in the base antenna coordinate system Oxyz,

- guide cosines β _ij (where i, j = 1, 2, 3) of the mutual current angular position of the base antenna coordinate system Oxyz and the reference geocentric coordinate system Сξ _о η _о ζ _о .

сближения с заданным OB основания антенного устройства вместе с подвижным носителем, осуществляют инерциальное автосопровождение заданного OB по дальности, а по полученным сигналам, пропорциональным текущим значениям составляющих е₁ и е₂ пространственной угловой координаты

заданного OB в базовой системе координат Oxyz, которые являются сигналами рассогласования между направлением оптической оси зеркала антенного устройства и направлением на заданный OB в двух соответственно взаимно перпендикулярных плоскостях пеленгования в базовой антенной системе координат, одновременно осуществляют инерциальное автосопровождение по направлению заданного OB, назначенного при предстартовой подготовке подвижного носителя. Для этого преобразуют путем интегрирования в замкнутом контуре инерциального автосопровождения по направлению заданного OB полученные сигналы, пропорциональные текущим значениям составляющих e₁ и е₂ пространственной угловой координаты

заданного OB, в управляющие длиннопериодические сигналы, пропорциональные соответственно скорости изменения углов визирования заданного OB

и

, определяющие текущее направление зеркала антенного устройства на заданный OB в вертикальной и в горизонтальной плоскости, обусловленные движением основания антенного устройства вместе с подвижным носителем по направлению к заданному OB.According to these generated signals proportional to the current values of the inclined range L and the inclined speed

approaching with a given OB of the base of the antenna device, together with a movable carrier, carry out inertial auto-tracking of a given OB in range, and according to the received signals proportional to the current values of the components of the spatial angular coordinates e ₁ and e ₂

the specified OB in the base coordinate system Oxyz, which are the mismatch signals between the direction of the optical axis of the mirror of the antenna device and the direction to the specified OB in two mutually perpendicular direction finding planes in the base antenna coordinate system, simultaneously perform inertial auto-tracking in the direction of the specified OB assigned during prelaunch mobile carrier. To do this, the obtained signals are proportional to the current values of the components e ₁ and e _{2 of the} spatial angular coordinate by integrating inertial auto-tracking in a closed loop in the direction of a given OB

of a given OB, into control long-period signals proportional to the rate of change of the viewing angles of a given OB, respectively

and

that determine the current direction of the mirror of the antenna device to a given OB in the vertical and horizontal plane, due to the movement of the base of the antenna device together with a movable carrier in the direction of the specified OB.

These long-period signals act on the corresponding moment sensors of a controlled three-degree gyroscope installed in the inner frame of the biaxial cardan suspension of the antenna device, the outer and inner frames of which are pivotally connected to its mirror (Fig. 6, Fig. 7).

и

изменения соответствующих углов визирования заданного OB. Одновременно определяют сигналы, пропорциональные рассогласованию между направлением вектора

кинетического момента ротора гироскопа и направлением на OB, задаваемым сформированными длиннопериодическими сигналами, пропорциональными соответственно скорости

и

изменения углов визирования заданного OB в горизонтальной и в вертикальной плоскости и соответственно длиннопериодическим возмущающим управляющим моментам.Under the action of long-period signals, long-period perturbing control moments are created, which cause moments of the gyroscopic reaction in the supports of the precession axes of the corresponding frames of the triaxial cardan suspension of the gyro rotor. In this case, according to the precession theory of the gyroscope, a long-period precessional deviation of the corresponding frames of the triaxial cardan suspension of the gyro rotor with an angular velocity close to the angular velocity

and

changes in the corresponding viewing angles of a given OB. At the same time, signals proportional to the mismatch between the direction of the vector are determined

the kinetic moment of the gyroscope rotor and the direction to the OB defined by the generated long-period signals proportional to the speed, respectively

and

changes in the viewing angles of a given OB in the horizontal and vertical planes and, accordingly, long-period disturbing control moments.

These signals are converted into long-period control signals of electric motors for turning the frames of the biaxial cardan suspension of the antenna device. According to the control signals, the electric motors develop long-period turning moments equal and coinciding in direction with the direction of the corresponding long-period disturbing control moments to rotate the outer and inner frames of the biaxial cardan suspension of the antenna device and the articulated mirror in the current direction to a given OB. At the same time, signals are proportional to respectively the angle of inclination ε ⁿ _s and azimuth ε ^A _{s of the} given OB relative to the base of the antenna device, which is mounted rigidly inside the housing of the mobile carrier.

With a circular rotation of the base of the antenna device, together with the rolling carrier rotating along the roll, they also simultaneously generate signals proportional to the angle of inclination ε ⁿ _s and azimuth ε ^A _{s of the} given OB relative to the base of the antenna device, characterized by the amplitude and frequency of short-period oscillations 90 degrees shifted in phase , respectively, the outer and inner frames of the biaxial cardan suspension of the antenna device and the articulated mirror with respect to its rotation axes. In addition, at the same time, short-period signals are also generated that are proportional to the oscillations of the base of the antenna device along with short-period oscillations of the mobile carrier in yaw ψ and pitch ϑ, which act on the base of the antenna device while it rotates along the roll γ with the mobile carrier.

As a result of this, additive short-period disturbing moments arise, which, in turn, cause short-period moments of the gyroscopic reaction in the supports of the precession axes of the corresponding frames of the triaxial cardan suspension of the gyro rotor. In this case, according to the precession theory of the gyroscope, a short-period precessional oscillation occurs in the corresponding frames of the cardan suspension of the gyro rotor with angular velocities, the direction of the vector of which coincides with the direction of the vectors of the additive short-period perturbing moments.

кинетического момента ротора гироскопа и направлением вектора аддитивных короткопериодических возмущающих моментов. Эти сигналы преобразуют в аддитивные короткопериодические сигналы управления соответствующих электродвигателей поворота рамок двухосного карданова подвеса антенного устройства.At the same time, signals proportional to the mismatch between the direction of the vector are determined

the kinetic moment of the gyro rotor and the direction of the vector of additive short-period perturbing moments. These signals are converted into additive short-period control signals of the corresponding electric rotation motors of the frames of the biaxial cardan suspension of the antenna device.

и

изменения углов визирования, определяют стабилизированное от аддитивных короткопериодических колебаний текущее направление зеркала антенного устройства на заданный OB в горизонтальной и в вертикальной плоскости и осуществляют инерциальное управление стабилизированным направлением зеркала антенного устройства на заданный OB также и при круговом вращении основания антенного устройства вместе с вращающимся по крену подвижным носителем.According to the control signals, the electric motors develop additive short-period turning moments equal and oppositely directed respectively to the direction of the additive short-period disturbing moments acting around the corresponding rotation axes of the outer and inner frames of the biaxial cardan suspension of the antenna device, for working out the additive short-period signals caused by the rotation of the base of the antenna device together along the roll γ by the mobile carrier and their vibrations n about pitch ϑ and yaw ψ in a given current direction to a given OB with simultaneous processing of signals proportional to the angular velocity of short-period deviations of the frames of the biaxial cardan suspension of the antenna device. In this case, the developed additive short-period signals are also recorded from these short-period signals, characterized by the amplitude and frequency of the short-period oscillations of the frames of the biaxial cardan suspension of the antenna device, and a signal proportional to the period of oscillations of the frames of the biaxial cardan suspension of the antenna device is determined. From this signal, during the entire time of rotation along the roll of the mobile carrier of the antenna device, a signal proportional to the angular velocity of rotation along the roll of the mobile carrier is determined. At the same time, if necessary, short-period rotation inhibition signals of the rotation of the movable carrier along the roll γ, phase-shifted by 90 degrees, are formed, if necessary, from the registered signals. These signals are converted into electrical braking signals and simultaneously fed to the inputs of the drives of the respective four differential aerodynamic rudders (ADRs) that control the movable carrier relative to its two mutually perpendicular axes of symmetry. ADRs by these signals develop short-period braking torques that are equal and oppositely directed, respectively, to active additive short-period disturbing moments, caused by rotation of the movable carrier of the antenna device along the roll γ. When braking rotation along the roll of the movable carrier, when a signal proportional to the period of short-period oscillations of the biaxial cardan mount of the antenna device exceeds a threshold value of the period corresponding to the value of the angular rotation speed along the roll of the movable carrier close to zero, the rotation stop signal is determined from the roll of the movable carrier . At the same time, signals proportional to the inclination angle ε ⁿ and the azimuth ε ^{A of the} given OB are simultaneously determined. After stopping rotation along the roll γ of the mobile carrier, they simultaneously stabilize the current direction of the mirror of the antenna device to a predetermined OB from short-period active vibrations of the mobile carrier relative to its center of mass along the roll γ, the pitch ϑ, and the yaw ψ. Moreover, according to the generated control long-period signals proportional to the speed

and

changes in the viewing angles determine the current direction of the mirror of the antenna device stabilized from additive short-period oscillations to a given OB in the horizontal and vertical planes and inertially control the stabilized direction of the mirror of the antenna device to a given OB also during circular rotation of the base of the antenna device together with a rolling rolling axis carrier.

абсолютной угловой скорости поворота вектора визирования заданного OB на соответствующие оси базовой антенной системы координат Oxyz, формируют сигналы, пропорциональные проекциям

,

,

вектора

абсолютной угловой скорости поворота вектора визирования заданного OB на соответствующие оси системы координат Ox₁y₁z₁, связанной с осями симметрии подвижного носителя (фиг.5). Затем по этим сигналам формируют сигналы, пропорциональные проекциям

,

,

вектора

углового ускорения поворота вектора визирования заданного OB на соответствующие оси связанной системы координат Ox₁y₁z₁, а также с учетом начальных знаний крена γ₀, тангажа ϑ₀ и рыскания ψ₀, заданных при предстартовой подготовке подвижного носителя к пуску, определяют короткопериодические сигналы, пропорциональные текущим значениям крена γ, тангажа ϑ, рыскания ψ и соответственно угловой скорости

,

,

их изменения.When moving along the trajectory after the start of the mobile carrier, according to the signals proportional to the received projections ω _x , ω _y , ω _{z of the} vector

the absolute angular velocity of rotation of the vector of sight of a given OB on the corresponding axis of the base antenna coordinate system Oxyz, generate signals proportional to the projections

,

,

of vector

the absolute angular velocity of rotation of the vector of sight of a given OB on the corresponding axis of the coordinate system Ox ₁ y ₁ z ₁ associated with the symmetry axes of the movable carrier (Fig. 5). Then, these signals form signals proportional to the projections

,

,

of vector

of the angular acceleration of rotation of the vector of sight of a given OB on the corresponding axis of the associated coordinate system Ox ₁ y ₁ z ₁ , and also taking into account the initial knowledge of the roll γ ₀ , pitch ϑ ₀ and yaw ψ ₀ specified during the prelaunch preparation of the mobile carrier for launch, determine short-period signals proportional to the current values of roll γ, pitch ϑ, yaw ψ and, accordingly, angular velocity

,

,

their changes.

кажущегося ускорения движения вектора визирования заданного OB на соответствующие оси базовой антенной системы координат Oxyz, формируют сигналы, пропорциональные проекциям n_ξ, n_η, n_ζ вектора

кажущегося линейного ускорения движения вектора визирования заданного OB на соответствующие оси местной горизонтальной системы координат Оξηζ (фиг.1).Then, based on the received signals, short-periodical stabilization signals for stabilizing the mobile carrier in the vertical plane, in the horizontal plane and roll γ are formed. These signals generate short-period signals proportional to the stabilizing moments, which are input to each broadband control loop of the corresponding four drives of differential ADRs of the mobile carrier, respectively. In addition, at the same time, according to signals proportional to the received measured projections n _x , n _y , n _{z of the} vector

the apparent acceleration of the motion of the vector of sight of a given OB on the corresponding axis of the base antenna coordinate system Oxyz, generate signals proportional to the projections n _ξ , n _η , n _{ζ of the} vector

the apparent linear acceleration of the motion of the vector of sight of a given OB on the corresponding axis of the local horizontal coordinate system Oξηζ (Fig. 1).

изменения наклонной дальности сближения с заданным OB основания антенного устройства вместе с подвижным носителем, скорости

и

изменения углов визирования заданного OB соответственно в горизонтальной и в вертикальной плоскости, а также начальным и текущим значениями горизонтального угла визирования ε^г ₀ и ε^г и вертикального угла визирования ε^в ₀ и ε^в заданного OB, формируют управляющие сигналы автономного самонаведения подвижного носителя вместе с основанием антенного устройства на заданный OB, пропорциональные заданным перегрузкам n^г _зад и n^в _зад соответственно в горизонтальной и вертикальной плоскости.According to the received signals proportional to the current values of the velocity vector module

changes in the inclined approach distance with a given OB of the base of the antenna device together with a movable carrier, speed

and

changes in the viewing angles of a given OB, respectively, in the horizontal and vertical plane, as well as the initial and current values of the horizontal viewing angle ε ^g ₀ and ε ^g and the vertical angle of sight ε ⁱⁿ ₀ and ε ^{in the} given OB, form the control signals of the autonomous homing of the mobile carrier together with base antenna device for a predetermined OB, proportional to the predetermined overload n ^g n _backside and ^a _backside, respectively, in horizontal and vertical planes.

кажущегося ускорения движения подвижного носителя на соответствующие оси местной горизонтальной системы координат Оξηζ. Далее полученные сигналы преобразуют в управляющие длиннопериодические сигналы, которые поступают на вход узкополосных контуров управления соответствующих четырех приводов дифференциальных АДР подвижного носителя, где их суммируют соответственно со сформированными короткопериодическими сигналами, пропорциональными стабилизирующим моментам. Полученные сигналы преобразуют в электрические сигналы управления и стабилизации подвижного носителя. Затем их усиливают по мощности для управления соответственно четырьмя дифференциальными АДР подвижного носителя для отработки этих сигналов. При этом формируют массив сигналов обратной связи, которые вычитают из суммы массивов сформированных короткопериодических сигналов, пропорциональных стабилизирующим моментам, и соответственно сигналов, полученных сравнением сигналов, пропорциональных задаваемым перегрузкам в вертикальной n^в _зад и в горизонтальной n^г _зад плоскости, соответственно с сигналами, пропорциональными вертикальной n_η и горизонтальной n_ζ проекциям вектора кажущегося ускорения движения подвижного носителя на соответствующие оси местной горизонтальной системы координат Oξηζ.Then, the received signals proportional to the given overloads n ^g _back and g ^to _back are compared, respectively, with the generated signals proportional to the vertical n _η and horizontal n _ζ projections of the vector

apparent acceleration of the movement of the moving carrier on the corresponding axis of the local horizontal coordinate system Оξηζ. Next, the received signals are converted into control long-period signals, which are fed to the input of narrow-band control loops of the corresponding four drives of differential ADRs of the mobile carrier, where they are summed, respectively, with the generated short-period signals proportional to the stabilizing moments. The received signals are converted into electrical control and stabilization signals of the mobile carrier. Then they are amplified in power to control, respectively, four differential ADRs of the mobile carrier for processing these signals. In this case, an array of feedback signals is formed, which are subtracted from the sum of arrays of generated short-period signals proportional to the stabilizing moments, and, accordingly, signals obtained by comparing the signals proportional to the given overloads in the vertical n ^{in the} _rear and in the horizontal n ^g _rear plane, respectively, with signals proportional vertical and horizontal n _η n _ζ apparent acceleration vector projected movement of the movable support to corresponding local horizontal axis ICI emy Oξηζ coordinates.

его ротора в заарретированном положении гироскопа совпадает с нулевым направлением линии визирования антенного устройства.The essence of the invention also lies in the fact that the integrated system implementing the method is characterized in that it includes an integrated on-board homing system (BSSN) and a drive control system of four differential ADRs of the mobile carrier. BSSN contains an antenna device and a digital computing device. In this case, the antenna device includes a mirror with an irradiator and a waveguide-switching device (VKU), a biaxial cardan suspension, the axis of rotation of the outer frame of which is installed on the basis of the antenna device, and the axis of rotation of the inner frame is installed in the outer frame perpendicular to its axis of rotation, electric motor for turning the outer frame of a biaxial cardan suspension and electric motor for turning the inner frame of a biaxial cardan suspension, angle sensor for turning the outer frame of a biaxial gimbal, angle sensor To rotate the inner frame of the biaxial cardan suspension, respectively, in the angle of inclination and in azimuth, as well as a controlled three-stage gyroscope, a gyroscopic two-channel angular velocity sensor (TLS), and three one-component linear acceleration meters. Moreover, a controlled three-stage gyroscope is installed in the inner frame of the biaxial cardan suspension of the antenna device so that the direction of the kinetic moment vector

its rotor in the locked position of the gyroscope coincides with the zero direction of the line of sight of the antenna device.

кинетического момента ротора гироскопического ДУС совпадает с положительным направлением оси вращения наружной рамки двухосного карданова подвеса антенного устройства. Все три однокомпонентных измерителя линейного ускорения установлены во внутренней рамке двухосного карданова подвеса антенного устройства так, что ось чувствительности одного из них взаимно ортогональна по отношению к взаимно ортогональным осям чувствительности двух других однокомпонентных измерителей линейного ускорения. При этом ось чувствительности одного из трех однокомпонентных измерителей линейного ускорения совпадает в заарретированном положении с нулевым положением линии визирования антенного устройства.The gyroscope contains a triaxial cardan suspension of the rotor, a precession angle sensor of the inner frame of the triaxial cardan suspension of the rotor and a precession angle sensor of the outer frame of the triaxial cardan suspension of the gyroscope, a torque sensor controlling the direction of rotation of the inner frame of the triaxial cardan suspension of the gyro rotor, a torque sensor controlling the direction of rotation of the outer frame of the triaxial cardan gyro rotor suspension. In this case, the axis of proper rotation of the gyroscope rotor is installed in the inner frame of the triaxial cardan suspension of the gyroscope rotor, the rotation axis of which is installed in the outer frame of the triaxial cardan suspension of the gyroscope rotor, the rotation axis of which, in turn, is installed in the gyroscope case (casing) and the gyroscope body is rigidly fixed in the inner frame of the biaxial cardan suspension of the antenna device. Sensors of the angle of precession of the inner and outer frames of the triaxial cardan suspension of the gyro rotor are respectively installed on the corresponding axes of the frames of the triaxial cardan suspension of the rotor. The antenna device also includes a gyrostabilization unit and controlling the direction of the mirror of the antenna device to the OB (fixed or mobile) in the angle of inclination, a gyrostabilization unit and controlling the direction of the mirror of the antenna device to the OB in azimuth, as well as feedback signal amplifiers in the corresponding channels of the two-channel gyroscopic DUS - measuring component of the vector of the absolute angular velocity of rotation of the mirror of the antenna device. A two-channel gyroscopic TLS is installed in the inner frame of the biaxial cardan suspension of the antenna device so that in the caged position one of its sensitivity axes coincides with the zero direction of the line of sight of the antenna device, and its other sensitivity axis is oriented, for example, up along the positive direction of the axis of rotation of the internal frame of the biaxial cardan suspension of the antenna device. In this case, the direction of the vector

the kinetic moment of the rotor of the gyroscopic TLS coincides with the positive direction of the axis of rotation of the outer frame of the biaxial cardan suspension of the antenna device. All three one-component linear acceleration meters are installed in the inner frame of the biaxial cardan suspension of the antenna device so that the sensitivity axis of one of them is mutually orthogonal with respect to the mutually orthogonal sensitivity axes of the other two one-component linear acceleration meters. In this case, the sensitivity axis of one of the three one-component linear acceleration meters coincides in the caged position with the zero position of the line of sight of the antenna device.

The outputs of the corresponding precession angle sensors of the inner frame and the outer frame of the triaxial cardan suspension of the rotor of the controlled three-stage gyroscope are respectively connected to the input of the gyrostabilization nodes and control the direction of the mirror of the antenna device to a given OB in the angle of inclination and in azimuth.

The outputs of the gyrostabilization units and the direction of the mirror direction of the antenna device to a given OB in the angle of inclination and in azimuth are connected respectively to the electric motors of rotation of the outer frame and the inner frame of the biaxial cardan suspension of the antenna device. Moreover, the outputs of the angle sensors of the precession of the inner and outer frames of the triaxial cardan suspension of the rotor of the gyroscopic TLS are connected respectively to the input of the amplifiers of the negative feedback signals. The outputs of these amplifiers are connected respectively to the moment sensors of the internal and external frames of the gyroscopic TLS.

The mirror of the antenna device is made to rotate in two mutually perpendicular planes using a two-stage hinge relative to the center of radiation of the irradiator, rigidly fixed to the base of the antenna device. In this case, the mirror is pivotally connected by rods of the mechanical coordinator of the antenna device, respectively, with the outer frame and with the inner frame of the biaxial cardan suspension of the antenna device so that the distance between each of the hinges of the rods on the rear surface of the mirror and its center of rotation is equal to the distance between each of the hinges mounted respectively on the outer frame and on the inner frame of the biaxial cardan suspension of the antenna device, and the center of rotation of these frames.

абсолютной угловой скорости поворота зеркала антенного устройства на ось Oz базовой антенной системы координат Oxyz. Выход узла формирования управляющего сигнала, пропорционального задаваемой угловой скорости поворота зеркала в горизонтальной плоскости, соединен с входом датчика момента управления направлением поворота внутренней рамки трехосного карданова подвеса ротора гироскопа. При этом выходы трех однокомпонентных измерителей соответствующих проекций кажущегося линейного ускорения соединены соответственно с первым, вторым и третьим входами ЦВУ. Выходы двухканального гироскопического ДУС и выход узла масштабирования сигнала с выхода узла формирования управляющего сигнала задаваемой угловой скорости поворота зеркала антенного устройства в вертикальной плоскости соединены соответственно с четвертым, пятым и шестым входами ЦВУ.The antenna device also includes a control signal generating unit proportional to the specified angular speed of mirror rotation in the vertical plane, and a control signal generating unit proportional to the specified angular speed of mirror rotation in the horizontal plane, as well as a signal scaling unit taken from the output of the control forming unit signal set angular velocity of rotation of the mirror in the vertical plane connected to the input of the sensor the phenomenon of rotation of the outer frame of the triaxial cardan suspension of the gyro rotor. Moreover, the signal taken from the output of the signal scaling unit from the output of the control signal generating unit of the specified angular velocity of rotation of the mirror in the vertical plane is proportional to the projection ω _{z of the} vector

the absolute angular velocity of rotation of the mirror of the antenna device on the Oz axis of the base antenna coordinate system Oxyz. The output of the control signal generating unit, which is proportional to the specified angular velocity of rotation of the mirror in the horizontal plane, is connected to the input of the moment sensor controlling the direction of rotation of the inner frame of the triaxial cardan suspension of the gyroscope rotor. Moreover, the outputs of three single-component meters of the corresponding projections of the apparent linear acceleration are connected respectively to the first, second, and third inputs of the CVC. The outputs of the two-channel gyroscopic TLS and the output of the signal scaling unit from the output of the control signal generating unit of the specified angular velocity of rotation of the mirror of the antenna device in the vertical plane are connected respectively to the fourth, fifth and sixth inputs of the CVC.

The output of the rotation angle sensor of the outer frame and the output of the rotation angle sensor of the inner frame of the biaxial cardan suspension of the antenna device are respectively connected to the seventh input and to the eighth input of the CVC, respectively, the first and second output of which are connected to the input of the control signal generating unit, respectively proportional to the specified angular velocity of rotation of the mirror of the antenna device in the vertical plane, and with the input of the control signal generating unit, proportional to avaemoy angular velocity of the mirror of the antenna device in the horizontal plane. In addition, the information communication line connects the preparation and launch control equipment of the mobile carrier, external to the claimed system, with the informational ninth input of the integrated BSSN CVU, the informational third output of which is connected by the informational communication line with the informational first input of the control system of the four differential ADRs of the mobile carrier.

In this case, the control system for four differential ADRs of the mobile carrier comprises a node for generating an array of control and stabilization signals of the mobile carrier, a node for generating differential signals for four electric motors of the corresponding differential ADRs of the mobile carrier, four sensors for a negative feedback signal, and a node for generating an array of negative feedback signals. Moreover, the information input of the node forming the array of control and stabilization signals of the mobile carrier is connected by an information communication line with the information third output of the CVU. The information output of the node for generating an array of control and stabilization signals of the mobile carrier is connected by an information line to the information input of the node for generating differential control signals by four electric motors of the corresponding differential ADRs of the mobile carrier. The outputs of each of the four sensors of the negative feedback signal are connected respectively to the first, second, third, fourth input of the node for generating an array of negative feedback signals, the information output of which is connected by the information line to the information (tenth) input of the CVU.

The essence of the invention lies in the fact that the device for bringing the antenna mirror into rotary motion in two mutually perpendicular planes for implementing the method is characterized in that it is structurally made in the form of a single module mounted in the shell of a movable carrier, and contains an antenna device, the base of which is rigidly mounted inside module. In this case, the antenna device includes a biaxial gimbal suspension, the axis of rotation of the outer frame of which is mounted on ball bearings on the basis of the antenna device, and the axis of rotation of the inner frame of which is mounted on ball bearings in the outer frame.

A constructively built-in electric motor is installed on one side of the outer frame, and a structurally built-in sensor of the angle of rotation of the outer frame is coaxially mounted on the other side of the outer frame so that their rotors are respectively rigidly fixed to the axis of rotation of the outer frame, and their stators are respectively rigidly fixed to the base of the antenna device.

Moreover, on the one side of the inner frame, a structurally built-in electric motor is also installed, and on the other side of the inner frame, a constructively built-in sensor for the angle of rotation of the inner frame is coaxially mounted so that their rotors are respectively rigidly fixed to the axis of rotation of the inner frame, and their stators are respectively rigidly fixed to the outer the frame of the biaxial cardan suspension of the antenna device.

In the internal frame of the biaxial cardan suspension of the antenna device, a controlled three-stage gyroscope, a two-channel gyroscopic TLS and three one-component meters of the corresponding projections of the apparent linear acceleration are placed.

Based on the antenna device, electronic nodes of gyrostabilization and direction control of the mirror of the antenna device are installed in the angle of inclination and in azimuth, respectively.

At the same time, to ensure that the mirror is rotated along the tilt angle and in azimuth, the antenna device also contains a two-stage hinge, which makes it possible to rotate the mirror in two mutually perpendicular planes relative to the irradiator, rigidly fixed to the base of the antenna device, two rods of the mechanical coordinator of the antenna device, the wings, two Hook joints for mechanically connecting the wings to two rods respectively with two Hook joints mounted on the rear surface of the ante mirror device. Moreover, the inputs of the electronic components of gyrostabilization and control the direction of the mirror of the antenna device receive signals from the corresponding outputs of the controlled three-stage gyroscope. From the output of these electronic components, the signals are supplied to the corresponding structurally built-in electric motors for rotation of the outer frame, respectively, in the angle of inclination and rotation of the inner frame in the azimuth of the biaxial cardan suspension.

The signals from the outputs of two MMG and from the outputs of three MMA, from the outputs of the sensor of the angle of rotation of the outer frame in the angle of inclination and the inner frame in azimuth are fed to the corresponding inputs of the CVS BSSN, external to the device for bringing the antenna mirror into rotational motion in two mutually perpendicular planes.

The inputs of the controlled three-stage gyroscope through the node for generating the control signal of the specified angular velocity of rotation of the mirror in the vertical plane and, accordingly, through the node for generating the control signal of the specified angular velocity of rotation of the mirror in the horizontal plane, signals from the first and second CVO outputs, respectively, control signals the direction of the mirror of the antenna device.

The invention consists, moreover, in that the device for actuating the differential ADRs of the movable carrier for implementing the method is characterized in that it contains four independent identical drives of the corresponding differential ADRs. Moreover, each drive is structurally made in the form of a single module, rigidly mounted in the shell of a movable medium. Four differential ADRs are arranged in pairs crosswise on the surface of the shell of the movable carrier coaxially to the biaxial cardan suspension of the device for bringing the mirror of the antenna device into rotational motion in two mutually perpendicular planes and are rigidly connected with the corresponding shafts of each drive. Each of the four shafts rotates on ball bearings in the housing of each drive. Moreover, one pair of differential ADR shafts oppositely located coaxially with respect to the center of rotation is directed along an axis perpendicular to the axis along which another pair of oppositely spaced axially shafts is directed. In this case, respectively, built-in electric motors and built-in negative feedback signal sensors are coaxially mounted inside the housing of each drive on the corresponding shaft so that the rotor of each of the built-in electric motors and the rotor of each of the built-in negative feedback signal sensors are rigidly fixed to the corresponding shafts of each drive. The stator of each of the built-in electric motors and the stator of each of the built-in sensors of the negative feedback signal are rigidly mounted respectively in the housing of each differential ADR drive. Moreover, each of the four built-in electric motors of differential ADR drives through the node for generating control signals for four electric motors and each of the four sensors of the negative feedback signal through the node for generating the array of negative feedback signals are electrically connected by information lines to the BSSN CVU external to the claimed actuation device differential ADR of a mobile carrier.

The introduction of these features in the method, system and device for its implementation provides control and stabilization of a moving carrier moving along a given path, as well as a moving carrier, while simultaneously rotating along a roll, due to the possibility of forming:

- the signals proportional to the current value of the vector of sight OB parameter signals n ^g _backside and n _^ass autonomous homing a predetermined OB and signal stabilization δ ^g _ass, δ _^ass, δ ^to the movable carrier _back from addition of short oscillations about its center of mass in horizontal plane, vertical plane and roll γ;

- a uniform law of proportional homing on the entire trajectory of moving a mobile carrier due to the possibility of determination;

изменения углов визирования заданного OB в горизонтальной и в вертикальной плоскости;- long-period control signals proportional to current speed values

changes in the viewing angles of a given OB in the horizontal and vertical plane;

визирования заданного OB, а именно наклонной дальности L и наклонной скорости

сближения с заданным OB.- signals proportional to the current values of the vector parameters

sightings of a given OB, namely the inclined range L and the inclined speed

rapprochement with a given OB.

In addition, the introduction of these features in the method, system and device for its implementation provides high-precision homing of the mobile carrier to a given OB while solving the problem of optimal construction of an integrated control system and stabilization of the mobile carrier, the optimal layout and design of its components in a limited amount of placement in the bow parts of the head compartment of the movable carrier.

No solutions have been identified from the prior art that have features that match the distinguishing features of the proposed technical solutions for the control and stabilization of a mobile carrier, the construction of an integrated control system and stabilization of a mobile carrier, design solutions for a device for bringing an antenna mirror into rotary motion in two mutually perpendicular planes and a drive device into the action of differential aerodynamic rudders of a movable carrier.

Therefore, the proposed technical solutions meet the condition of an inventive step.

The invention is illustrated by drawings, which represent:

- figure 1 - adopted coordinate system;

визирования ТП в базовой антенной системе координат Oxyz;- figure 2 - position of the vector

Sight TP in the base antenna coordinate system Oxyz;

- figure 3 is the relative position of the base antenna coordinate system Oxyz and the local horizontal coordinate system Oξηζ;

- figure 4 - the relative position of the base antenna coordinate system Oxyz and the associated coordinate system Ox ₁ , y ₁ , z ₁ ;

- figure 5 - the relative position associated with the movable carrier coordinate system Ox ₁ y ₁ z ₁ and the local horizontal coordinate system Oξηζ;

- figure 6 is a functional structural diagram of the proposed integrated control system and stabilization of the mobile carrier;

- Fig.7 is a schematic kinematic diagram of a device for bringing an antenna mirror into rotational motion in two mutually perpendicular planes;

- on Fig - a device for bringing the mirror of the antenna into a rotary motion in two mutually perpendicular planes;

- figure 9 is the mechanical coordinator of the device bringing the mirror of the antenna into rotational motion in two mutually perpendicular planes;

- figure 10 is a device for actuating differential aerodynamic rudders of a movable carrier.

вектора

абсолютной угловой скорости подвижного носителя на оси связанной системы координат Ox₁y₁z₁ (фиг.5), проекциям

вектора

абсолютного углового ускорения подвижного носителя на оси связанной системы координат Ox₁y₁z₁ (фиг.5), рысканию ψ, тангажу ϑ и крену γ подвижного носителя и скорости

,

,

их изменения (фиг.5).The inventive method is characterized by that a long-period control signals proportional predeterminable overload n ^g _backside and n _^ass respectively in a horizontal and in a vertical plane and asked short-signals δ ^g _ass, δ _^ass for providing control and stabilization of the movable carrier, δ ⁱⁿ _ass , generally proportional to projections

of vector

the absolute angular velocity of the moving carrier on the axis of the associated coordinate system Ox ₁ y ₁ z ₁ (Fig. 5), projections

of vector

absolute angular acceleration of the moving carrier on the axis of the associated coordinate system Ox ₁ y ₁ z ₁ (Fig. 5), yaw ψ, pitch ϑ and roll γ of the moving carrier and speed

,

,

their changes (figure 5).

и

в изменения углов визирования, определяющих текущее направление зеркала антенного устройства на заданный OB в горизонтальной и в вертикальной плоскости (фиг.1, фиг.3), а также сигналы, пропорциональные текущим значениям модуля вектора скорости

изменения наклонной дальности L сближения подвижного носителя с заданным OB, начальным и текущим значением тангажа и рыскания подвижного носителя. Для этого во время предстартовой подготовки подвижного носителя определяют и задают сигналы в виде пакета последовательных информационных слов (информационный массив), содержащего начальные значения:According to the proposed method, therefore, generate long-period control signals proportional to the speed

and

changes in the viewing angles that determine the current direction of the mirror of the antenna device to a given OB in the horizontal and vertical plane (Fig. 1, Fig. 3), as well as signals proportional to the current values of the velocity vector module

changes in the inclined range L of the approach of the mobile carrier with a given OB, the initial and current value of the pitch and yaw of the mobile carrier. For this, during the prelaunch preparation of the mobile carrier, signals are determined and set in the form of a packet of successive information words (information array) containing the initial values:

- bearings, i.e. the angle of inclination ε ⁿ _o and the azimuth ε ^A _o given by OB relative to the base of the antenna device in the associated coordinate system Ox ₁ y ₁ z ₁ (figure 4);

сближения с заданным OB основания антенного устройства вместе с подвижным носителем в предстартовом положении (фиг.1);- oblique range L ₀ to a given OB and oblique speed

rapprochement with a given OB of the base of the antenna device together with the movable carrier in the prelaunch position (figure 1);

- yaw ψ _о , pitch ϑ _o , roll γ _{о of the} movable carrier together with the base of the antenna device (figure 5),

as well as the initial conditions for the inertial measurement of the parameters of the vector of sight of a given OB, i.e. signals proportional to the initial values:

линейной скорости предстартового движения основания антенного устройства вместе с подвижным носителем на соответствующие оси местной горизонтальной системы координат Оξηζ (фиг.1, фиг.3);- projections V ^o _ζ , V ^o _η , V ^o _{ξ of the} vector

the linear velocity of the prelaunch motion of the base of the antenna device together with the movable carrier on the corresponding axis of the local horizontal coordinate system Oξηζ (Fig. 1, Fig. 3);

- Cartesian coordinates ξ ^o (D ₀ ), η ^o (Н ₀ ), ζ ^{o of the} mobile carrier in the local horizontal coordinate system Оξηζ;

- longitudes λ _o and geographical latitude φ _{о of a} mobile carrier (figure 1)

and, in addition, signals proportional to the required operational parameters in range, a control word and a control word.

The formulated packet is then checked for signal distortion. After that, the signals characterizing the package of sequential information words are converted into a parallel form for inertial measurement of the parameters of the vector of sight of a given OB. Then, on board the mobile carrier, signals are proportional to the initial conditions of the exhibition of inertial measurement of the parameters of the vector of sight of a given OB into signals proportional to the initial values:

линейной скорости предстартового движения основания 10 антенного устройства 3 (фиг.6, фиг.7) вместе с подвижным носителем на соответствующие оси базовой антенной системы координат Oxyz (фиг; 1, фиг.2);- projections V ^o _x , V ^o _y , V ^o _{z of the} vector

the linear speed of the prelaunch motion of the base 10 of the antenna device 3 (Fig.6, Fig.7) together with a movable carrier on the corresponding axis of the base antenna coordinate system Oxyz (Fig; 1, Fig.2);

- the angles ε and ε ^r _of ^a predetermined OB _of sighting respectively in a horizontal and in a vertical plane in the local horizontal coordinate system Oξηζ (1, 3);

заданного OB в базовой антенной системе координат Oxyz, т.е. сигналов рассогласования (ошибки) между направлением оптической оси зеркала антенного устройства и направлением вектора (линии) визирования на заданный OB, отсчитываемых в базовой антенной системе координат Oxyz относительно оптической оси зеркала антенного устройства во взаимно перпендикулярных плоскостях пеленгования OB (фиг.2);- corresponding e ^o ₁ and e ^o ₂ spatial angular coordinates

given OB in the base antenna coordinate system Oxyz, i.e. mismatch signals (errors) between the direction of the optical axis of the mirror of the antenna device and the direction of the vector (line) of sight to a given OB, counted in the base antenna coordinate system Oxyz relative to the optical axis of the mirror of the antenna device in mutually perpendicular direction finding planes OB (figure 2);

- guide cosines β ^o _ij (where i, J = 1, 2, 3), which determine the initial relative position of the base antenna of the coordinate system Oxyz and the reference geocentric coordinate system Сξ ₀ η ₀ ζ ₀ , connected by one of its axis Сζ _o with a given OB, located on the earth's surface (figure 1).

These transformations are performed according to the following algorithm:

where ξ ^o = ξ _max is the initial value of the horizontal Cartesian coordinate of the given OB, i.e. horizontal range D ₀ start mobile carrier;

where ζ ^o is the initial value of the lateral Cartesian coordinate of a given OB in the horizontal plane;

where r _o is the initial value of the modulus of the radius vector of the center of mass of the mobile carrier, which determines its position relative to the center of the Earth (figure 1);

H _o = η ^o is the launch height of the movable carrier;

R _o = R _z is the radius of the terrestrial spheroid at the location of a given OB;

where L _o - the initial value of the slant range to a given OB in the pre-launch position of the moving medium;

P ₀ - the initial value of the semiperimeter of the vector triangle formed by the vectors L _o , R _o , r _o ;

where i, j = 1, 2, 3;

кажущегося линейного ускорения движения и проекциям ω_хз, ω_yз, ω_zз вектора

абсолютной угловой скорости поворота зеркала антенного устройства на соответствующие оси системы координат Ох_зy_зz_з, связанной с зеркалом антенного устройства, где Ох_з - оптическая ось зеркала. По этим измеренным сигналам, принимая во внимание функциональную зависимость (переменную электрическую редукцию) между углами ε^н _з и ε^A _з поворота подвижного зеркала и углами ε^н и ε^А поворота линии (вектора) визирования при вращении зеркала одновременно в двух взаимно перпендикулярных плоскостях по углу наклона ε^Н _з и по азимуту ε^A _з относительно неподвижного облучателя, жестко установленного на основании антенного устройства, определяют сигналы, пропорциональные проекциям n_x, n_y, n_z вектора

кажущегося линейного ускорения движения и проекциям ω_х, ω_y, ω_z вектора

абсолютной угловой скорости поворота вектора визирования заданной ТП и/или заданного OB на соответствующие оси базовой антенной системы координат Oxyz согласно алгоритмуAt the moment of starting the mobile carrier, the update of the initial information signals stops, and during its movement along the trajectory after the start, signals proportional to the projections n _хз , n _yз , n _{zз of the} vector are _measured

apparent linear acceleration movement and projections w _xs, w _{yz, zz} vector w

absolute angular rate of rotation of mirror antenna device of the respective axes of the coordinate system Ox z _{z z} y _z associated with a mirror of the antenna device where Ox _h - optical mirror axis. According to these measured signals, taking into account the functional dependence (variable electric reduction) between the angles ε ⁿ _s and ε ^A _{s of the} rotation of the moving mirror and the angles ε ⁿ and ε ^{A of the} rotation line (vector) of the line of sight when the mirror rotates simultaneously in two mutually perpendicular planes along the angle of inclination ε ^N _s and azimuth ε ^A _s relative to the stationary feed, rigidly mounted on the basis of the antenna device, determine the signals proportional to the projections n _x , n _y , n _{z of the} vector

apparent linear acceleration of motion and projections ω _x , ω _y , ω _{z of the} vector

the absolute angular velocity of rotation of the vector of sight of a given TP and / or a given OB on the corresponding axis of the base antenna coordinate system Oxyz according to the algorithm

where ε ⁿ _s , ε ^A _s are the angles of rotation of the mirror of the antenna device by the angle of inclination and azimuth, respectively, relative to the base of the antenna device; ε ⁿ and ε ^A are the angles of rotation of the line of sight of a given OB in the angle of inclination and in azimuth, respectively, with respect to the base of the antenna device in the associated coordinate system Ox ₁ y ₁ z ₁ (Fig. 4);

Where

those.

Based on the received signals, taking into account the signals defined and set during the prelaunch preparation of the mobile carrier, signals are generated that are proportional to the current values of the parameters of the vector of sight of a given OB, namely:

линейной скорости сближения с заданным OB основания антенного устройства вместе с подвижным носителем на соответствующие оси базовой антенной системы координат;- projections V _x V _y V _{z of the} vector

linear approach speed with a given OB of the base of the antenna device, together with a movable carrier on the corresponding axis of the base antenna of the coordinate system;

сближения с заданным OB основания антенного устройства вместе с подвижным носителем;- oblique range L and oblique speed

rapprochement with a given OB of the base of the antenna device together with a movable carrier;

заданного OB в базовой антенной системе координат Oxyz;- components e ₁ and e ₂ spatial angular coordinates

the specified OB in the base antenna coordinate system Oxyz;

- guide cosines β _ij (where i, j = 1, 2, 3) of the current mutual angular position of the base antenna coordinate system Oxyz and the reference geocentric coordinate system Сξ _о η _о ζ _о , connected by one of its axis Сζ _о with a given OB located, for example, on the earth's surface (figure 1), according to the following algorithm:

where i, j = 1, 2, 3, and L _o = L _max - the launch range of the mobile carrier;

,

,

,

,

,

,

- подынтегральные функции, которые записываются в виде следующей системы дифференциальных уравнений первого порядка в векторной форме:V ^o _x , V ^o _y , V ^o _z , L _o , e ^o ₁ , e ^o ₂ , β ^o _ij — initial conditions for exhibiting an inertial measurement of the parameters of the vector of sight of a given OB during the prelaunch preparation of the mobile carrier for launch;

,

,

,

,

,

,

- integrands, which are written in the form of the following system of differential equations of the first order in vector form:

where for the case of sighting a fixed OB R = const and, taking the angular velocity of the Earth's daily rotation Ω = const, by the Coriolis theorem we have:

moreover

where µ is the product of the mass of the Earth and the gravitational constant;

ε = ε (ζ ₁ , η ₁ , ξ ₁ ) - component of the force function of the Earth's gravitational field, characterizing its small deviation from the spherical shape; ζ ₁ , η ₁ , ξ ₁ - projection of the radius vector r on the axis of the equatorial (geocentric) coordinate system Сζ ₁ η ₁ ξ ₁ (Fig. 1);

сближения с заданным OB основания антенного устройства вместе с подвижным носителем, осуществляют инерциальное автосопровождение заданного OB по дальности. Полученные сигналы, пропорциональные текущим значениям составляющих e₁ и e₂ пространственной угловой координаты

заданного OB в базовой антенной системе координат Oxyz, являются сигналами рассогласования между направлением оптической оси зеркала антенного устройства и направлением на заданный OB в двух соответственно взаимно перпендикулярных плоскостях пеленгования в базовой антенной системе координат Oxyz (фиг.2). По сигналам e₁ и е₂ одновременно осуществляют инерциальное автосопровождение по направлению OB, заданного при предстартовой подготовке подвижного носителя. Для этого преобразуют путем интегрирования в замкнутом контуре инерциального автосопровождения по направлению заданного OB полученные сигналы e₁ и e₂ в управляющие длиннопериодические сигналы, пропорциональные соответственно скорости

и

, определяющие текущее направление зеркала антенного устройства на заданный OB в вертикальной и в горизонтальной плоскости, обусловленное перемещением основания антенного устройства вместе с подвижным носителем по направлению к заданному OB.According to the generated signals proportional to the current values of the inclined range L and the inclined speed

proximity with a given OB of the base of the antenna device, together with a movable carrier, carry out inertial auto-tracking of a given OB in range. The received signals are proportional to the current values of the components e ₁ and e _{2 of the} spatial angular coordinate

the specified OB in the base antenna coordinate system Oxyz, are the mismatch signals between the direction of the optical axis of the mirror of the antenna device and the direction to the specified OB in two mutually perpendicular direction finding planes in the base antenna coordinate system Oxyz (figure 2). The signals e ₁ and e ₂ simultaneously carry out inertial auto-tracking in the direction of OB, specified during the prelaunch preparation of the mobile carrier. To do this, the obtained signals e ₁ and e _{2 are} converted by integrating inertial auto-tracking in the closed loop in the direction of a given OB into long-period control signals proportional to the speed, respectively

and

, which determine the current direction of the mirror of the antenna device to a given OB in the vertical and horizontal plane, due to the movement of the base of the antenna device together with a movable carrier towards the specified OB.

These long-period signals are converted into control signals proportional to the specified angular speeds of rotation of the mirror in the vertical and horizontal planes, which affect the corresponding sensors of the control moment of the three-stage gyroscope installed in the inner frame of the biaxial cardan suspension of the antenna device, the outer and inner frames of which are pivotally connected to the mirror .

и

изменения соответствующих углов визирования заданного OB. Одновременно определяют сигналы, пропорциональные рассогласованию между направлением вектора

кинетического момента ротора гироскопа и направлением на OB, задаваемым сформированными длиннопериодическими сигналами, пропорциональными соответственно скорости

и

изменения углов визирования заданного OB в вертикальной и в горизонтальной плоскости и соответственно длиннопериодическим возмущающим управляющим моментам. Эти сигналы преобразуют в длиннопериодические сигналы управления электродвигателями вращения рамок двухосного карданова подвеса антенного устройства. По сигналам управления электродвигатели развивают длиннопериодические вращающие моменты, равные и совпадающие по направлению с направлением соответствующих длиннопериодических возмущающих управляющих моментов, для поворота наружной и внутренней рамок двухосного карданова подвеса антенного устройства и шарнирно связанного с ним зеркала в текущее направление на заданный OB. При этом датчики угла поворота рамок двухосного карданова подвеса формируют сигналы, пропорциональные соответственно углу наклона ε^н _з и азимуту ε^A _з заданного OB относительно основания антенного устройства, которое жестко установлено внутри корпуса подвижного носителя.Under the action of long-period control signals, long-period perturbing control moments are created that cause the gyroscopic reaction moments in the supports of the precession axes of the corresponding frames of the triaxial cardan suspension of the gyro rotor. In this case, according to the precession theory of the gyroscope, a long-period precessional deviation of the corresponding frames of the triaxial cardan suspension of the gyro rotor with an angular velocity close to the angular velocity

and

changes in the corresponding viewing angles of a given OB. At the same time, signals proportional to the mismatch between the direction of the vector are determined

the kinetic moment of the gyroscope rotor and the direction to the OB defined by the generated long-period signals proportional to the speed, respectively

and

changes in the viewing angles of a given OB in the vertical and horizontal plane and, accordingly, long-period disturbing control moments. These signals are converted into long-period control signals of the electric motors of rotation of the frames of the biaxial cardan suspension of the antenna device. According to the control signals, the electric motors develop long-period torques that are equal and coinciding in direction with the direction of the corresponding long-period disturbing control moments to rotate the outer and inner frames of the biaxial cardan suspension of the antenna device and the articulated mirror in the current direction to a given OB. In this case, the angle sensors of the frames of the biaxial gimbal suspension generate signals proportional to the inclination angle ε ⁿ _s and azimuth ε ^A _{s of the} specified OB relative to the base of the antenna device, which is rigidly installed inside the housing of the mobile carrier.

With a circular rotation of the base of the antenna device, together with the rolling carrier moving along the roll, simultaneously with the formation of long-period control signals, signals are proportional to the angle of inclination ε ⁿ _s and azimuth ε ^A _{s of the} given OB relative to the base of the antenna device, characterized by the amplitude and frequency of the short-period oscillations shifted in phase 90 degrees, respectively, of the outer and inner frames of the biaxial cardan suspension of the antenna device and the mirror articulated to it relative to its axis of rotation. The indicated signals ε ⁿ _s and ε ^A _s are recorded using angle sensors of the outer and inner frames of the biaxial cardan suspension of the antenna device, respectively, as additive short-period signals that are generated according to the algorithm:

wherein

or

,where Δt is the sampling interval, i is the increment (integration step), i.e. when γ _o = 0 we get

,

- угловая скорость (частота) вращения основания антенного устройства вместе с вращающимся по крену у подвижным носителем.Where

- the angular velocity (frequency) of rotation of the base of the antenna device together with a movable carrier rotating along the roll.

Consider the theoretical background underlying the proposed method for the case of a rolling carrier rotating along the roll, together with the base of an antenna device containing a biaxial gimbal, supporting accelerometers and gyroscopes in the inner frame.

изменения горизонтального угла визирования ε^г и угловой скорости

изменения вертикального угла визирования ε^в, равны нулю, при этом считая, что ε^г=0 и ε^в=const, при круговом вращении основания антенного устройства вместе с корпусом вращающегося по крену γ с угловой скоростью

подвижного носителя регистрируют при этих условиях сигналы, пропорциональные углу отклонения по наклону ε^н наружной рамки и углу отклонения по азимуту ε^A внутренней рамки двухосного карданова подвеса антенного устройства, формируемые согласно алгоритму:Taking into account the relations (19), (20), (21), (29), (30), (32) obtained above, assuming the absence of oscillations of the moving carrier relative to its center of mass along the yaw ψ and pitch ϑ (Fig. 5 ) and assuming that the signals are proportional to the angular velocity

changes in the horizontal viewing angle ε ^g and angular velocity

changes in the vertical angle of sight ε ⁱⁿ are equal to zero, while assuming that ε ^g = 0 and ε ⁱⁿ = const, with a circular rotation of the base of the antenna device together with the body rotating along the roll γ with an angular velocity

under these conditions, signals proportional to the angle of deviation along the slope ε ^{n of the} outer frame and the angle of deviation to the azimuth ε ^{A of the} internal frame of the biaxial cardan suspension of the antenna device are recorded under these conditions, which are generated according to the algorithm:

и

изменения угла наклона ε^н и азимута ε^А определяются, следовательно, из соотношений, полученных путем дифференцирования уравнений (33), т.е.Under the conditions mentioned above, signals proportional to angular velocities

and

changes in the inclination angle ε ⁿ and azimuth ε ^{A are} determined, therefore, from the relations obtained by differentiating equations (33), i.e.

In this case, the oscillation amplitudes of the outer frame and the inner frame of the biaxial cardan suspension of the antenna device, respectively, according to the inclination angle ε ⁿ _max and azimuth ε ^A _{max are} determined from the relations

From relations (33) it follows that

moreover

- модули значений амплитуды угловой скорости колебаний соответственно наружной и внутренней рамок двухосного карданова подвеса антенного устройства по углу наклона ε^н и азимуту ε^A с угловой частотой

. Если предположить, что ε^н _max=ε^A _max=ε_max, то из выражений (36) следуетWhere

- the modules of the values of the amplitude of the angular velocity of oscillations, respectively, of the outer and inner frames of the biaxial cardan suspension of the antenna device in the angle of inclination ε ⁿ and azimuth ε ^A with the angular frequency

. If we assume that ε ⁿ _max = ε ^A _max = ε _max , then from expressions (36) it follows

and expression

there is a circle equation of radius

characterizing the circular rotation of a biaxial cardan suspension, pivotally connected to a mirror, together with the base of an antenna device mounted rigidly inside the housing of a rolling carrier rotating along a roll.

From the expressions (31), (35), (38) it follows that

и

, при круговом вращении по крену γ основания антенного устройства с угловой частотой

являются короткопериодическими с амплитудой колебания ε^н _max и ε^A _max; а также с частотой и периодом колебаний соответственноThus, under the accepted conditions, the oscillations of the outer and inner frames of the biaxial cardan suspension of the antenna device compared with long-period deviations due to angular velocities

and

, with a circular rotation along the roll γ of the base of the antenna device with an angular frequency

are short-period with an oscillation amplitude ε ⁿ _max and ε ^A _max ; as well as with the frequency and period of oscillation, respectively

Therefore, according to the proposed method, simultaneously with the formation of the aforementioned long-period signals, it generates signals characterized by the amplitude ε ⁿ _max and ε ^A _max and the frequency f _{γ of} short-period oscillations, 90 degrees out of phase, i.e. according to expressions (41)

the outer and inner frames of the biaxial cardan suspension of the antenna device and a mirror articulated to it relative to its axis of rotation.

From the relations obtained above, an important practical conclusion follows, namely, that, for example, for measuring angular velocity

не существуют в настоящее время гироскопические измерители с таким динамическим диапазоном. Поэтому для решения навигационной задачи и задачи управления и стабилизации подвижных носителей, вращающихся с указанной выше угловой скоростью по крену, бесплатформенные системы инерциальной навигации не могут быть применены.

gyroscopic meters with such a dynamic range do not currently exist. Therefore, to solve the navigation problem and the task of controlling and stabilizing mobile carriers rotating with the roll angle indicated above, strapdown inertial navigation systems cannot be applied.

,However, according to the proposed method, on gyroscopic angular velocity meters installed in the inner frame of a biaxial cardan suspension of an antenna device, the base of which is rigidly fixed inside the housing of a movable carrier rotating along a roll with an angular velocity

,

the angular velocity of the external and internal frames of the biaxial cardan suspension is affected, the amplitude of which is determined by the relation (37). The magnitude of the amplitude depends primarily on the magnitude of the amplitude of the angle of inclination ε ⁿ _max and azimuth ε ^A _max ; which essentially depends according to relations (35) on the magnitude of the vertical angle of sight ε ⁱⁿ .

и при

амплитуда угловой скорости

и

достигает величины приблизительно

, при

достигает величины

и только при

достигает величины

, что укладывается в пределы динамического диапазона существующих в настоящее время гироскопических датчиков угловой скорости. Следовательно, при малых вертикальных углах визирования, практически не превышающих 10°, амплитуда угловой скорости колебания рамок двухосного карданова подвеса антенного устройства, основание которого вращается вместе с вращающимся по крену подвижным носителем, в 50-100 раз меньше угловой скорости

.So, for example, when

and with

amplitude of angular velocity

and

reaches approximately

at

reaches a value

and only when

reaches a value

that fits within the dynamic range of currently existing gyroscopic angular velocity sensors. Therefore, at small vertical viewing angles, practically not exceeding 10 °, the amplitude of the angular velocity of oscillation of the frames of the biaxial cardan suspension of the antenna device, the base of which rotates with the moving carrier rotating along the roll, is 50-100 times less than the angular velocity

.

According to algorithms (29) and (30), the amplitude of short-period signals proportional to additive short-period oscillations of the outer frame in the angle of inclination and the inner frame in the azimuth of the biaxial cardan suspension of the antenna device and the corresponding fluctuations in the angular velocity of their change is modulated by a lower frequency f _ψ and f _ϑ movable carrier oscillations in yaw and in pitch compared with the frequency f _γ oscillations frames biaxial gimbal antenna device due to its circular rotation axes Hovhan together with the rotation of the roll of the movable carrier.

Oscillations of the moving carrier by yaw ψ and pitch ϑ while rotating along the roll act on the base of the antenna device and cause additive short-period oscillations of the outer and inner frames of the biaxial cardan suspension of the antenna device, recorded in the form of the proportional additive short-period signals mentioned above.

ротора гироскопа и направлением вектора аддитивных короткопериодических возмущающих моментов. Эти сигналы преобразуют в аддитивные короткопериодические сигналы управления соответствующими электродвигателями вращения рамок двухосного карданова подвеса антенного устройства. По сигналам управления электродвигатели развивают аддитивные короткопериодические поворотные моменты, равные и противоположно направленные соответственно короткопериодическим возмущающим моментам, действующим вокруг соответствующих осей вращения наружной и внутренней рамок карданова подвеса антенного устройства. По сигналам управления электродвигатели развивают эти поворотные моменты для отработки аддитивных короткопериодических сигналов и стабилизации зеркала по рысканию и тангажу в текущем направлении на заданный OB по углу визирования в горизонтальной плоскости ε^г и по углу визирования в вертикальной плоскости ε^в с одновременной отработкой сигналов, пропорциональных угловой скорости короткопериодических колебаний рамок двухосного карданова подвеса антенного устройства по углу наклона и по азимуту.Additive short-period oscillations of the biaxial cardan mount of the antenna device cause additive short-period disturbing moments, which, in turn, cause the moment of the gyroscopic reaction, i.e. gyroscopic moment, in the supports of the precession axes of the corresponding frames of the cardan suspension of the gyro rotor. In this case, according to the precession theory of the gyroscope, a short-period precessional deviation of the corresponding frames of the cardan suspension of the gyro rotor with angular velocities arises, the direction of the vector of which coincides with the direction of the additive short-period perturbing moments. At the same time, signals proportional to the mismatch between the direction of the kinetic moment vector are determined

the gyroscope rotor and the direction of the vector of additive short-period disturbing moments. These signals are converted into additive short-period control signals of the corresponding electric motors of rotation of the frames of the biaxial cardan suspension of the antenna device. According to the control signals, the electric motors develop additive short-period turning moments equal and oppositely directed, respectively, to short-period disturbing moments acting around the corresponding rotation axes of the outer and inner frames of the cardan mount of the antenna device. By control signals motors develop these turning points for testing additive short-period signal and stabilization mirror yaw and pitch in this direction by a predetermined OB in angle of sight in the horizontal plane ε ^r and the angle of sight in the vertical plane ε ⁱⁿ simultaneous working off signals proportional to the angular the speed of short-period oscillations of the framework of a biaxial cardan suspension of an antenna device in the angle of inclination and in azimuth.

короткопериодических колебаний рамок двухосного карданова подвеса антенного устройства по углу наклона ε^н _з и по азимуту ε^А _з, определяют сигнал, пропорциональный периоду колебаний рамок двухосного карданова подвеса антенного устройства, который согласно соотношению (43) обратно пропорционален угловой частоте

вращения по крену подвижного носителя. По этому сигналу в течение всего времени вращения по крену подвижного носителя антенного устройства определяют сигнал, пропорциональный величине угловой скорости вращения по крену подвижного носителя.Spent additive short-period signals ε ⁿ _s , ε ^A _s register. From these short-period signals characterized by amplitude and angular frequency

of short-period oscillations of the biaxial cardan mount of the antenna device by the angle of inclination ε ⁿ _s and azimuth ε ^A _s , a signal is determined that is proportional to the oscillation period of the biaxial cardan mount of the antenna device, which, according to relation (43), is inversely proportional to the angular frequency

rotation along the roll of the movable carrier. This signal during the entire time of rotation along the roll of the mobile carrier of the antenna device determines the signal proportional to the value of the angular velocity of rotation along the roll of the mobile carrier.

и

изменения угла наклона и азимута, согласно алгоритмам (29) и (30), реализуемым двухосным кардановым подвесом антенного устройства. Эти сигналы преобразуют в электрические сигналы торможения и одновременно подают на входы приводов соответствующих дифференциальных АДР, осуществляющих управление подвижным носителем относительно двух взаимно перпендикулярных осей симметрии подвижного носителя в плоскости миделя. Приводы дифференциальных АДР развивают аддитивные короткопериодические вращающие моменты торможения, равные и противоположно направленные соответственно направлению действующих аддитивных короткопериодических возмущающих моментов, обусловленных вращением по крену подвижного носителя. Вследствие этого результирующий момент, противоположно направленный вектору угловой скорости вращения по крену подвижного носителя, вызывает торможения вращения по крену.At the same time, short-period rotation inhibition signals are also generated, if necessary, from the recorded short-period signals, along the roll of the movable carrier, 90 ° out of phase, proportional to the short-period oscillations of the frames of the biaxial stradan suspension of the antenna device in the angle of inclination ε ⁿ _s and azimuth ε ^A _s , as well as proportional angular velocity

and

changes in the angle of inclination and azimuth, according to the algorithms (29) and (30), implemented by a biaxial cardan suspension of the antenna device. These signals are converted into electrical braking signals and simultaneously fed to the inputs of the drives of the corresponding differential ADRs, which control the mobile carrier relative to two mutually perpendicular axes of symmetry of the mobile carrier in the midship plane. Differential ADR drives develop additive short-period braking torques that are equal and oppositely directed respectively to the direction of the acting additive short-period disturbing moments caused by rotation along the roll of the movable carrier. As a result of this, the resulting moment, oppositely directed to the vector of angular velocity of rotation along the roll of the movable carrier, causes inhibition of rotation along the roll.

When braking the rotation along the roll of the mobile carrier, when the signal proportional to the period of short-period oscillations of the biaxial cardan suspension of the antenna device exceeds a value proportional to the threshold value corresponding to the angular velocity of rotation along the roll of the mobile carrier close to zero, the stop signal is determined from the roll of the mobile carrier antenna device.

и

, а также с учетом переменной электрической редукции угол наклона ε^н и азимута ε^А заданного OB, угол визирования в вертикальной ε^в и в горизонтальной плоскости ε^г заданного OB и скорости их изменения

и

.At the same time, accelerated braking of the rotation of the movable carrier along the roll simultaneously provides both short-period generated braking signals according to the proposed method and aerodynamic stabilizers of the movable carrier. When braking the rotation along the roll of the mobile carrier, simultaneously determine the signals proportional to the angle of inclination ε ⁿ _s and azimuth ε ^A _s , signals proportional to the viewing angles in the vertical ε ⁱⁿ _s and in the horizontal ε ^g _s plane and the rate of change

and

and also taking into account the variable electric reduction, the angle of inclination ε ⁿ and azimuth ε ^{A of the} given OB, the angle of sight in the vertical ε ⁱⁿ and in the horizontal plane ε ^{g of the} given OB and the rate of change

and

.

After stopping rotation along the roll of the movable carrier, they simultaneously stabilize the current direction of the mirror and, therefore, the line (vector) of sight of a given OB from the active short-period oscillations of the movable carrier relative to its center of mass along roll γ, pitch ϑ and yaw ψ.

и

изменения углов визирования заданного OB в горизонтальной плоскости ε^г _з и в вертикальной плоскости ε^в _з, определяют стабилизированное от аддитивных короткопериодических колебаний текущее направление зеркала и соответственно направление линии (вектора) визирования антенного устройства на заданный OB в горизонтальной и в вертикальной плоскости. По полученным сигналам осуществляют инерциальное управление текущим стабилизированным направлением зеркала и соответственно направлением линии (вектора) визирования заданного OB также и при круговом вращении основания антенного устройства вместе с вращающимся по крену подвижным носителем.Moreover, according to the formulated control long-period signals proportional to the speed

and

viewing angle changes a predetermined horizontal OB ε ^r and _s in the vertical plane ⁱⁿ ε _s is determined stable by addition of short oscillations of mirror current direction and accordingly the line direction (vector) of sight of the antenna device by a predetermined OB in the horizontal and in the vertical plane. According to the received signals, inertial control of the current stabilized direction of the mirror and, accordingly, the direction of the line of sight (vector) of the specified OB is also carried out during the circular rotation of the base of the antenna device along with the rolling carrier rotating along the roll.

абсолютной угловой скорости поворота вектора визирования заданного OB на соответствующие оси базовой антенной системы координат Oxyz (фиг.1, фиг.2), формируют сигналы, пропорциональные проекциям

,

,

вектора

абсолютной угловой скорости поворота вектора визирования заданного OB на соответствующие оси связанной системы координат Ox₁y₁z₁, согласно следующему алгоритму (фиг.4):When moving along a trajectory after the start of a non-rotating or rolling roll of a mobile carrier according to signals proportional to the obtained projections ω _x , ω _y , ω _{z of the} vector

the absolute angular velocity of rotation of the vector of sight of a given OB on the corresponding axis of the base antenna coordinate system Oxyz (figure 1, figure 2), generate signals proportional to the projections

,

,

of vector

the absolute angular velocity of rotation of the vector of sight of a given OB on the corresponding axis of the associated coordinate system Ox ₁ y ₁ z ₁ , according to the following algorithm (figure 4):

,

,

вектора

углового ускорения поворота вектора визирования заданного OB на соответствующие оси связанной системы координат Оx₁y₁z₁ (фиг.4).Then, according to the signals obtained according to algorithm (45), signals proportional to the projections are formed

,

,

of vector

the angular acceleration of rotation of the vector of sight of a given OB on the corresponding axis of the associated coordinate system Ox ₁ y ₁ z ₁ (Fig. 4).

Taking into account the initial values of the roll γ _o , the pitch ры _о and the yaw ψ _о , set during the prelaunch preparation of the mobile carrier for launch, short-period signals are determined that characterize the current values of the roll γ, pitch ϑ and yaw ψ and, accordingly, the angular rate of change according to the algorithm

Where

Next, the received signals form the set short-periodical stabilization signals of the mobile carrier in the vertical plane δ ^{in the} _back and in the horizontal plane δ ^g _back , also according to the roll δ ^to _back according to the following algorithm:

,

; k_ψ,

,

; k_γ,

,

- коэффициенты пропорциональности.where k _ϑ ,

,

; k _ψ ,

,

; k _γ ,

,

- proportionality coefficients.

These short-period signals generate signals proportional to the short-period stabilizing moments, which are fed to the input of each broadband stabilization circuit of the corresponding four drives of differential ADRs of the mobile carrier.

кажущегося линейного ускорения движения вектора визирования заданного OB на соответствующие оси базовой антенной системы координат Oxyz, формируют сигналы, пропорциональные проекциям n_ξ, n_η, n_ζ вектора

кажущегося линейного ускорения движения вектора визирования заданного OB на соответствующие оси местной горизонтальной системы координат Оξηζ (фиг.3), согласно следующему алгоритму:At the same time, according to signals proportional to the obtained projections n _x , n _y , n _{z of the} vector

the apparent linear acceleration of the motion of the vector of sight of a given OB on the corresponding axis of the base antenna coordinate system Oxyz, generate signals proportional to the projections n _ξ , n _η , n _{ζ of the} vector

the apparent linear acceleration of the motion of the vector of sight of a given OB on the corresponding axis of the local horizontal coordinate system Oξηζ (Fig. 3), according to the following algorithm:

According to the received signals proportional to the current values:

изменения наклонной дальности L сближения с заданным OB основания антенного устройства вместе с подвижным носителем,- module of the velocity vector

changes in the inclined range L of approach with a given OB of the base of the antenna device together with a movable carrier,

и

изменения углов визирования заданного OB соответственно в горизонтальной и в вертикальной плоскости,- speeds

and

changes in the viewing angles of a given OB, respectively, in the horizontal and vertical plane,

- the initial ε ^g _o and ε ⁱⁿ _about and the current values of ε ^g and ε ⁱⁿ the viewing angles of a given OB in the horizontal plane and in the vertical plane,

form control signals of homing of the mobile carrier to a given OB, proportional to the given overloads, respectively, in the vertical and horizontal plane, according to, for example, the following algorithms:

коэффициенты пропорциональности, причем текущие значения углов визирования ε^г и ε^в заданного OB определяются согласно алгоритмам (20), скорости

и

их изменения определяются согласно алгоритмам (21), а начальные значения углов визирования ε^г _о и ε^в _о заданного OB - согласно алгоритмам (1), (2), (3); Т_ф - постоянная времени фильтра, кроме того, where k _r, k _a,

proportionality coefficients, and the current values of the viewing angles ε ^g and ε ^{in a} given OB are determined according to algorithms (20), speed

and

their changes are determined according to algorithms (21), and the initial values of the viewing angles ε ^g _о and ε ^в _{о of a} given OB - according to algorithms (1), (2), (3); T _f - filter time constant, in addition,

where n _o is the value of the overload, compensating for the influence of the gravitational component; b ₁ and b ₂ are constant coefficients determined for each trajectory of movement of the moving medium.

кажущегося ускорения движения на оси местной горизонтальной системы координат Oξηζ. Полученные сигналы, пропорциональные результату сравнения, преобразуют в управляющие длиннопериодические сигналы, которые поступают на вход узкополосных контуров управления соответствующих четырех приводов дифференциальных АДР подвижного носителя, где их суммируют со сформированными короткопериодическими сигналами, пропорциональными стабилизирующим моментам. Полученные сигналы преобразуют в электрические сигналы управления и стабилизации подвижного носителя, усиливают их по мощности для управления соответствующими четырьмя дифференциальными АДР подвижного носителя для отработки этих сигналов. При этом формируют массив сигналов обратной связи, которые вычитают из суммы массивов сформированных короткопериодических сигналов, пропорциональных стабилизирующим моментам, и соответственно сигналов, полученных сравнением сигналов, пропорциональных задаваемым перегрузкам n^г _зад и n^в _зад в горизонтальной плоскости и в вертикальной плоскости, и соответственно с сигналами, пропорциональными сформированным проекциям n_ζ и n_η вектора

кажущегося ускорения движения подвижного носителя на соответствующие оси местной горизонтальной системы координат Оξηζ.Then, the received signals proportional to the given overloads n ^g _back and n ^to _back are compared, respectively, with the measured signals proportional according to relations (49) to the projections n _η and n _{ζ of the} vector

apparent acceleration of motion on the axis of the local horizontal coordinate system Oξηζ. The obtained signals, which are proportional to the comparison result, are converted into control long-period signals, which are fed to the input of narrow-band control loops of the corresponding four drives of differential ADRs of the mobile carrier, where they are summed with the generated short-period signals proportional to the stabilizing moments. The received signals are converted into electrical control and stabilization signals of the mobile carrier, amplified by their power to control the respective four differential ADRs of the mobile carrier to process these signals. In this form the array feedback signals which is subtracted from the sum of arrays formed of short signals proportional stabilizing moments and respectively signals obtained by comparing the signals proportional predeterminable overload n ^g _backside and n ^{in the} _backside in the horizontal plane and in a vertical plane and correspondingly signals proportional to the formed projections n _ζ and n _{η of the} vector

apparent acceleration of the movement of the moving carrier on the corresponding axis of the local horizontal coordinate system Оξηζ.

его ротора 22 в зааретированном положении гироскопа 17 совпадает с нулевым направлением линии визирования антенного устройства 3 (фиг.6). Гироскоп 17 содержит трехосный карданов подвес 23 ротора 22, датчик 24 угла прецессии внутренней рамки 25 трехосного карданова подвеса 23 ротора 22 и датчик 26 угла прецессии наружной рамки 27 трехосного карданова подвеса 23 ротора 22 гироскопа 17, датчик 28 момента управления направлением поворота внутренней рамки 25 трехосного карданова подвеса 23 ротора 22 гироскопа 17, датчик 29 момента управления направлением поворота наружной рамки 27 трехосного карданова подвеса 23 ротора 22 гироскопа 17. При этом ось 30 собственного вращения ротора 22 гироскопа 17 установлена во внутренней рамке 25 трехосного карданова подвеса 23 ротора 22 гироскопа 17, ось 31 вращение которой установлена в наружной рамке 27 трехосного карданова подвеса 23 ротора 22 гироскопа 17, ось 32 вращение которой, в свою очередь, установлена в корпусе гироскопа 17. Корпус гироскопа 17 жестко закреплен во внутренней рамке 12 двухосного карданова подвеса 7 антенного устройства 3. На соответствующих осях 31 и 32 вращения рамок 25 и 27 карданова подвеса 23 ротора 22 установлены соответственно датчики 24 и 26 угла прецессии внутренней рамки 25 и наружной рамки 27 трехосного карданова подвеса 23 ротора 22 гироскопа 17. Антенное устройство 3 также включает в свой состав узел 33 гиростабилизации и управления направлением зеркала 5 антенного устройства 3 на OB по углу наклона, узел 34 гиростабилизации и управления направлением зеркала 5 антенного устройства 3 на OB по азимуту, а также усилители 35 и 36 сигналов обратной связи в соответствующих каналах двухканального гироскопического датчика 18 измерения составляющих вектора абсолютной угловой скорости поворота зеркала 5 антенного устройства 3. Двухканальный гироскопический датчик угловой скорости (ДУС) 18 (фиг.7) установлен во внутренней рамке 12 двухосного карданова подвеса 7 антенного устройства 3 так, что в зааренированном положении одна из его осей чувствительности совпадает с нулевым направлением линии визирования антенного устройства 3, а другая его ось чувствительности ориентирована, например, вверх вдоль положительного направления оси 11 вращения внутренней рамки 12 двухосного карданова подвеса 7 антенного устройства 3. При этом направление вектора кинетического момента

ротора гироскопического ДУС 18 совпадает с положительным направлением оси 8 вращения наружной рамки 9 двухосного карданова подвеса 7 антенного устройства 3. Все три однокомпонентных измерителя 19, 20, 21 соответствующих проекций кажущегося линейного ускорения установлены во внутренней рамке 12 двухосного карданова подвеса 7 антенного устройства 3 так, что ось чувствительности одного из них взаимно ортогональна по отношению к взаимно ортогональным осям чувствительности двух других однокомпонентных измерителей соответствующих проекций кажущегося линейного ускорения. При этом ось чувствительности одного из трех однокомпонентных измерителей соответствующих проекций кажущегося линейного ускорения совпадает в зааретированном положении с нулевым положением линии визирования антенного устройства 3. Выходы соответствующих датчиков угла 24 и 26 прецессии внутренней рамки 25 и наружной рамки 27 трехосного карданова подвеса 23 ротора 22 гироскопа 17 соответственно соединены с входом узлов 34 и 33 гиростабилизации и управления направлением зеркала 5 антенного устройства 3 на заданный OB по углу наклона и по азимуту, выходы которых, в свою очередь, соединены соответственно с электродвигателями 13 и 14 поворота наружной рамки 9 и внутренней рамки 12 двухосного карданова подвеса 7 антенного устройства 3. При этом выходы датчиков угла прецессии внутренней и наружной рамки трехосного карданова подвеса ротора гироскопического ДУС 18 соединены соответственно с входом усилителей 35 и 36 сигналов отрицательной обратной связи, выходы которых соединены соответственно с датчиками момента внутренней и наружной рамок гироскопического ДУС 18.The proposed control system and stabilization of the movable carrier (Fig.6, Fig.7), implementing the method, characterized in that it includes an integrated on-board homing system (BSSN) 1 and a control system 2 of the drives of four differential aerodynamic rudders (ADR) of the movable carrier (Fig.6). In this case, the BSSN 1 includes an antenna device 3 and a CVU 4. The antenna device 3 includes a mirror 5 with an irradiator 6 and a waveguide-switching device, a biaxial cardan suspension 7, the rotation axis 8 of the outer frame 9 of which is mounted on the base 10 of the antenna device 3, and the axis of rotation 11 of the inner frame 12 is installed in the outer frame 9 perpendicular to its axis of rotation 8, the electric motor 13 of the rotation of the outer frame 9 of the biaxial straddle suspension 7 and the electric motor 14 of the rotation of the inner frame 12 of the biaxial cardan suspension 7. Ant This device 3 contains a sensor 15 of the angle of rotation of the outer frame 9 of the biaxial cardan suspension 7, a sensor 16 of the angle of rotation of the inner frame 12 of the biaxial cardan suspension 7, respectively, by the angle of inclination and azimuth, as well as a controlled three-stage gyroscope 17, a two-channel gyroscopic sensor of angular velocity 18, three one-component meter 19, 20, 21 of the corresponding projections of the apparent linear acceleration (Fig.7). Moreover, the controlled three-stage gyroscope 17 is installed in the inner frame 12 of the biaxial cardan suspension 7 of the antenna device 3 so that the direction of the kinetic moment vector

of its rotor 22 in the position of the gyroscope 17 aligned with the zero direction of the line of sight of the antenna device 3 (Fig.6). The gyroscope 17 contains a three-axis gimbal suspension 23 of the rotor 22, a sensor 24 of the precession angle of the inner frame 25 of the three-axis gimbal suspension 23 of the rotor 22 and a sensor 26 of the angle of precession of the outer frame 27 of the three-axis gimbal suspension 23 of the rotor 22 of the gyroscope 17, the moment sensor 28 controls the direction of rotation of the inner frame 25 of the triaxial cardan suspension 23 of the rotor 22 of the gyroscope 17, the sensor 29 of the moment of control of the direction of rotation of the outer frame 27 of the triaxial cardan suspension 23 of the rotor 22 of the gyroscope 17. The axis 30 of the own rotation of the rotor 22 of the gyroscope 17 is set is connected in the inner frame 25 of the triaxial cardan suspension 23 of the rotor 22 of the gyroscope 17, the axis of rotation 31 of which is installed in the outer frame 27 of the triaxial cardan suspension 23 of the rotor 22 of the gyroscope 17, the axis of rotation 32 of which, in turn, is installed in the gyroscope housing 17. The gyroscope body 17 rigidly fixed in the inner frame 12 of the biaxial cardan suspension 7 of the antenna device 3. On the corresponding axes 31 and 32 of rotation of the frames 25 and 27 of the cardan suspension 23 of the rotor 22, sensors 24 and 26 of the precession angle of the inner frame 25 and the outer frame are respectively installed 27 of a three-axis gimbal suspension 23 of the rotor 22 of the gyroscope 17. The antenna device 3 also includes a node 33 gyrostabilization and control the direction of the mirror 5 of the antenna device 3 on the oblique angle, node 34 gyrostabilization and control the direction of the mirror 5 of the antenna device 3 on the obi in azimuth and also amplifiers 35 and 36 of feedback signals in the corresponding channels of the two-channel gyroscopic sensor 18 for measuring the components of the vector of the absolute angular velocity of rotation of the mirror 5 of the antenna device 3. Two-channel g an angular velocity angular velocity sensor (DLS) 18 (Fig. 7) is installed in the inner frame 12 of the biaxial cardan suspension 7 of the antenna device 3 so that in the arched position one of its sensitivity axes coincides with the zero direction of the line of sight of the antenna device 3, and the other axis sensitivity is, for example, oriented upward along the positive direction of the axis of rotation 11 of the inner frame 12 of the biaxial cardan suspension 7 of the antenna device 3. Moreover, the direction of the kinetic moment vector

the rotor of the gyroscopic DEV 18 coincides with the positive direction of the axis of rotation of the outer frame 9 of the biaxial cardan suspension 7 of the antenna device 3. All three one-component meters 19, 20, 21 of the corresponding projections of the apparent linear acceleration are installed in the inner frame 12 of the biaxial cardan suspension 7 of the antenna device 3 so that the sensitivity axis of one of them is mutually orthogonal with respect to the mutually orthogonal sensitivity axes of the other two single-component meters of the corresponding projections egosya linear acceleration. The sensitivity axis of one of the three one-component meters of the corresponding projections of the apparent linear acceleration coincides in the position with the zero position of the line of sight of the antenna device 3. The outputs of the corresponding angle sensors 24 and 26 of the precession of the inner frame 25 and the outer frame 27 of the triaxial cardan suspension 23 of the rotor 22 of the gyroscope 17 respectively connected to the input of the nodes 34 and 33 gyrostabilization and control the direction of the mirror 5 of the antenna device 3 to a given OB in the angle of inclination and in azimuth, the outputs of which, in turn, are connected respectively to the rotation motors 13 and 14 of the outer frame 9 and the inner frame 12 of the biaxial cardan suspension 7 of the antenna device 3. In this case, the outputs of the precession angle sensors of the inner and outer frame of the triaxial cardan suspension of the gyroscopic rotor rotor 18 are connected respectively to the input of the amplifiers 35 and 36 of the negative feedback signals, the outputs of which are connected respectively to the moment sensors of the internal and external frames of the gyroscopic DOS 18.

The mirror 5 of the antenna device 3 is made to rotate in two mutually perpendicular planes using a two-stage hinge 37 relative to the center of radiation of the irradiator 6, rigidly mounted on the base 10 of the antenna device 3. The mirror 5 is pivotally connected by rods 38 39 of the mechanical coordinator of the antenna device 3, respectively, with the outer frame 9 and with the inner frame 12 of the biaxial cardan suspension 7 of the antenna device 3 so that the distance between each of the hinges of the rods 38 and 39 on the rear surface of the mirrors 5 and its rotation center equal to the distance between each of the hinges mounted on the outer frame 9 and the inner frame 12, a biaxial gimbals 7, the antenna device 3, and the center of rotation of the framework.

The antenna device also includes a control signal generating unit 40 proportional to the specified angular rotation speed of the mirror 5 in the vertical plane, and a control signal generating unit proportional to the specified angular rotation speed of the mirror 5 in the horizontal plane, and, in addition, the scaling unit 42 the signal taken from the output of the node 40 of the formation of the control signal of the specified angular velocity of rotation of the mirror 5 in a vertical plane connected to the input of the sensor 29 of the moment control the direction of rotation of the outer frame 27 of the triaxial cardan suspension 23 of the rotor 22 of the gyroscope 17. Moreover, the signal taken from the output of the node 42 for scaling the signal from the output of the node 40 for generating the control signal of the angular velocity of rotation of the mirror 5 in the vertical plane is proportional to the projection of the vector of the absolute angular velocity of rotation of the mirror 5 antenna device 3 on the transverse axis of the base antenna coordinate system Oxyz. The output of the node 41 generating a control signal proportional to the specified angular velocity of rotation of the mirror 5 in the horizontal plane is connected to the input of the sensor 28 of the moment of control of the direction of rotation of the inner frame 25 of the triaxial cardan suspension 23 of the rotor 22 of the gyroscope 17.

The outputs of the three one-component meters 19, 20, 21 of the projections of the apparent linear acceleration are connected respectively to the first, second and third inputs of the DAC 4. The outputs of the two-channel gyroscopic DOS 18 and the output of the scaling unit 42 are connected respectively to the fourth, fifth and sixth inputs of the DAC 4. Sensor output 15 the angle of rotation of the outer frame 9 and the output of the sensor 16 of the angle of rotation of the inner frame 12 of the biaxial cardan suspension 7, respectively, by the angle of inclination and azimuth are connected to the seventh input and the eighth input of the CVU 4, respectively. The first and second output of the CVU 4 is connected respectively to the input of the control signal generating unit 40 proportional to the specified angular velocity of the mirror 5 in the vertical plane, and to the input of the control signal generating unit 41 proportional to the specified angular rotation speed of the mirror 5 in the horizontal plane. The communication line 43 connects the equipment external to the claimed system with the informational ninth input of the CVU 4 of the integrated BSSN 1. The informational third output of the CVU 4 is connected with the informational communication line 44 with the informational first input of the control system 2 of four four differential ADRs 45, 46, 47, 48 movable media. The control system 2 of four differential ADRs 45, 46, 47, 48 of the mobile carrier comprises a node 49 for generating an array of control and stabilization signals for the mobile carrier, a node 50 for generating differential signals for the differential control of four electric motors 51, 52, 53, 54 of the corresponding differential ADRs 45, 46 , 47, 48 of the mobile carrier, four sensors 55, 56, 57, 58 of the negative feedback signal, the node 59 of the formation of the array of negative feedback signals. Moreover, the information input of the node 49 of the formation of an array of control signals and stabilization of the mobile carrier is connected by the information line 44 to the information third output of the CVU 4, the information output of the node 49 of the formation of the array of the signals of control and stabilization of the mobile carrier is connected by the information line 60 of the information input of the node 50 of the formation of differential signals control of four electric motors 51, 52, 53, 54 of the corresponding differential ADRs 45, 46, 47, 48 of the mobile carrier. The outputs of each of the four sensors 55, 56, 57, 58 of the negative feedback signal are connected respectively to the first, second, third, fourth input of the negative feedback signal array forming section 59, the information output of which is connected by the communication information line 61 to the first information output of the control system 2 drives of four differential ADRs of the mobile carrier and further with the information tenth input of CVU 4.

A device for bringing the antenna mirror into rotary motion in two mutually perpendicular planes for implementing the claimed method of controlling and stabilizing the movable carrier is characterized in that it is structurally designed as a single module mounted in the shell of the movable carrier and contains an antenna device 3, the base 10 of which is rigidly mounted inside the module (Fig.9). In this case, the antenna device 3 includes a biaxial gimbal suspension 7, the rotation axis 8 of the outer frame 9 of which is mounted on ball bearings 62 and 63 based on 10 of the antenna device 3, and the rotation axis 11 of the inner frame 12 of which is mounted on ball bearings 64 and 65 in the outer frame 9. On one side of the outer frame 9, a built-in electric motor 13 is installed, and on the other side of the outer frame 9, the built-in sensor 15 of the angle of rotation of the outer frame 9 is coaxially mounted so that their rotors are respectively rigidly closed plenums on the axis of rotation 8 of the outer frame 9, and their stators are respectively rigidly fixed in the base 10 of the antenna device 3. At the same time, a built-in electric motor 14 is also installed on one side of the inner frame 12, and a built-in angle sensor 16 is coaxially mounted on the other side of the inner frame 12 the inner frame 12 so that their rotors are respectively rigidly fixed to the axis of rotation 11 of the inner frame 12, and their stators are respectively rigidly fixed to the outer frame 9 of the biaxial cardan suspension 7, in the inner frame 12 of which p a controlled three-stage gyroscope 17, a gyroscopic two-channel angular velocity sensor (ДУС) 18, three one-component linear acceleration meters 19, 20, 21 are located. Based on 10 of the antenna device 3, electronic nodes 33 and 34 of gyrostabilization and direction control of the mirror 5 of the antenna device 3 are installed in the corner tilt and azimuth, respectively. To ensure that the mirror 5 is rotated along the angle of inclination and in azimuth, the antenna device 3 also contains a two-stage hinge 37, which makes it possible to rotate the mirror 5 of two mutually perpendicular planes relative to the irradiator 6, rigidly fixed to the base 10 of the antenna device 3, two rods 38 and 39 mechanical coordinator of antenna device 3, backstage 66, two hooks of Hooke 67 and 68 for mechanical connection of backstage 66 with two rods 38 and 39, respectively, with two hinges of Hooke 69 and 70 mounted on the rear erhnosti mirror 5 of the antenna device 3 (Figure 9). Moreover, the inputs of the nodes 33 and 34 gyrostabilization and control the direction of the mirror 5 of the antenna device 3 receives signals from the corresponding outputs of the controlled three-stage gyroscope 17, and from the outputs of these nodes 33 and 34, the signals are supplied to the corresponding built-in electric motors 13 and 14 for rotation, respectively, of the outer frame 9 the angle of inclination and rotation of the inner frame 12 in the azimuth of the biaxial cardan suspension 7. Signals from the outputs of the two-channel gyroscopic DUS 18 and three one-component linear acceleration meters 19, 20, 21, from the outputs of the sensors 15 and 16 of the angle of rotation of the outer frame 9 in the angle of inclination and the inner frame 12 in azimuth are fed to the corresponding inputs of the external CVU 4 BSSN 1. The inputs of the controlled three-stage gyroscope 17 receive the signals from the outputs of the CVU 4 to control the direction of the mirror 5 of the antenna device 3 .

A device for actuating differential aerodynamic rudders (ADRs) of a movable carrier for implementing the inventive method for controlling and stabilizing a movable carrier is characterized in that it comprises four independent identical drives of the corresponding differential ADRs 45, 46, 47, 48 (Fig. 10). Each drive is structurally made in the form of a single module, rigidly mounted in the shell of a movable medium. In this case, four differential ADRs 45, 46, 47, 48 are arranged in pairs crosswise on the surface of the shell of the movable carrier and are rigidly connected with the corresponding shafts 73, 74, 75, 76 of each drive, rotating on ball bearings 77 in the housing 71 of each drive. Moreover, one pair of differential ADR shafts 73 and 75 oppositely located coaxially with respect to the center of rotation is directed along an axis perpendicular to the axis along which another pair of oppositely spaced shafts 74 and 76 are directed. Inside the housing 71 of each drive on the corresponding shaft 73, 74, 75, 76, respectively, the built-in electric motors 51, 52, 53, 54 and the built-in sensors 55, 56, 57, 58 of the negative feedback signal are coaxially mounted so that the rotor 72 of each of their built-in electric motors 51, 52, 53, 54 and the rotor 79 of each of built-in sensors 55, 56, 57, 58 the negative feedback signal are rigidly secured to respective shafts 73, 74, 75, 76 of each actuator. The stator 78 of each of the built-in electric motors 51, 52, 53, 54 and the stator 80 of each of the built-in sensors 55, 56, 57, 58 of the negative feedback signal are rigidly mounted respectively on the housing 71 of each drive of differential ADRs 45, 46, 47, 48. When this, each of the four built-in electric motors 51, 52, 53, 54 drives differential ADR 45, 46, 47, 48 through the node 50 of the formation of control signals of four electric motors 51, 52, 53, 54 and each of the four sensors 55, 56, 57, 58 negative feedback signal through the signal array generation unit 59 fishing negative feedback information lines are electrically connected with the CWU 4 BSSN 1.

The proposed method for controlling and stabilizing the mobile carrier, the integrated system and devices for its implementation provide the formation of control and stabilization signals of the mobile carrier, as well as the mobile carrier rotating along the roll, because the control and stabilization system contains a biaxial gimbal suspension 7 of the antenna device 3 ( 6 and 7), the kinematic diagram of which allows you to place in the inner frame 12 of the biaxial cardan suspension 7, pivotally connected to the mirror 5 of the antenna stroystva 3, with three-stage gyroscope 17, which is sensitive and an actuator follower giroprivoda antenna device 3, and simultaneously sensing element of the inertial measuring predetermined parameters of sight vector OB. With a modern elemental base based on the manufacturing technology of microelectromechanical systems (MEMS), the functions of a gyroscopic two-channel DUS 18 can be performed by two solid-state one-component micromechanical gyroscopes (MMG), and three solid-state one-component micromechanical accelerometers 19, 20, 21 can be used accelerometer (MMA), which allows you to place them accordingly in the inner frame 12 of the biaxial gimbal 7.

кажущегося ускорения движения и проекциях ω_x, ω_y, ω_z вектора

абсолютной угловой скорости поворота вектора

визированной заданного OB на оси базовой антенной системы координат Oxyz, реализуются в ЦВУ 4 алгоритмы (22), (23) инерциального измерения параметров вектора

визирования заданного OB и на его выходе формируются сигналы, которые являются основой для формирования сигналов управления и стабилизации подвижного носителя (узел 49).When moving the mobile carrier according to the signals of the indicated gyroinertial sensors 19, 20, 21, 17, 18, which is proportional to the primary information about the projections n _x , n _y , n _{z of the} vector

apparent acceleration of motion and projections ω _x , ω _y , ω _{z of the} vector

absolute angular velocity of rotation of the vector

of the target OB on the axis of the base antenna coordinate system Oxyz, are implemented in the DAC 4 algorithms (22), (23) inertial measurement of the vector parameters

sighting a given OB and signals are generated at its output, which are the basis for the formation of control signals and stabilization of the mobile carrier (node 49).

When 4 algorithms (22), (23) are implemented in the CVU, the inertial discriminator of the error signals (errors) is performed in a closed loop of inertial auto tracking of a given OB:

- in range ΔL between the initially specified inclined range L _o and the reckoning current value of the inclined range L of the approaching mobile carrier with a given OB;

заданного OB, между направлением оптической оси зеркала 5 антенного устройства 3 или, что то же самое, между направлением вектора кинетического момента

ротора 22 управляемого трехстепенного гироскопа 17 и текущим направлением на заданный OB в базовой антенной системе координат Oxyz (фиг.2) в двух взаимно перпендикулярных плоскостях пеленгования, отсчитываемых относительно оптической оси Ох зеркала 5 антенного устройства.- in the direction, i.e. components of e ₁ and e ₂ spatial angular coordinates

a given OB, between the direction of the optical axis of the mirror 5 of the antenna device 3, or, equivalently, between the direction of the kinetic moment vector

the rotor 22 of a controlled three-stage gyroscope 17 and the current direction to a given OB in the Oxyz base antenna coordinate system (Fig. 2) in two mutually perpendicular direction-finding planes, measured relative to the optical axis Ox of the mirror 5 of the antenna device.

Therefore, the mismatch signals e ₁ and e ₂ , as well as ΔL, have a single reference base and are identical to the corresponding mismatch signals between the direction of the antenna line of sight, i.e. the maximum of the radiation pattern of the emitted electromagnetic energy, and the direction of the OB irradiated by the probing signals, determined by the angular discriminator in the closed loops of the OB radar auto tracking, as well as the mismatch signal determined by the temporary discriminator in the closed loop of the OB radar auto tracking

As a result of this, the optimal method for combining information of angular inertial and radar discriminators, as well as information of the inertial discriminator and information of the radar temporary discriminator in integrated OB auto-tracking loops, is implemented in an integrated control and stabilization system for a mobile carrier that implements the claimed method. This provides a significant increase in dynamic accuracy (approximately 10 times) due to the fulfillment of the dynamic error invariance condition in the integrated integrated BSSN 1 to path changes in the input signal and its noise immunity due to the narrowing of the bandwidth of the integrated OB auto-tracking circuits.

In addition, it provides the implementation in an integrated control and stabilization system of a mobile carrier implementing the claimed method of a single control law (50) along the entire trajectory of movement of the mobile carrier towards OB.

In the inventive method, an integrated system and devices for its implementation, the problem of inertial direction control stabilized from additive short-period disturbing oscillations, mirrors 5 of the antenna device 3 during circular rotation of its base 10 together with a rolling carrier rotating along the roll is solved.

At the same time, the task of generating inertial control signals for the mobile carrier of the antenna device 3 of the BSSN 1, rotating along the roll and moving along the path determined by the prelaunch purpose of the OB and the initial conditions of the exhibition of inertial measurement of the parameters of the vector of sight of the given OB, was solved.

At the same time, stabilization of the direction of the mirror 5 of the antenna device 3 on the OB is ensured during circular rotation of the base 10 of the antenna device 3, mounted rigidly inside the housing of the rolling carrier rotating along the roll. This is achieved due to the fact that the proposed kinematic diagram (Fig. 6, Fig. 7) of the antenna device 3 implements the property of a biaxial cardan suspension 7 (Fig. 6) during circular rotation of the base 10 of the antenna device 3 to convert this rotation into two orthogonal vibrations of the external 9 and internal 12 frames of a biaxial gimbal suspension 7, phase shifted by 90 degrees. The information of the controlled three-stage gyroscope 17 installed in the inner frame 12 of the biaxial cardan suspension 7, as well as the nodes 33 and 34 of gyrostabilization and direction control of the mirror 5 of the antenna device 3 to a given OB, respectively, by the angle of inclination and azimuth, and the device of driving the mirror 5 of the antenna in rotary movement in two mutually perpendicular planes, carrying out the claimed method of control and stabilization of the movable carrier, provide for the circular rotation of the base 10 of the antenna device 3 together with the movable carrier rotating along the roll, holding (stabilization) of the specified direction of the vector (line) of sight at a given OB in the presence of oscillations of the mobile carrier in pitch and yaw.

The specified stabilization, if necessary, is provided simultaneously with braking of rotation along the roll of the movable carrier, and at the same time with the formation of control signals and stabilization of the movable carrier with their supply to the corresponding inputs of the differential drive ADR of the movable carrier, which implements the method of control and stabilization of the movable carrier.

Thus, in the proposed integrated control and stabilization system of a mobile carrier that implements the claimed method, on the basis of inertial measurement of the parameters of the vector of sight of a given OB, the problem of inertial control of the direction stabilized from additive short-period perturbing oscillations, the vector (line) of sight of the antenna device with its circular rotation bases together with a rolling carrier moving along the roll. In this case, the problem of controlling and stabilizing the mobile carrier on the entire trajectory of its movement in the direction of a given OB is solved.

In the device for bringing the antenna mirrors into rotary motion in two mutually perpendicular planes and in the device for actuating the differential ADRs of the mobile carrier, the actuating elements (respectively, the biaxial cardan mount of the antenna device, carrying accelerometers and gyroscopes, and differential ADRs in the internal frame), the corresponding electric motors and sensors working angles are fixed and located on the same axis and, accordingly, on the same ADR drive shaft. As a result of this, the position errors are minimal and are structurally determined only by the eccentricities of the axes and shafts with practically limited rotation angles of the actuating elements.

The device for bringing the antenna mirror into rotary motion in two mutually perpendicular planes and the device for actuating the differential ADRs of the movable carrier for implementing the inventive method are structurally made in the form of modules rigidly mounted in the shell of the movable carrier. At the same time, the electromechanical units of the mentioned devices are constructed on the basis of built-in synchronous electric motors with permanent magnets on the DBM series rotor (non-contact torque motors) and angle sensors of the axes of the frames of the biaxial cardan suspension of the device for bringing the antenna mirrors into rotational motion in two mutually perpendicular planes and angle sensors shafts of the device for actuating differential ADRs of a movable carrier.

The proposed device for driving the antenna mirror into rotary motion in two mutually perpendicular planes and the device for actuating differential ADRs of the movable carrier provide the possibility of using rotodtosin type transformers, or PIM type sensors, or photo sensors or code sensors as rotor position sensors any type.

The proposed casting devices that implement the wilted method also provide the following features:

- embeddability of elements, elimination of gaps and kinematic errors;

- their intensive use (i.e., the absence of nominal modes, continuous operation in any mode, continuous and, if necessary, discrete control, unlimited reverse frequency and moment of inertia of the load);

- multifunctionality (i.e. work in control modes of a synchronous and, if necessary, stepper and valve motors);

- modular construction principle;

- applications in gearless control systems;

- increase stiffness and resonant frequency;

- high linearity and speed;

- reduction of wear;

- noise reduction;

- coaxial installation of several electric motors and sensors of the angle of rotation of the output axis or shaft, as well as sensors of the working off signal and feedback in the control system;

- introduction of tachometric feedback without a separate tachogenerator;

- a single information support from the feedback angle sensor;

- elimination of routine maintenance;

- reducing the cost of manufacture and operation.

In addition, the proposed devices provide the implementation of the claimed method due to the high-precision and high-speed refinement of control signals and stabilization of the direction of the line (vector) of the line of sight of a given OB and refinement of control signals and stabilization of the mobile carrier with simultaneous adjustment of the speed of rotation of the axes and shafts with high accuracy.

The device for actuating the differential ADRs of the mobile carrier comprises four independent identical drives of the corresponding differential ADRs. Each drive is structurally designed as a single module, rigidly mounted in the shell of the head compartment of the movable carrier. As a result, the implementation of design solutions based on the main-modular principle of the practical implementation of the claimed method is ensured. This solves the problem of optimal structural layout for the smallest possible weight and size characteristics and ease of operation of the system and devices implementing the claimed method in an extremely limited volume of the head compartment of the movable carrier.

The advantage of the claimed technical solution is the elimination of the need to use in the complex on-board hardware of the mobile carrier expensive traditional inertial navigation system (including strapdown) and a radio altimeter, as a result of which a significant amount (regular control compartment) of the mobile carrier is freed.

The results of studies and mathematical modeling confirm the feasibility of the claimed method, system and devices for its implementation and the achievement of a positive effect:

- providing increased accuracy of inertial control of the direction of the antenna mirror to the initially specified OB in the autonomous homing section of the mobile carrier,

- high-precision homing of a mobile carrier on a given OB, including rolling along a roll,

- the smallest possible weight and size characteristics of the equipment of the control and stabilization system, designed to equip mobile carriers for various purposes.

Claims (4)

1. A method for controlling and stabilizing a movable carrier, characterized in that long-period control signals are generated that are proportional to the initial and current values of the viewing angles of a given object of sight (OB) in the horizontal plane and in the vertical plane and the rate of change, as well as signals proportional to the current values the module of the rate of change of the inclined approach range with a given OM of the moving carrier of the control and stabilization system, for which, during prelaunch training, the mobile carrier determine and set signals proportional to the initial coordinates of the relative position of the mobile carrier and the initially specified OB, then generate signals in the form of a packet of successive information words containing the initial values of the slope and azimuth of the specified OB relative to the base of the antenna device, rigidly mounted inside the housing of the mobile carrier, in the coordinate system associated with the center of mass of the mobile carrier, the inclined range to a given OB and the inclined approach speed to specify the base OB antenna device together with the movable support in its prelaunch position, yaw, pitch and roll of the movable carrier with the base of the antenna device, as well as the initial conditions of inertial measurement sight predetermined parameter vector OB, i.e. signals proportional to the initial values of the projections of the linear velocity vector of the prelaunch movement of the base of the antenna device together with the mobile carrier to the corresponding axis of the local horizontal coordinate system, the Cartesian coordinates of the mobile carrier in the local horizontal coordinate system, longitude and geographical latitude of the mobile carrier, as well as signals proportional to the required mode range parameters, control word, command word, then check the generated signals in the form packet of sequential information words for the absence of distortion in them, after which the signals characterizing the packet of sequential information words are converted into a parallel form for inertial measurement of the parameters of the vector of sight of a given OB, then signals proportional to the specified initial conditions of the exhibition of inertial measurement of the parameters of the vector of sight of the specified OB, into signals proportional to the initial values of the projection of the linear velocity vector of the prelaunch movement of the base antenna device along with a movable carrier on the corresponding axis of the base antenna of the coordinate system, the angles of sight of the specified OB, respectively, in the horizontal plane and in the vertical plane in the local horizontal coordinate system, which are the spatial angular coordinates of the specified OB in the base antenna of the coordinate system, the guides of the cosines that determine the relative position the base antenna coordinate system and the reference geocentric coordinate system associated with one of its axis with a given OB, races Assumption on the earth's surface; at the time of the start of the mobile carrier, the update of the initial information signals is stopped, and during its movement along the trajectory after the start, signals proportional to the projections of the apparent linear acceleration vector and the projections of the absolute angular velocity vector of the antenna device’s rotation on the corresponding axis of the coordinate system associated with the mirror are measured antenna device, according to these measured signals, taking into account the variable electrical reduction between the rotation angles of the mirror of the antenna device and the target vector of the target OB determine the signals proportional to the projections of the apparent linear acceleration vector and the projections of the absolute angular velocity of the rotation vector of the target vector of the target OB on the corresponding axis of the base antenna coordinate system, are generated from the received signals taking into account the signals determined and set during the prelaunch preparation of the moving media, signals proportional to the current values of the parameters of the vector of sight of a given OB, namely, projections of the linear vector approach speed with a given OB of the base of the antenna device, together with a movable carrier, on the corresponding axis of the base antenna coordinate system, inclined range and inclined speed of approach with a given OB of the base of the antenna device, together with a movable carrier, which constitute the spatial angular coordinates of the specified OB in the base antenna of the coordinate system cosines of the mutual current angular position of the base antenna coordinate system and the reference geocentric coordinate system, carry out about the received signals proportional to the current values of the difference between the initial value of the inclined range to the specified OB and the current value of the inclined range of approach of the mobile carrier with the given OB together with the base of the antenna device, inertial auto-tracking of the given OB in range, and according to the received signals proportional to the current values of the spatial components the angular coordinates of a given OB in the base antenna coordinate system, which are the mismatch signals between the directions m of the optical axis of the antenna device’s mirror and direction to the specified OB in two corresponding mutually perpendicular direction-finding planes in the base antenna coordinate system, inertial auto-tracking is performed in the direction of the specified OB, assigned during pre-launch preparation of the mobile carrier, for which they are transformed by integration in a closed loop inertial auto-tracking along the direction of a given OB received signals proportional to the current values of the components of the spatial the global coordinate of the given OB, into control long-period signals proportional to the rate of change of the viewing angles of the given OB, which determine the current direction of the mirror of the antenna device to the specified OB in the horizontal and vertical plane, due to the movement of the base of the antenna device together with a moving carrier or with a rolling rolling roll carrier towards a given OB, which act on the corresponding moment sensors of a controlled three-degree gy a telescope installed in the inner frame of a biaxial cardan suspension of an antenna device, the outer and inner frames of which are pivotally connected to its mirror, under the influence of these long-period signals create long-period disturbing control moments that cause the gyroscopic reaction moments in the supports of the precession axes of the corresponding frames of the three-axis cardan suspension of the gyro rotor, in this case, a long-period precessional deviation of the corresponding frames of the triaxial cardan rotor suspension occurs gyroscope with an angular velocity close in magnitude to the angular rate of change of the corresponding viewing angles of a given OM, simultaneously determine signals proportional to the mismatch between the direction of the kinetic moment vector of the gyroscope rotor and the direction to a given OM specified by the generated long-period signals proportional to the rate of change of the viewing angles of the given OB in horizontal and vertical plane and, accordingly, long-period disturbing control moment m; these signals are converted into long-period control signals of the rotation electric motors of the framework of the biaxial cardan suspension of the antenna device, and according to the control signals, the electric motors develop long-period turning moments that are equal and coinciding in the direction with the direction of the corresponding long-period disturbing control moments to rotate the outer and inner frames of the biaxial cardan suspension of the antenna device and pivotally connected mirrors in the current direction to a given OB; while simultaneously determining signals proportional to the angle of inclination and azimuth of a given OM relative to the base of the antenna device, they also simultaneously generate signals characterized by the amplitude and frequency of short-period oscillations 90 ° shifted in phase, the outer and inner frames of the biaxial cardan mount of the antenna device and articulated with it mirrors relative to their rotation axes, and short-period signals proportional to the oscillations of the base of the antenna device those with oscillations of the mobile carrier in yaw and pitch, which act on the base of the antenna device while it rotates along the roll together with the mobile carrier, causing additive short-period disturbing moments, which, in turn, cause short-period moments of the gyroscopic reaction in the supports of the precession axes of the corresponding the framework of the triaxial cardan suspension of the gyro rotor, and a short-period precessional oscillation of the corresponding frames of the cardan suspension occurs of a gyroscope rotor with angular velocities, whose vector direction coincides with the direction of the vector of additive short-period perturbing moments, simultaneously determine signals proportional to the mismatch between the direction of the vector of kinetic moment of the gyro rotor and the direction of the vector of additive short-period perturbing moments, these signals are converted to additive short-period control signals rotate the frames of the biaxial gimbal ante According to the control signals, the electric motors develop additive short-periodic torques equal and opposite to the direction of the additive short-period disturbing moments acting around the corresponding rotation axes of the outer and inner frames of the biaxial cardan suspension of the antenna device to work out the additive short-period signals caused by the rotation of the base of the antenna together with the rolling carrier rotating along the roll and to by yawing and yawing, in the current direction to a given OM with simultaneous processing of signals proportional to the angular velocity of short-period deviations of the biaxial cardan mount of the antenna device, while the developed additive short-period signals are also recorded by these short-period signals, characterized by the amplitude and frequency of oscillations of short-period the framework of the biaxial cardan suspension of the antenna device, determine the signal proportional to the period of oscillation the framework of the biaxial cardan suspension of the antenna device, which determines the signal proportional to the value of the angular velocity of rotation along the roll of the mobile carrier during the entire rotation period of the roll of the carrier of the antenna device, and at the same time, if necessary, generate short-term rotation-delayed rotation signals from the recorded signals 90 °, the roll carrier along the roll, which is converted into control signals and fed to the inputs of the drives of the respective four aerodi steering wheels that control the movable carrier relative to its two mutually perpendicular axes of symmetry, which, according to these signals, develop short-period braking torques equal and oppositely directed respectively to additive short-period disturbing moments caused by rotation of the antenna device along the roll of the mobile carrier, and during braking of rotation by the roll mobile carrier when the signal is proportional to the period of short-period oscillations of the two-frame a clear cardan suspension of the antenna device exceeds a threshold value of the period corresponding to the value of the angular velocity of rotation along the roll of the mobile carrier close to zero, determine the rotation stop signal from the roll of the mobile carrier of the antenna device, while at the same time determine the signals proportional to the angle of inclination and azimuth of the specified OB, and after stopping rotation along the roll of the movable carrier, they simultaneously stabilize the current direction of the mirror of the antenna device at a given OB from of short-period oscillations of the mobile carrier with respect to its center of mass along the roll, pitch and yaw, while using the generated long-period control signals proportional to the rate of change of the viewing angles of the given OB, the current direction of the antenna device mirror stabilized from additive short-period oscillations to the specified OB in horizontal plane and in the vertical plane and also carry out inertial control of the stabilized direction of the feces of the antenna device to a given OB during a circular rotation of the base of the antenna device together with a movable carrier rotating along the roll, at the same time, signals proportional to the projections are generated from the signals proportional to the obtained projections of the absolute angular velocity of the rotation vector of the target vector of the target OB to the corresponding axes of the base antenna coordinate system the vector of the absolute angular velocity of rotation of the vector of sight of a given OB on the corresponding axis of the associated coordinate system, s these signals are used to generate signals proportional to the projections of the angular acceleration vector of the rotation of the vector of sight of the specified OB on the corresponding axis of the associated coordinate system, and also taking into account the initial values of the roll, pitch and yaw set during the prelaunch preparation of the mobile carrier for launch, determine short-period signals proportional to current values of roll, pitch, yaw and, accordingly, the angular velocity of their change, then short-period signals are generated from the received signals stabilization of the movable carrier in the vertical plane, in the horizontal plane and along the roll, by which they generate short-period signals proportional to the stabilizing moments that enter the input of each broadband stabilization loop of the control system of the corresponding four drives of the differential aerodynamic rudders of the mobile carrier, in addition, simultaneously according to the signals proportional to the obtained projections of the vector of apparent linear acceleration of the motion of the vector of sight of a given In, corresponding to the axis of the base antenna coordinate system, signals are generated that are proportional to the projections of the apparent linear acceleration vector of the target vector of the specified OB on the corresponding axis of the local horizontal coordinate system, as well as from the received signals proportional to the current values of the vector of the module of the rate of change of the inclined approach distance with the given OB the base of the antenna device, together with a movable carrier, the initial and current values of the angles of sight of a given OB in the horizontal and in the vertical plane and the speed of their change, form the control signals of homing the mobile carrier to a given OM, proportional to the given overloads, respectively, in the vertical and horizontal plane, simultaneously from the received signals proportional to the measured projections of the vector of the apparent linear acceleration of the vector of sight of the specified OM to the corresponding the axis of the base antenna coordinate system, generate signals proportional to the projections of the apparent linear accelerator vector the motion vector of the target OV on the corresponding axis of the local horizontal coordinate system, then the signals proportional to the given overloads are compared, respectively, with the signals generated by the signals proportional to the projections of the apparent linear acceleration vector of the vector of the sight OV on the vertical and horizontal lateral axis of the local horizontal system coordinates, then the received signals, proportional to the comparison result, are converted into control long feathers the signals received at the input of the narrow-band control loops of the respective four drives of the differential aerodynamic rudders of the mobile carrier, where they are summed accordingly with the generated short-period signals proportional to the stabilizing moments, the received signals are converted into electrical control and stabilization signals of the mobile carrier, amplify them by power for control the corresponding four differential aerodynamic rudders of the mobile carrier to process these signals, an array of feedback signals is formed, which are subtracted from the sum of arrays of short-period generated signals proportional to the stabilizing moments, and, accordingly, signals obtained by comparing the signals proportional to the specified overloads in the vertical and horizontal plane, respectively, with signals proportional to the vertical and the horizontal component of the apparent linear acceleration vector of the moving carrier. 2. An integrated control system and stabilization of the mobile carrier, implementing the method according to claim 1, characterized in that it includes an integrated onboard homing system (BSSN) and an integrated drive control system of four differential aerodynamic rudders (ADR) of the mobile carrier, while the BSSN contains an antenna device and a digital computing device, and the antenna device includes a mirror with an irradiator and a waveguide-switching device, a biaxial card new suspension, the axis of rotation of the outer frame of which is installed on the basis of the antenna device, and the axis of rotation of the inner frame is installed in the outer frame perpendicular to its axis of rotation, the electric motor of rotation of the external frame of the biaxial cardan suspension and the electric motor of rotation of the internal frame of the biaxial cardan suspension, the sensor of the angle of rotation of the external frame biaxial cardan suspension, angle sensor of the inner frame of the biaxial cardan suspension, respectively, by the angle of inclination and azimuth, as well as controlled t a re-stepped gyroscope, a two-channel gyroscopic angular velocity sensor, three one-component meters of the corresponding projections of the apparent linear acceleration, and a controlled three-degree gyroscope is installed in the inner frame of the biaxial cardan suspension of the antenna device so that the direction of the kinetic moment of its rotor in the locked position of the gyroscope coincides with the zero direction of the antenna sighting direction devices, the gyroscope contains a triaxial cardan suspension of the rotor, a precession angle sensor in internal frame of a triaxial cardan suspension of a rotor and a precession angle sensor of an external frame of a triaxial cardan suspension of a gyro rotor, a sensor for controlling the direction of rotation of the internal frame of a triaxial cardan suspension of a gyro rotor, a sensor for controlling a direction of rotation of the external frame of a triaxial cardan suspension of a gyro rotor, while the axis of its own rotation the gyroscope is installed in the inner frame of the triaxial cardan suspension of the gyroscope rotor, the rotation axis of which is installed externally the frame of the triaxial cardan suspension of the gyroscope rotor, the rotation axis of which, in turn, is installed in the gyroscope body, and the gyroscope case is rigidly fixed in the inner frame of the biaxial cardan suspension of the antenna device, the corresponding precession angles of the rotor cardan suspension are equipped with precession angle sensors of the internal frame and the outer frame of the triaxial cardan suspension of the gyro rotor, the antenna device also includes a gyrostabilization unit and control the direction of the mirror ant a device to the object of sighting according to the angle of inclination, the gyrostabilization unit and controlling the mirror direction of the antenna device to the object of sighting in azimuth, as well as feedback signal amplifiers in the corresponding channels of the two-channel gyroscopic sensor for measuring the components of the absolute angular velocity of rotation of the mirror of the antenna device, two-channel gyroscopic angle sensor speed (TLS) is installed in the inner frame of the biaxial cardan suspension of the antenna device so that In its position, one of its sensitivity axes coincides with the zero direction of the line of sight of the antenna device, and the other axis of sensitivity is oriented, for example, upward along the positive direction of the axis of rotation of the inner frame of the biaxial cardan suspension of the antenna device, while the direction of the vector of the kinetic moment of the gyroscopic rotor rotor coincides with the positive direction of the axis of rotation of the outer frame of the biaxial cardan suspension of the antenna device, all three one-component measurements The projectors of the corresponding projections of the apparent linear acceleration are installed in the internal frame of the biaxial cardan suspension of the antenna device so that the sensitivity axis of one of them is mutually orthogonal with respect to the mutually orthogonal sensitivity axes of the other two one-component meters of the corresponding projections of the apparent linear acceleration, while the sensitivity axis of one of the three one-component measuring instruments of the corresponding projections of the apparent linear acceleration coincides in the caged polo When zeroing the line of sight of the antenna device, the outputs of the corresponding precession angle sensors of the inner frame and the outer frame of the triaxial cardan suspension of the rotor of the controlled three-stage gyroscope are respectively connected to the input of the gyrostabilization nodes and control the mirror direction of the antenna device to a given OB in the angle of inclination and in azimuth, the outputs of which , in turn, are connected respectively to the electric motors of rotation of the outer frame and the inner frame of the biaxial cardan suspension of the antenna the device, while the outputs of the angle sensors of the precession of the inner and outer frames of the triaxial cardan suspension of the gyroscopic rotor rotor are connected respectively to the input of the amplifiers of negative feedback signals, the outputs of which are connected respectively to the moment sensors of the inner and outer frames of the gyroscopic rotor, the mirror of the antenna device is rotatable in two mutually perpendicular planes using a two-degree hinge relative to the center of radiation of the irradiator, rigidly fixed based on the antenna device, while the mirror is pivotally connected by rods of the mechanical coordinator of the antenna device, respectively, with the outer frame and with the inner frame of the biaxial cardan suspension of the antenna device so that the distance between each of the rod hinges on the rear surface of the mirror and its center of rotation is equal to the distance between each from hinges mounted respectively on the outer frame and on the inner frame of the biaxial cardan suspension of the antenna device, and the center of rotation of these frames, antennas The device also includes a control signal generating unit proportional to the specified angular velocity of rotation of the mirror in the vertical plane, and a control signal generating unit proportional to the specified angular velocity of rotation of the mirror in the horizontal plane, and, in addition, a signal scaling unit, the input of which is connected with the output of the node for the formation of the control signal of the specified angular velocity of rotation of the mirror in the vertical plane and with the input of the torque sensor rotation of the outer frame of the triaxial cardan suspension of the gyroscope rotor, while the outputs of three one-component meters of the corresponding projections of the apparent linear acceleration vector of the sight vector are respectively connected to the first, second and third inputs of a digital computing device (CVC), the outputs of the two-channel gyroscopic TLS and the output of the signal scaling unit connected respectively to the fourth, fifth and sixth inputs of the CVU, the output of the angle sensor of the outer frame and the output of the angle sensor and the rotation of the inner frame of the biaxial cardan suspension, respectively, in the angle of inclination and in azimuth, is connected to the seventh input and to the eighth input of the CVC, respectively, the first and second output of which is connected respectively to the input of the control signal generating unit, which is proportional to the specified angular rotation speed of the antenna device mirror in the vertical plane , and with the input of the node generating the control signal proportional to the specified angular velocity of rotation of the mirror of the antenna device in horizontal oskosti, in addition, the information communication line connects the equipment external to the claimed system, with the ninth input of the CVC, while the control system of the four differential ADRs of the mobile carrier contains a node for generating an array of control signals and stabilization of the mobile carrier, a node for generating differential signals for differential control of four electric motors rotation of the corresponding differential ADRs of the mobile carrier, four sensors of negative feedback signals, an array forming unit negative feedback signals, moreover, the information input of the node for generating an array of control signals and stabilization of the mobile carrier is connected by an information line to the third information output of the CVU, the information output of the node to form an array of control signals and stabilization of a mobile carrier is connected by an information line with the information input of the node of generating differential control signals four electric motors of rotation of the corresponding differential ADR of the rolling CITEL, the outputs of each of the four sensors negative feedback signal coupled respectively to the first, second, third, fourth input node array forming a negative feedback signal, information output of which is connected to an information communication line to a tenth input CWU. 3. The device for bringing the antenna mirror into rotary motion in two mutually perpendicular planes for implementing the method according to claim 1, characterized in that it is structurally made in the form of a single module mounted in the shell of a movable medium, and contains an antenna device, the base of which is rigidly mounted inside module, while the antenna device includes a biaxial gimbal suspension, the axis of rotation of the outer frame of which is mounted on ball bearings on the basis of the antenna device two, and the axis of rotation of the inner frame of which is mounted on ball bearings in the outer frame, a built-in electric motor is installed on one side of the outer frame, and the built-in angle sensor of the outer frame is coaxially mounted on the other side of the outer frame so that their rotors are respectively rigidly fixed to the rotation axis of the outer frame, and their stators are respectively rigidly fixed at the base of the antenna device, while an integrated electric motor is also installed on one side of the inner frame, and on the other side of the inner frame, a built-in sensor of the angle of rotation of the inner frame is coaxially mounted so that their rotors are respectively rigidly fixed to the axis of rotation of the inner frame, and their stators are respectively rigidly fixed to the outer frame of the biaxial cardan suspension, in the inner frame of which there is a controlled three-stage gyroscope, two-channel gyroscopic control system and three one-component meters of the corresponding projections of the apparent linear acceleration, electronic nodes are installed on the basis of the antenna device gyrostabilization and control the direction of the mirror of the antenna device by the angle of inclination and azimuth, respectively, while ensuring the mirror is brought into rotational movement by the angle of inclination and azimuth, the antenna device also contains a two-stage hinge, which makes it possible to rotate the mirror in two mutually perpendicular planes relative to the irradiator fixed on the base of the antenna device, two rods of the mechanical coordinator of the antenna device, the backstage, two Hook joints for mechanical connecting the backstage with two rods, respectively, with two Hooke hinges mounted on the rear surface of the mirror of the antenna device, and the inputs of the gyrostabilization nodes and controlling the direction of the mirror of the antenna device receive signals from the corresponding outputs of the controlled three-stage gyroscope, and from the outputs of these nodes the signals are sent to the corresponding built-in electric motors for rotation, respectively, of the outer frame in the angle of inclination and rotation of the inner frame in the azimuth of the biaxial cardan suspension, signal The inputs from the corresponding outputs of the two-channel gyroscopic TLS and the three single-component meters of the corresponding projections of the apparent linear acceleration vector come from the outputs of the angle sensors of the outer frame in the angle of inclination and the inner frame in azimuth to the corresponding inputs of the CVC, and the inputs of the controlled three-degree gyroscope come from the corresponding outputs of the CVC signals control the direction of the mirror of the antenna device. 4. The device for actuating differential aerodynamic rudders (ADRs) of a movable carrier for implementing the method according to claim 1, characterized in that it contains four independent identical drives of the corresponding four differential ADRs, each drive is structurally made in the form of a single module, rigidly mounted in a shell mobile carrier, while four differential ADRs are arranged in pairs crosswise on the surface of the shell of the mobile carrier and are rigidly connected with the respective shafts of each of the drive, rotating on ball bearings in the housing of each drive, with one pair of differential ADR shafts oppositely spaced relative to the center of rotation directed along the axis perpendicular to the axis along which another pair of oppositely spaced axially shafts is directed, while inside the housing of each drive On the corresponding shaft, respectively, four integrated electric motors and four integrated negative feedback signal sensors are coaxially mounted so that the mouth Each of the four built-in electric motors and the rotor of each of the four negative feedback signal sensors are rigidly fixed to the corresponding four shafts of each drive, and the stator of each of the four built-in electric motors and the stator of each of the four built-in negative feedback signal sensors are rigidly mounted respectively to the housing of each drive four differential ADRs, each of the four built-in electric motors of the drives of four differential ADRs through the Hovhan four motor control signals and each of the four sensors the signal negative feedback through the node array forming a negative feedback signal lines are electrically connected with the information board CWU homing.

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