RU2514606C2 - Method of generating control commands on rocket rotating on banking angle, rocket control system, method of measuring banking angle on rocket, gyroscopic device for measuring banking angle, method of generating sine and cosine signals on rocket rotating on banking angle, and sine-cosine rocket control system generator - Google Patents

Abstract

FIELD: physics; control.

SUBSTANCE: group of inventions relates to rocket control systems. The method of generating control commands involves measuring the banking angle of the rocket, which is generated in form of a signal in an n-bit Gray code, which is converted to a binary number having n bits, logic levels of which generate a multi-step approximation of sine-wave and cosine-wave signals, and rocket control commands on the heading and pitch, respectively, are generated from the decoded received signals. The rocket control system includes a gyroscopic device for measuring the banking angle, an XOR logic circuit, a control command converter and a second steering gear. The method of measuring the banking angle involves generating additional sequences of logic levels which form a number in an n-bit Gray code, which is converted to a binary n-bit number which corresponds to the measured value of the banking angle of the rocket. The gyroscopic device for measuring the banking angle further includes LED-photodiode pairs placed on the housing of the gyroscope and separated by raster. The method involves generating sine and cosine signals for generating control commands thereto, wherein a binary number in parallel form is generated in form of an n-bit number. The rocket control system includes a sine-cosine generator of M number setting devices and a digital inverter circuit.

EFFECT: high efficiency of generating control commands for rocket control systems.

8 cl, 6 dwg

Description

The proposed group of inventions relates to the field of armament, and in particular to a method and systems for controlling missiles rotating along a roll angle.

A known method of forming control commands on a rocket rotating in roll angle, and a missile control system [Russian Patent No. 2351875 of 04/10/09, MKI ⁸ F42B 15/01], selected as a prototype. A method for generating control commands on a rocket rotating in a roll angle, including decoding received signals at a heading and pitch, measuring and integrating the speed of rotation of a rocket in a roll angle, when it reaches a predetermined value, setting pulses are generated, the counted number of which is a 4-bit binary number , the logical levels of which are converted into pulsed signals, which from the decoded received signals form missile control commands at the rate and pitch in the form of 16-s upechatoy approximation to sine and cosine amplitudes corresponding to the values of the decoded signals, and a repetition period equal to the period of rotation of the missile.

A well-known missile control system using this method contains a receiver and channel separation and decoding equipment in line with the course and pitch, as well as an angular velocity sensor connected to the integrating input of the reset integrator, the input of which is connected to the angular interval adjuster, the initial installation device the state is connected to the installation inputs in the initial state of the resettable integrator and sine-cosine converter, the counting input of which is connected to the output resettable integrator, the outputs of the equipment for channel separation and decoding along the course and pitch are connected respectively to the directional and pitch inputs of the sine-cosine converter, the first and second outputs of which are connected respectively to the first and second inputs of the steering gear.

Further along the text, the receiver and the equipment for channel separation and decoding at the heading and pitch are connected in series with the receiving path [Radio Control Basics, ed. V.A. Weitel and Tipugina V.N. "Sov. Radio", 1973, p. 247, Fig. 4.28]. In addition, as follows from the description of the known control system (for example, see FIGS. 2 and 3), a sine-cosine converter with a constant value of decoded signals at the Z rate and Y pitch (special case) performs (including) the function of the sine cosine shaper, which is used in the claimed technical solution.

As follows from the above, the known method of forming control commands on a rocket rotating in roll angle, and the missile control system use trigger functions: counting the number of pulses with an angular interval of 22.5 °. When counting the number of pulses, they are summed, including when the direction of rotation of the rocket changes along the roll angle to the opposite.

Consequently, the disadvantage of the known methods for generating control commands on a rocket rotating along the angle of heel and the missile control system is the formation of false (additional) pulses when the direction of rotation of the rocket rolls, which does not correspond to the angle of heel of the rocket, and therefore limits the scope of application, reducing the effectiveness of rocket control.

The known method of generating a linearized signal and a signal linearizer for its implementation [Russian Patent No. 2282129 of 08/20/06, MKI ⁷ F41G 7/00] are, together with the roll angle sensor according to the function performed, respectively, the method for measuring the roll angle on a rocket rotating in angle roll, and a gyroscopic measuring angle of the roll angle realizing it, which are selected as a prototype. In the known method for measuring the angle of heel on a rocket rotating along the angle of heel, using the gyroscopic sensor of the angle of heel, the first and second sequences are formed in each roll period with zero and single logical levels, the durations of which are equal to the angular interval of 180 ° and are shifted by 90 °, from which the intervals corresponding to one quarter of the bank period are formed, the duration of the current time interval is measured in time, over which the magnitude of the amplitude of the linearized with igna corresponding to the subsequent time interval, the current value of which in each quarter of the roll period (quadrant) corresponds to the roll angle of the rocket.

The known gyroscopic rocket roll angle meter using this method (see the description of Russian Patent No. 2282129 of 08/20/06) contains a gyroscope with two pairs of LED photodiode, in each of which the LED and photodiode are separated by an opaque raster with a transparent circle with a duration equal to half the circumference, while the center of the raster is fixed on the axis of the gyroscope, and the first and second pairs of LED photodiodes are mounted on the gyroscope housing and are 90 ° offset relative to each other, the outputs of the first and second photodiodes the pairs are connected respectively with the first and second load resistors, as well as with the inputs of the first and second threshold devices, respectively, the outputs of which are connected respectively to the first and second inputs of the logic circuit exclusive OR, the output of which is connected to the input of the signal linearizer.

A disadvantage of the known method for measuring the angle of heel of the rocket and the gyroscopic angle meter of the angle of heel of the rocket, which realizes it, is that the signal of the angle of heel of the rocket is formed taking into account the duration of the previous quarter of the heel, at which an error is formed when the angular velocity of rotation of the rocket roll, which reduces accuracy measuring the angle of heel. In addition, the known technical solution does not work when changing the direction of rotation of the rocket along the angle of heel, because The signal is linearized according to the current time, which, when the direction of rotation is changed, cannot reverse its course. The above disadvantages reduce the effectiveness of missile control.

A known method of converting pulses on a rocket rotating in roll angle to form control commands on it and a sine-cosine converter for controlling a rocket rotating in roll angle [Russian Patent No. 2351875 of 04/10/09, MKI ⁸ F42G 7/00] which are selected as a prototype. The method of converting pulses on a rocket rotating in a roll angle to convert control commands on it (taking into account the description), which consists in counting the number of pulses and forming a binary number from them, changing from 0 to 15 on an angular interval of 0 ° - 360 °, the first pulses are formed from the logical levels of the first and third digits of the binary number, and the second pulses are formed from the second and third pulses, which commute the rocket control command at the heading with a repetition period of the transmission factors of 0.2; 0.56; 0.83; 0.98; 0.98; 0.83; 0.56 and 0.2, and pitch - 0.98; 0.83; 0.56; 0.2; 0.2; 0.56; 0.83 and 0.98, corresponding to angular intervals 0 ° -180 °, 180 ° -360 °, while the corresponding logical level of the fourth digit of the binary number is inverted in angular intervals 180 ° -360 ° missile control command on the course, additionally from logical the levels of the third and fourth digits of the binary number form the third pulses, which invert in angular intervals 90 ° -270 ° pitch command rocket control.

A well-known sine-cosine converter that implements a method of converting pulses on a rocket rotating in roll angle to convert control commands on it contains a pulse counter, the first and third outputs of which are connected to the first and second inputs of the first logic circuit exclusive OR, and the second and third outputs - exclusive OR, with the outputs of the first and second circuits exclusive OR connected to the first and second inputs of the second logic circuit respectively with the first and second inputs of the first multiplier, the third input to connected to the fourth output of the pulse counter, the first and second inputs of the second multiplier are connected to the outputs of the first and second logic circuits exclusive OR, while the third and fourth outputs of the pulse counter are connected respectively to the first and second inputs of the third logic circuit exclusive OR, the output of which is connected to the third input of the second multiplier, and the inputs of the sine-cosine converter are the input to the initial state of the pulse counter, the course input of the first multiplier and the tang zhny input of the second multiplier, and output - outputs of the first and second multipliers.

As follows from the well-known technical solution, the sine-cosine converter of the rocket control system rotating along the angle of heel uses the method of converting pulses on the rocket, while the generated sine and cosine signals have amplitudes equal to the value of the decoded signals, respectively, in direction and pitch, t .e. modulated in amplitude. And when applying instead of decoded signals at the heading and pitch to the course input of the first multiplier and the pitch input of the second multiplier, which are inputs of the sine-cosine converter, for example, the voltage from the power source, there will be signals on their sine and cosine outputs that are similar in the claimed technical solution.

Thus, the known method of converting pulses on a rocket rotating in a roll angle to generate control commands on it can also perform the function of generating sine and cosine signals. In accordance with the foregoing, a method of converting pulses on a rocket rotating along a roll angle to form control commands on it is hereinafter referred to as a method for generating sine and cosine signals on a rocket rotating along a roll angle to generate control commands on it. Similarly, for a sine-cosine converter called a sine-cosine shaper, as noted earlier.

A disadvantage of the known method for generating sine and cosine signals on a rocket rotating in roll angle for generating control commands on it and a sine-cosine shaper that implements it is that the read-out number of pulses is then converted into pulse signals that convert control commands, which when changing the direction of rotation of the rocket along the angle of heel are formed false. False control commands are also generated due to additional pulses that occur when a raster shakes, separating the LEDs and photodiodes from the light-shadow interface, for example, when vibrations are applied to the rocket. This reduces management efficiency.

The objective of the proposed group of inventions is to ensure operability when changing the direction of rotation of the rocket along the angle of heel, while increasing noise immunity and accuracy, and in general - increasing the efficiency of controlling a rocket rotating along the angle of heel.

The problem is solved due to the fact that in the method of generating control commands on a rocket rotating in roll angle, including decoding received signals at the heading and pitch and generating a binary number corresponding to the roll angle of the rocket, it is new to measure the roll angle of the rocket formed as a signal in the n-bit Gray code, which is converted to a binary number containing n-bits, the logical levels of which produce a multi-stage approximation of the sine and cosine signals ides that form rocket control commands from decoded received signals, respectively, according to the course and pitch, while the value of each discrete value in the multistage approximation of the sine and cosine signals forms the corresponding value of the k-bit binary number, and the number of discrete values by angle in each roll period determines the value an n-bit binary number, where n and k are the given, required number of bits in the corresponding binary numbers.

The control system on a rocket rotating in a roll angle, implementing this method, contains a receiving path, a sine-cosine driver and a first steering gear, the new one is that it is equipped with a gyroscopic roll angle meter, an exclusive OR circuit, a control command converter and a second steering gear drive, while the course and pitch outputs of the receiving path are connected respectively to the first and second inputs of the control command converter, the address inputs of the commutation control of the sine-cosine form the levers are connected to the outputs d ₁ ... and d _{n-2 of the} gyroscopic roll angle meter, the output d _{n-1 of} which is connected to the exclusive control input of the sine-cosine shaper and the first input of the logic circuit is exclusive OR, the second input of which is connected to the output d _n a gyroscopic roll angle meter, a cosine digital signal from the first output of the sine-cosine shaper and its sign discharge from the output of the logic circuit exclusive OR are connected to the third input of the control command converter, four the first input of which is connected to a sine digital signal from the second output of the sine-cosine shaper and its sign discharge from the output d _{n of the} gyroscopic roll angle meter, the fifth and sixth inputs of the converter of control commands are connected to the outputs of the first and second steering drives, the inputs of which are connected respectively to the first and second outputs of the control command converter.

In the method of measuring the angle of heel of a rocket rotating along the angle of heel, including the formation by the gyroscopic sensor of the angle of heel in each roll period of the first and second sequences of logical levels, the duration of which is equal to an angular interval of 180 °, it is new that additional sequences of logical levels are formed, starting with third, in each of which the zero and single logical levels have the same duration in angular magnitude (φ _N ), equal to φ _N = 360 ° / 2 ^N-1 , where N = 3, 4, ... n are counts of additional sequences of logical levels, while the first, second and additional sequences of logical levels are formed by the bits q _n , q _n-1 and additional q _n-2 , ... and q ₁ , respectively, forming a number in the n-bit Gray code, and in all generated sequences logical levels, the moments of transitions from zero levels to single ones, closest to the rocket roll angle of 0 °, should be phase in phase from 0 ° by (A (φ _N ) equal to Δφ _N = 360 ° / 2 ^N , where N = 1, 2, 3, ... n - samples of sequences of logical levels corresponding to q _n , q _{n- 1} , q _n-2 , ... and q ₁ , which are converted into binary n-bit number d _n , d _n-1 d _n-2 , ... and d ₁ corresponding to the measured value of the angle of heel of the rocket.

A gyroscopic roll angle meter of the missile control system, containing the first logic circuit eliminating OR and a gyroscopic roll angle sensor, including a gyroscope, on the axis of the outer frame of which an opaque raster with sections transparent around the circumference is fixed, and two pairs of LED photodiodes separated by a raster and placed on the case a gyroscope, the outputs of the photodiodes from the first and second pairs are connected respectively to the first and second load resistors, the new is that it is equipped with an additional third and fourth pairs of LED-photodiode located on the gyroscope housing and separated by a raster, four threshold devices, the second and third logic circuits exclusive OR, while the outputs of the first, second, third and fourth photodiodes from the corresponding pairs are connected respectively to the first, second, third and fourth threshold devices, the outputs of the third and fourth photodiodes are connected respectively to the third and fourth load resistors, and the outputs of the second, third and fourth threshold devices are connected with the first inputs of the first, second and third logic circuits, exclusive OR, while the output of the first threshold device and the second input of the first logic circuit exclusive OR are the output of the fourth (senior level) binary number of the gyroscopic roll angle meter of the rocket control system, the output of the third bit of the binary number which is the output of the first logic circuit exclusive OR and the second input of the second logic circuit exclusive OR, the output of the second logic circuit exclusive OR and the second input The exclusive OR logic of the third logic circuit is the output of the second bit of the binary number of the gyroscopic roll angle meter of the missile control system, the first output of which binary number is the output of the third exclusive OR logic circuit.

In the method of generating sine and cosine signals on a rocket rotating in a roll angle to generate control commands on it, including generating a binary number in parallel form that can be changed in the angular range of a rocket roll of 0 ° -360 °, it is new that the binary number in parallel form in the form of n-bit, from which 1, ... and n-2 bits are allocated, the logical levels of which in each quadrant of the angular interval, starting from 0 °, set the corresponding discrete values of the rise and fall signals, determined e a k-bit binary number in parallel form, while the logical levels of the n-1 bit of the binary number and its inverted values form the sequence of alternation of the rise and fall signals, as a result of which discrete digital values of the sine wave and cosine wave are generated, which are used as sign bits respectively n-th bit of the binary number and the same discharge is shifted by 90 °, wherein the magnitude of the discrete sine and cosine of the roll angle is ³⁶⁰ ° / n, and their sequence in each quad ante defines discrete amplitude values K _m in accordance with the expression

, $${\mathrm{TO}}_M=\sin \frac{90\circ (M-0.5)}{n}$$

,

where M = 1, 2, ... 2 ^n-2 are samples of discrete values in the order of their sequence for rise signals and a countdown for fall signals.

The sine-cosine shaper of the rocket control system containing the shapers of the sine wave and cosine wave, the new one is that it is equipped with M number switches and a logic circuit NOT, with the outputs a ₁ a ₂ , ... and a _{k of the} first, b ₁ b ₂ , ... and b _{k of the} second, ... and m _{1 of} m ₂ , ... and m _{k of the} Mth number of generators are connected respectively to the switching inputs of the signal generators of the sine wave and cosine wave, the output of the logic circuit is NOT connected to the first inputs of the switching control of the shapers of the sinusoid and cosine wave, respectively , and the control inputs the commutators of the sine and cosine shapers are the address inputs of the switching control d ₁ ... and d _{n-2 of the} sine-cosine shaper of the rocket control system, the address of the switching control d d _of which is the second inputs of the shaper switching control of the sine and cosine waves, respectively, and the input of the logic circuit is NOT, the digital outputs of the sine and cosine shapers are the first and second outputs of the sine-cosine shaper of the rocket control system, respectively.

In this case, the sine wave shaper is made in the form of k slew signal multiplexers and a first signal switch, the switching inputs of which are A ₁ A ₂ , ... and A _{k of} which are connected to the outputs of the first, second, ... and k-th slew multiplexers, while the first a ₁ a ₂ , ... and a _k , the second b ₁ b ₂ , ... and b _k , ... and the last m ₁ m ₂ , ... and m _k inputs of signal switching from the first, second, ... and k-th signal multiplexers Rises are the switching inputs of the sinusoid shaper, the switching control inputs of which are control the inputs A ₁ ... and A _{n-2 of the} first, second, ... and k-th slew multiplexers, switching inputs B ₁ , B ₂ , ... and B _{k of the} first signal switch are inputs of the decay signals of the sine wave shaper, the first and second control inputs whose switches are respectively the control inputs A and B of the first signal switch, and the digital output of the sine wave former is the digital output of the first signal switch.

The cosine shaper is made in the form of k decay signal multiplexers and a second signal switch, the switching inputs of which are B ₁ , B ₂ , ... and B _k which are connected to the outputs of the first, second, ... and k-th decay signal multiplexers, while the first m ₁ m ₂ , ... and m _k , the penultimate b ₁ b ₂ , ... and b _k and the last a ₁ a ₂ , ... and a _k the switching inputs from the first, second ... and k-th multiplexers of the decay signals are the switching inputs of the shaper cosine wave, the switching control inputs of which are the controlled inputs A ₁ , ... and A _n-2 the first, second, ... and k-th decay multiplexers, switching inputs A ₁ A ₂ , ... and A _{k of the} second signal switch are inputs of the rise signals of the cosine shaper, the first and second switching control inputs of which are the control inputs B and A of the second switch, respectively signals, and the digital output of the cosine shaper is the digital output of the second signal switch.

The claimed method of forming control commands on a rocket rotating in a roll angle is implemented as follows. The received missile control signals are decoded at the "Z" rate and the "Y" pitch. In addition, a binary number is formed on the rocket corresponding to the roll angle of the rocket.

For example, the roll angle of a rocket, formed as an n-bit signal in the Gray code, is measured, for example, by a gyroscopic roll angle meter. The n-bit signal in the Gray code is converted into a binary n-bit number, the logical levels of which form a multi-stage approximation of the sine and cosine signals. Sine and cosine signals are generated from decoded received signals by missile control commands, respectively, at the heading "Z" and pitch "Y"

The value of each discrete value in the multi-stage approximation of the sine and cosine signals is formed by the corresponding value of the k-bit binary number, and the number of discrete values by angle in each roll period determines the value of the n-bit binary number, where n and k are the specified, required number of bits in the corresponding binary numbers.

Thus, the discrete signals of the sinusoid and cosine have a constant (unchanged) amplitude, and the values of these signals do not depend on the direction of rotation of the rocket along the angle of heel. In addition, the frequency of the signals of the sinusoid and cosine is equal to the frequency of rotation of the rocket, which can vary from zero (the rocket does not rotate) to the maximum specified.

The invention is illustrated by the drawings shown in figures 1, 2, 3, 4, 5 and 6. Figure 1 presents a structural electrical diagram of a missile control system rotating along a roll angle, where 1 is a receiving path (PT); 2 - control command converter (PKU); 3a and 3b - the first and second steering drives, respectively (RP1 and RP2); 4 - gyroscopic roll angle meter (SMI); 5 - sine-cosine shaper (SCF); 6 - logical circuit exclusive OR (SUIT); 7a, 7b, 7c and 7d - the first, second, third and fourth blocks of subtraction, respectively (BV1, BV2, BV3 and BV4); 8a, 8b, 8d and 8d are the first, second, third and fourth adders, respectively (C1, C2, C3 and C4); 9a and 9b are the first and second trigger devices, respectively (TU1 and TU2); 10a, 10b, 10c, 10g, 10d, 10e, 10zh and 10z - the first, second, third, fourth, fifth, sixth, seventh and eighth multipliers; 11a, 11b, 11c and 11d - the first, second, third and fourth power amplifiers, respectively (UM1, UM2, UM3 and UM4); 12a, 12b, 12c and 12g - the first, second, third and fourth steering gears respectively (PM1, PM2, PM3 and PM4); 13a and 13b are the first and second feedback potentiometers, respectively (POS1 and POS2); 14a and 14b are the first and second amplifiers, respectively (U1 and U2).

In the control system on a rocket rotating along a roll angle, the course and pitch outputs of the receiving path 1 are connected respectively to the first and second inputs of the control command converter 2. The address inputs of the switching control of the sine-cosine shaper 5 are connected to the outputs d ₁ , ... and d _{n -2} gyro roll angle meter 4, the output d _{n-1 of} which is connected to the address input of the switching control of the sine-cosine shaper 5 and the first input of the logic circuit exclusive OR 6. The second input of the logic circuit exclusive OR 6 is connected to the output d _{n of the} gyroscopic roll angle meter 4.

The cosine digital signal from the first output of the sine-cosine shaper 5 and its sign discharge from the output of the logic circuit exclusive OR 6 are connected to the third input of the control command converter 2. The fourth input of the control command converter 2 is connected to a sine digital signal from the second output of the sine-cosine shaper 5 and its sign discharge from the output d _{n of the} gyroscopic roll angle meter 4. The fifth and sixth inputs of the control command converter 2 are connected to the outputs of the first 3a and second 3b steering drives, the inputs of which are connected respectively by the first and second outputs of the Converter control commands 2.

The receiving path 1 can be performed similarly in the prototype, except that the output signals "Z" and "Y" of the receiving path are binary, for example, a parallel number. Exclusive OR 6 logic, for example, 564 LP2 chip. Structural electrical circuits of a gyroscopic angle meter 4 and sine-cosine shaper 5 are shown respectively in figure 2 and figure 5.

Structural electrical circuits of the Converter control commands 2, the first 3A and second 3B of the steering drives, shown as an example in Fig. 1, are known [Russian patent No. 2235969 from 03.12.02, MKI ⁷ F42B 15/01]. In this known device for generating control commands for a rocket rotating around a longitudinal axis, shown in FIG. 2 [see Russian patent No. 2235969], all eight modulators (called multipliers in the claimed technical solution) in digital form can be performed on read-only memory devices, for example, on 556РТ7 microcircuits, the addresses of the rows and columns of which are the first and second digital inputs for binary numbers, where multiplication is performed in a tabular manner. Adders and subtraction blocks can also be digitally executed.

The claimed control system for a rocket rotating in a roll angle, implementing the control method of a rocket rotating in a roll angle, shown in FIG. 1, works as follows. The input of the receiving path 1 receives electromagnetic radiation, for example, used in the command radio control system, in accordance with which the signals (commands) of rocket control at the “Z” course and “Y” pitch are allocated at its output. These control signals, for example, in binary parallel code (with a sign) are received respectively at the first and second inputs of the control command converter 2.

The gyroscopic roll angle meter 4 measures the roll angle on the rocket and generates an output signal in the form of a binary parallel n-bit number, for example, to simplify the 4-bit one. The logical levels of the first (junior) d_one, ... and (n-2) th d_n-2 (in this case, the second d₂) bits of the binary number from the outputs of the gyroscopic angle meter 4 are supplied to the corresponding address inputs of the switching control of the sine-cosine shaper 5. Logical levels (n-1) -go d_n-1 (in this case, the third d₃) a binary number discharge from the output of the gyroscopic angle meter 4 is supplied to the address input of the switching control of the sine-cosine shaper 5. In this case, two binary k-bit parallel numbers are formed at the first and second outputs of the sine-cosine shaper 5, the values of which vary according to the laws of change respectively, cosine and sinusoids (without sign discharge), which are respectively supplied to the third and fourth inputs of the control command converter 2.

In this case, the (n) bit (in this case, the fourth d ₄ ) of the binary number from the output of the gyroscopic roll angle meter 4, which is a sign discharge of the sinusoid signal, also goes to the fourth input of the control command converter 2.

At the same time, the third (d ₃ ) and fourth (d ₄ ) bits of the binary number from the output of the gyroscopic angle meter 4 go to the first and second inputs of the logic circuit exclusive OR 6, at the output of which a sign discharge is formed for the cosine signal, i.e. the signal is 90 ° out of phase with respect to the fourth digit. The signal from the output of the logic circuit exclusive OR 6 is supplied to the third input of the converter of control commands 2.

Next, control commands are converted that take into account the rotation of the rocket along the roll angle φ relative to a non-rotating coordinate system, for example, a control point (when the initial phasing angle is 0 °) by means of the first 10a, second 10b, third 10c, fourth 11g multipliers together with the second by an adder 8b and a third subtraction unit 7c in accordance with the formulas

$$U_{8b}=U_Y\cdot \cos \varphi +U_Z\cdot \sin \varphi ,\text{(one)}$$

$${\mathrm{<figure-callout\; id="7"\; label="U"\; filenames="00000016.png,00000018.png"\; state="\{\{state\}\}">U</figure-callout>}}_{7\mathrm{AT}}=U_Z\cdot \cos \varphi +U_Y\cdot \sin \varphi ,\text{(2)}$$

where cosφ and sinφ are equal to binary numbers at the corresponding third and fourth inputs of the control command converter 2.

From the outputs of the second adder 8b and the third subtraction unit 7c, the signals are fed to the inputs of the first 3a and second 3b of the steering drives, respectively, which are the first inputs of the first 8a and third 8g of the adders. The second inputs of these adders receive signals from feedback potentiometers from the first 13a and second 13b, respectively, whose motors are kinematically connected with the rudders. The outputs of the first 8a and third 8g adders are connected to the inputs of the first 9a and second 9b trigger devices (Schmitt triggers, respectively). Further, the signal in each channel is amplified by one of the two key antiphase power amplifiers, the first 11a and second 11b, as well as the third 11c and fourth 11g, depending on the phase of the incoming signal.

From the power amplifier, the signal enters the winding of the corresponding control electromagnet, which controls the operation of the corresponding steering gears of the first 13a, second 13b, third 13c and fourth 13g, providing proportionality of the steering angle to the amplitude of the input signal. Due to the presence of positive feedback and a trigger device, the rudders operate in self-oscillating mode.

Thus, at the outputs of the first 13a and second 13b feedback potentiometers, information about steering deviations is generated, which is used to obtain self-oscillations in the circuit of each steering gear.

In addition, this information is used as feedback on the envelope of the output signals of the first and second steering gears. To do this, it is converted, in which the signals from the outputs of the first 13a and second 13b feedback potentiometers are fed to the first inputs of the fifth 10d, sixth 10e, seventh 10zh, and eighth 10h of the multipliers, respectively. In this case, cosφ is supplied to the second inputs of the fifth 10d and eighth 10s, and sinφ is supplied to the second inputs of the sixth 10e and seventh 10zh multipliers. Together with the fourth subtraction unit 7g and the fourth adder 8g, the envelopes of the output signals from each steering drive are converted from a rotating coordinate system associated with the rocket to a non-rotating coordinate system, for example, a control point (with an initial phasing angle of 0 °), in accordance with the formulas.

$$U_{7g}=U_{\delta \mathrm{one}}\cdot \cos \phi +{\mathrm{<figure-callout\; id="2"\; label="U\; \delta "\; filenames="00000014.png,00000016.png"\; state="\{\{state\}\}">U\; </figure-callout>}}_{\delta }\cdot \sin \phi ,\text{(3)}$$

$$U_{8g}={\mathrm{<figure-callout\; id="2"\; label="U\; \delta "\; filenames="00000014.png,00000016.png"\; state="\{\{state\}\}">U\; </figure-callout>}}_{\delta }\cdot \cos \phi +U_{\delta \mathrm{one}}\cdot \sin \phi ,\text{(3)}$$

where U _δ1 and U _δ2 are the signals from the outputs of the feedback potentiometers of the first 3a and second 3b steering gears.

At the first 7a and second 7b subtraction blocks, the missile control signals are compared with the signals from the outputs of the first 14a and second 14b amplifiers, respectively.

Thus, the control command converter 2, the first 3a and the second 3b steering gears operate in the same way as in the known device [Russian patent No. 2235969 from 03.12.02, MKI ⁷ F42B 15/01].

The claimed method of measuring the angle of heel of a rocket rotating along the angle of heel is implemented as follows. A gyroscopic roll angle sensor with LED-photodiode optocoupler pairs is formed, separated by a raster, in each roll period (roll angle 0 ° –360 °) the first and second sequences of logical levels (zero and single). The durations of each of these two sequences are equal to an angular interval of 180 °.

Additional sequences of logical levels are formed, starting with the third, in each of which the zero and unit logical levels have the same duration in angular magnitude (φ _N ), equal to

$${\varphi }_N=360°/2^{N-\mathrm{one}},\text{(5)}$$

where N = 3,4 ... n - counts of additional sequences of logical levels.

As follows from expression (5), N _max = n. In this case, the first, second and additional sequences of logical levels are formed, respectively, by the bits q _n (senior), q _n-1 and additional q _n-2 , ... q ₁ (junior), forming an n-bit number in the Gray code. In addition, in all the sequences of logical levels formed, the moments of transitions from zero to single (rise fronts) closest to the rocket roll angle equal to 0 ° should be out of phase by 0 ° by (Δφ _N ) equal to

$$\Delta {\phi }_N={360}^{\circ }/2^N,\text{(6)}$$

where N = 1, 2, 3, ... n are samples of sequences of logical levels corresponding to q _n , q _n-1 q _n-2 , ... and q _1.

As follows from expression (6), at the moments of transitions from zero levels to single ones, closest to the rocket roll angle of 0 °, first, second, third, fourth, fifth, etc. sequences of logical levels, they are behind the rocket roll angle 0 ° (in phase) by 180 °, 90 °, 45 °, 22.5 °, 11.25 °, etc., respectively.

Thus, for example, for n = 4, the first and second sequences of logical levels can be represented as bits of numbers in the Gray code, q ₄ and q _3, respectively (see table 1). Additionally form the third (corresponding to the discharge q ₂ ) and fourth (corresponding to the discharge q ₁ ) sequences with zero and unit logical levels, the angular durations of which φ ₃ , φ ₄ are equal to 90 ° and 45 °, respectively.

Moreover, the moment of transition from zero to a single of the first sequence q ₄ (senior level) is 180 ° behind the rocket roll angle 0 ° (in phase), by 90 ° in the second sequence q ₃ , by 45 ° in the third q ₂ sequence, and in the fourth q ₁ (low order) - by 22.5 °. It should be noted that the first q ₄ and second q ₃ sequences with a change in the angle of heel of the rocket in the interval 0 ° -360 ° have only one front of growth.

Convert an n-bit number (for example, four-bit) from the Gray code to an n-bit binary number (for example, four-bit), each bit of which corresponds to the values of d ₄ , d ₃ , d ₂ and d ₁ (see table 1), where d ₄ - senior level, ad ₁ - junior.

Table 1 Decimal Gray Code Binary code the code q ₄ q ₃ q ₂ q ₁ d ₄ d ₃ d ₂ d ₁ 0 0 0 0 0 0 0 0 0 one 0 0 0 one 0 0 0 one 2 0 0 one one 0 0 one 0 3 0 0 one 0 0 0 one one four 0 one one 0 0 one 0 0 5 0 one one one 0 one 0 one 6 0 one 0 one 0 one one 0 7 0 one 0 0 0 one one one 8 one one 0 0 one 0 0 0 9 one one 0 one one 0 0 one 10 one one one one one 0 one 0 eleven one one one 0 one 0 one one 12 one 0 one 0 one one 0 0 13 one 0 one one one one 0 one fourteen one 0 0 one one one one 0 fifteen one 0 0 0 one one one one

From the second column of Table 1 it follows that when moving from one number to the next in the Gray code, only one bit always changes. Thus, two numbers immediately following each other differ in the value of only one of the digits. Due to this, the error cannot exceed the unit of the least significant bit.

Consequently, with strong vibration of the rocket and the occurrence of oscillations of the raster at the time of the change in the Gray code of the logical level from zero to one (or vice versa), only a short-term change in information per unit of the least significant discharge can occur.

As follows from the above, and also further throughout the text, the beginning of the numbering of sequences of logical levels begins with the highest digit of the number, and the beginning of the numbering of digits with the lowest digit.

Figure 2 presents the structural electrical diagram of a gyroscopic roll angle meter, where 15a, 15b, 15c and 15g are the LEDs of the optocoupler pairs, respectively (T1, T2, T3 and T4); 16 - raster (P); 17a, 17b, 17c and 17g are the photodiodes of the optocoupler pairs, respectively (FD1, FD2, FD3 and FD4); 18a, 18b, 18c and 18g - threshold devices, respectively (PU1, PU2, PU3 and PU4); 19a, 19b and 19c are exclusive OR logic circuits, respectively (IS1, IS2 and IS3).

Figure 3 shows the raster 16, where 20A, 20B and 20C, respectively, 1, 2 and 3 tracks; 21a, 21b, 21c and 21g - the first (main) version of the arrangement of the optocoupler pairs; 21a, 21b, 21c 'and 21g' is the second arrangement of optocoupler pairs.

Figure 4 shows the diagrams of the signals of a gyroscopic roll angle meter, where "a", "b", "c" and "d" are presented - the signals at the outputs of the first 18a, second 18b, third 18c and fourth 18g threshold devices that correspond to discharges q ₄ , q ₃ , q ₂ and q ₁ (from highest to lowest) numbers in the Gray code; "e", "e", "g" and "h" are signals, respectively, at the second input of the first logic circuit exclusive OR 19a, at the outputs of the first 19a, second 19b and third 19v logic circuit exclusive OR, which correspond to bits d ₄ , d ₃ , d ₂ and d ₁ (from high to low) numbers in binary code.

The gyroscopic roll angle meter contains a gyroscopic roll angle sensor, including a gyroscope, on the axis of the outer frame of which an opaque raster 16 is fixed with sections transparent around the circumference and two pairs of LED photodiodes 15a, 17a and 15b, 17b, separated by a raster 16 and placed on the gyroscope case. The outputs of the photodiodes from the first 17a and second 17b pairs are connected respectively with the first R ₁ and second R ₂ load resistors. The third 15c, 17c and the fourth 15g, 17g pairs of LED-photodiode shared by raster 16 are placed on the gyroscope case. The outputs of the first 17a, second 17b, third 17c and fourth 17g photodiodes from the respective pairs are connected respectively to the first 18a, second 18b, third 18c and fourth 18g threshold devices. The outputs of the third 17c and fourth 17g photodiodes are connected respectively to the third R ₃ and fourth R ₄ load resistors. The outputs of the second 18b, third 18c, and fourth 18g threshold devices are connected to the first inputs of the first 19a, second 19b, and third 19c of the logic circuits, exclusive OR. In this case, the output of the first threshold device 18a is connected to the second input of the first logic circuit exclusive OR 19a. The second inputs of the second 19b and third 19b logic exclusive OR are connected to the outputs of the first 19a and second 19b logic exclusive XOR.

The gyroscope, not shown in FIGS. 2 and 3, and the raster 16 are made similar to the prototype (Russian patent No. 2282129 of 08.20.06, MKI ⁷ F41G 7/00). The shape of the raster 16, for example, a circle on which there are three tracks with different radii with transparent and opaque sections. On the first (inner) track 20a, the first 21a and second 21b optocoupler pairs are located, respectively, the first LED 15a is a photodiode 16a and the second LED 15b is a photodiode 17b. On the second 20b and third 20v tracks, respectively, the third 21c and fourth 21g optocoupler pairs respectively the third LED 15v - photodiode 17v and the fourth LED 15g - photodiode 17g.

In this case, the third optocoupler pair 21b or 21c 'can be located on the second track 20b, in accordance with their numbering (two location options). The fourth optocoupler pair 21g or 21g 'may be located on the third track 20b, in accordance with their numbering (also two options). In addition, as can be seen from the image of the raster (figure 3), for the fourth pair of LED 15 - photodiode 17, there are two more additional placement options. Moreover, the black (single) line shows the transparent sections of the raster tracks, which correspond to a high level of the amplitude of the pulse signal at the outputs of the photodiodes, and the light (double) - opaque, which corresponds to a low level, while the raster conditionally rotates clockwise relative to the optocoupler pairs (the raster is stationary rotates along the roll of a rocket with optocoupler pairs).

Since the growth fronts of the pulse sequences (logical levels) at the outputs of the photodiodes are behind the phase of the rocket roll angle 0 ° by the value for the first optocoupler pair 90 ° + 90 ° = 180 ° (q ₄ ), for the second - 90 ° (q ₃ ) , for the third - 45 ° (q ₂ ) and for the fourth - 22.5 ° (q ₁ ), then on the first track the opaque and transparent sections alternate in accordance with the change in the senior bits of the number in the Gray code (q ₄ and q ₃ ), on the second - in accordance with the discharge q ₂ , on the third - in accordance with the discharge q ₁ according to table 1. Moreover, each of the 16 discrete characters of the four-digit number corresponds to 360 ^o / 16 = 22.5 ° of the angular value of the track (circle).

The first 15a, second 15b, third 15c and fourth 15g LEDs, as well as the corresponding first 17a, second 17b, third 17c and fourth 17g photodiodes shared by raster tracks, are located on the gyroscope case. Threshold devices 18a, 18b, 18c and 18g, for example, Schmitt triggers. The first 19a, second 19b and third 19c logic exclusive OR, for example, 564 LP2 microcircuit.

A gyroscopic roll angle meter for generating rocket control commands shown in FIG. 2 operates as follows. The photocurrent pulses from the outputs of the photodiodes 17a, 17b, 17c and 17g flowing through the corresponding resistors R ₁ -R ₄ are converted to them into the corresponding voltages, which are two levels: light and dark, the sequences of which are set by raster 16, interrupting the light flux from the LEDs 15a, 15b, 15c and 15g to the photodiodes 17a, 17b, 17c and 17g, respectively. The light and dark levels of the signals are respectively supplied to the inputs of the first 18a, second 18b, third 18c and fourth 18g threshold devices, which form signals with logical levels from them.

At the output of the first threshold device 18a, a high order bit (q ₄ ) of the code sequence of the four-digit Gray code is generated, the logical levels of which are shown in diagram "a" (Fig. 4). At the output of the second threshold device 18b (plot "b" in Fig. 4), discharge q ₃ , at the output of the third threshold device 18c (plot "c" in Fig. 4), discharge q ₂ and at the output of the fourth threshold device 18g (plot "g" in figure 4) - discharge q ₁ .

From the outputs of the second 18b, third 18c, and fourth 18g threshold devices, the logic levels of the signals are applied to the first inputs of the first 19a, second 19b, and third 19c of the logic circuits, respectively, exclusive OR. The second input of the first logical circuit exclusive OR 19a receives a signal from the output of the first threshold device 18a. The second input of the second logic exclusive OR 19b receives a signal from the output of the first logic exclusive OR 19a. The second input of the third logic exclusive OR 19c receives a signal from the output of the second logic exclusive OR 19b.

Thus, at the outputs of the first 19a, second 19b, and third 19c logic circuits exclusive OR, logical levels of a binary number are formed corresponding to its bits, respectively d ₃ , d ₂ and d ₁ . Moreover, the logical levels of its highest order d ₄ coincide with the logical levels of the highest order number in the Gray code q ₄ . In this case, the four-digit Gray code is converted into a four-digit binary code (see W. Titze, K. Schenk “Semiconductor circuitry”, M., Mir, 1982, p. 326, Fig. 19.12).

As follows from the above, the implementation of the gyroscopic roll angle meter on a rocket rotating along the roll angle with the number of discharges n = 4 is given above. However, the number of bits with increasing n is not limited by anything, since when converting the Gray code to binary code, only the number of logic circuits increases, excluding OR by a corresponding increase in n.

Since when the rocket rotates in one direction, the binary number at the output of the code converter increases and decreases in the opposite direction, then regardless of the direction of the rotation of the rocket along the flight path, including when it changes within one revolution, the rocket roll angle is uniquely determined.

The claimed method for generating sine and cosine signals on a rocket rotating in a roll angle for generating control commands on it is implemented as follows. A binary number is formed in a parallel form, variable in the angular interval of the rocket roll 0 ° -360 °. The binary number in parallel form is formed in the form of n-bit, from which 1 (low), ... and n-2 bits are allocated, the logical levels of which in each quadrant of the angular interval, starting from 0 °, set the corresponding discrete values of the rise and fall signals, defined by a k-bit binary number in parallel form.

For example, for n = 4, each bit of a binary number corresponds to the values of d ₄ , d ₃ , d ₂ and d ₁ (see table 2), where d ₄ is the highest digit, ad ₁ is the least significant.

Since for each revolution of the rocket along the roll angle 16 values of the binary number are formed in this case (see the second column of table 2), each change by a discrete value corresponds to an increment (increase) or decrease in the roll angle of the rocket by 360 ° / 16 = 22.5 °, and in the general case 360 ° / 2 ⁿ . Moreover, in each quadrant of a binary number change, its least significant bits (their logical levels) d ₂ and d ₁ form four k-bit binary numbers having different values (given in the third and fourth columns of table 2 in decimal code).

table 2 Decimal code Binary code Normalized Rise Signal in Decimal Code Normalized decay value in decimal d ₄ d ₃ d ₂ d ₁ 0 0 0 0 0 0.20 0.98 one 0 0 0 one 0.56 0.83 2 0 0 one 0 0.83 0.56 3 0 0 one one 0.98 0.20 four 0 one 0 0 0.20 0.98 5 0 one 0 one 0.56 0.83 6 0 one one 0 0.83 0.56 7 0 one one one 0.98 0.20 8 one 0 0 0 0.20 0.98 9 one 0 0 one 0.56 0.83 10 one 0 one 0 0.83 0.56 eleven one 0 one one 0.98 0.20 12 one one 0 0 0.20 0.98 13 one one 0 one 0.56 0.83 fourteen one one one 0 0.83 0.56 fifteen one one one one 0.98 0.20

Thus, using the logical levels d ₂ and d ₁ , in each quadrant of the angular interval 0 ° -360 °, both rise (increase) and fall (decrease) signals are generated, the discrete values of which are set in the form of following the corresponding values of binary numbers (K), given in the third and fourth columns of table 2, respectively (in decimal). These four discrete values are set in the form of following the corresponding values of k-bit binary numbers.

Therefore, the values of discrete values of binary numbers (K _m ) can be represented, for example, in the form of normalized values in decimal code, which allows us to calculate them as a function of the sine of the average value of each duration of the angular interval (discrete) φ _M for each quadrant:

$${\mathrm{TO}}_M=\sin {\varphi }_M,\text{(7)}$$

$${\phi }_M=\frac{90°}{n}\cdot M-\frac{90°}{2n}=\frac{{90}^{\circ }(M-0.5)}{n},\text{(8)}$$

$${\mathrm{TO}}_M=\mathrm{<figure-callout\; id="90"\; label="sin"\; filenames="00000016.png,00000018.png"\; state="\{\{state\}\}">sin</figure-callout>}\frac{90\circ (M-0.5)}{n}\text{(9)}$$

where M = 1, 2, ... 2 ^n-2 are the samples of the discrete values of φ _M in the order they follow for the rise signals and the countdown for the fall signals.

For example, for n = 4 M _max = 2 ² = 4, while K _m has four discrete values, for n = 5 M _max = 2 ³ = 8, while K _m has eight discrete values, etc.

Соответственно K₁=sin φ₁=0,2; К₂=sin φ₂=0,56; К₃=sin φ₃=0,83 и К₄=sin φ₄=0,98.Moreover, for n = 4 $${\phi }_{\mathrm{one}}=\frac{90\circ \cdot 0.5}{\mathrm{four}}=11.25\circ ;{\phi }_{\text{2}}=\frac{90\circ \cdot \mathrm{1,5}}{\mathrm{four}}=33.75\circ ;{\phi }_{\text{3}}=\frac{90\circ \cdot 2.5}{\mathrm{four}}=56.25\circ ;{\phi }_{\text{four}}=\frac{{90}^{\circ }\cdot \mathrm{3,5}}{\mathrm{four}}=78.75\circ .$$

Accordingly, K ₁ = sin φ ₁ = 0.2; K ₂ = sin φ ₂ = 0.56; K ₃ = sin φ ₃ = 0.83 and K ₄ = sin φ ₄ = 0.98.

For n = 5 φ ₁ = 5.625 °; φ ₂ = 16.875 °; φ ₃ = 28.125 °; φ ₄ = 39.375 °; φ ₅ = 50.625 °; φ ₆ = 61.875 °; φ ₇ = 73.125 ° and φ ₈ = 84.375 °. Accordingly, K ₁ = sin φ ₁ = 0.098; K ₂ = sin φ ₂ = 0.29; K ₃ = sin φ ₃ = 0.471; K ₄ = sin φ ₄ = 0.634; K ₅ = sin φ ₅ = 0.773; K ₆ = sin φ ₆ = 0.882; K ₇ = sin φ ₇ = 0.957 and K ₈ = sin φ ₈ = 0.995.

To build the signals of the sine wave and cosine wave also use the logical levels n-1 of the discharge of the binary number d _n-1 (with n = 4 - d ₃ ) and their inverted values. These logical levels carry out the corresponding order of alternating switching of the rise and fall signals. In this case, a sine wave signal is formed when the rise signal from the third column is connected first, i.e. four values of K ₁ K ₂ , K ₃ and K ₄ , and then the decay signal from the fourth column, formed by the values of K ₄ , K ₃ , K ₂ and K ₁ , etc. The cosine signal is generated when the decay signal from the fourth column corresponding to the values of 0, 1, 2 and 3 of the decimal code from the first column is connected first (table 2), and then the rise signal from the third column corresponding to the values of 4, 5, 6, 7 (from first column) etc. As a result of such a connection with the alternation of these signals, k-bit binary numbers of sine and cosine signals (without signs) are generated.

Therefore, the generated incomplete digital signals of a sinusoid and cosine (unsigned) have the same constant amplitudes, while the magnitude of these amplitudes may not be normalized, i.e. different from one.

For the sign discharge (as noted earlier), the nth (d _n ) bit of a binary number (for n = 4 - d ₄ ) is used for the sine wave signal, and the same discharge is used for the cosine wave signal, the logic levels of which are 90 phase-shifted °.

Thus, as follows from the above, the choice of a given number of discrete values of M (M _max = 2 ^n-2 ) and the number of bits k in the values of binary numbers K in each quadrant can be reduced or increased, because they specify the accuracy of the formation of the signals of the sine wave and cosine wave.

Figure 5 presents the structural electrical diagram of the sine-cosine shaper of the missile control system, where 22a, 22b, 22c, ... and 22m are the first, second, third, ... and the mth (maximum) setters of numbers, respectively (3DK1, 3DK2, 3DK3 , ... and 3DKM; 23 - a sine wave shaper (FS); 24 - a cosine shaper (FC); 25a, 25b, ... and 25k - the first, second, ... and k-th rise signal multiplexers (МН1, МН2, ... and Mnk); 26a, 26b, ... and 26k are the first, second, ... kth decay signal multiplexers (MC1, MC2, ... and MCk); 27 is the logical circuit NOT (NOT); 28a and 28b the first and second signal switches with respectively (PS1 and PS2).

Figure 6 shows the waveform diagrams necessary to explain the operation of the pulse Converter, which presents: "and", "k", "l" and "m" - signals at the first, second, third and fourth outputs (respectively, the first d ₁ , the second d ₂ , third d ₃ and fourth d ₄ bits of a binary parallel number) of a gyroscopic roll angle meter 4 (with n = 4); "n" - signal at the output of the logic circuit exclusive OR 6; "o" - digital k-bit signal (binary number) at the outputs of the rise multiplexers 25a, 25b, ... and 25k (in analog form); "n" - digital k-bit signal (binary number) at the outputs of the sinusoid shaper 23 (unsigned in analog form); "p" - digital k-bit signal (binary number) at the outputs of the decay multiplexers 26a, 26b ... 26k (in analog form); “c” is a digital k-bit signal (binary number) at the outputs of the cosine shaper 24 (unsigned in analog form).

In the sine-cosine shaper of the rocket control system (Fig. 5), the outputs a ₁ a ₂ , ... and a _{k of the} first 22a, b ₁ b ₂ , ... and b _{k of the} second 22b, ... and m ₁ m ₂ , ... and m _k m th 22 m number switches are connected to the corresponding switching inputs of the shapers of the sine wave 23 and cosine 24. The output of the logic circuit NOT 27 is connected to the first inputs of the switching control of the shapers sinusoid 23 and cosine 24, respectively. The switching control inputs of the sine wave 23 and cosine 24 are the address inputs of the switching control d ₁ ... and d _n-2 sine-cosine shaper 5, the switching control address d _{n-1 of} which is the second switching control inputs of the shapers 23 sine and cosine 24, respectively, and the input of the logic circuit NOT 27. The digital outputs of the sine wave shaper 23 and cosine 24 are the first and second outputs, respectively sine cosine shaper 5.

Multiplexers of rise signals 25a, 25b, ... and 25k, as well as fall signals 26a, 26b, ... and 26k, for example, for switching a 2-bit binary number (2 ² ) of the 564KP1 chip, where A ₁ and A _{2 are} controlled inputs, and X ₁ X ₂ , X ₃ and X ₄ respectively 1, 2, 3 and 4 switching inputs, and output X (for example, one channel of the multiplexer 564KP1 is used). For switching a 3-bit binary number (2 ³ ) - 564КП2 chip, where А ₁ А ₂ , and А ₃ (in the general case А ₁ , ... and А _n-2 ) - controlled inputs, X ₁ , X ₂ , X ₃ , ... and X ₈ (in the general case X ₁ , ... and X _m ) are the switching inputs.

The first 28a and second 28b signal switches, for example, 564LS2 microcircuits [V.A.Shilo “Popular digital microcircuits”, Moscow, “Radio and communications, 1987, p. 209, Fig. 212], each of which misses the word A ₁ -A ₄ , or B ₁ -B ₄ to its output.At the same time, the words A ₁ -A ₄ and B ₁ -B ₄ can be increased (by expanding these microcircuits), for example, A ₁ -A ₈ and B ₁ -B ₈ (in general, a ₁ -A _k and B ₁ -B _k), and the inputs of which are supplied with these words are appropriate input switching. Office resolution transmission of these words is carried out two signals corresponding to conductive logic levels for inputs A and B - control inputs.

The first 22a, second 22b, third 22v ... mth 22m number pickers (for example, with the number of bits in the binary number n = 4) determine the number of discrete values 2 ⁴ = 16 during the measurement of the angle of heel of the rocket from 0 ° to 360 ° and performed in the form of electric buses having signals with logical levels, respectively, zero and one. These buses form k-bit binary numbers in parallel (unsigned) form, which for the first setter of the number 22a correspond to a decimal number, for example 0.2. The second 22b, the third 22c and the fourth 22g (in Fig. 5 corresponds to the given 22m), the number pickers form numbers, respectively, 0.56; 0.63 and 0.98. These four numbers may be different, but necessarily proportional to the above.

Thus, the number of integers must be equal to the value of the binary number formed by n-2 bits, which are part of the binary n-digit number from the output of the gyroscopic roll angle meter of rocket 1. For example, for n = 4, the number of integrators is 2 ² = 4, for n = 5 it is 2 ³ = 8, etc.

In this case, the sinusoid shaper 23 is made in the form of k multiplexers of the rise signals 25a, 25b, ... and 25k, as well as the first signal switch 28a, the switching inputs A ₁ , A ₂ , ... and A _{3 of} which are connected to the outputs of the first 25a, second 25b, ... and k-th 25k multiplexers of slew signals, with the first (X ₁ ) a ₁ , a ₂ , ... and a _k ; the second (X ₂ ) b ₁ b ₂ , ... and b _k , ... and the last (X _m ) m ₁ m ₂ , ... and m _k switching inputs from the first 25a, second 25b, ... and k-th 25k slew multiplexers are the switching inputs of the sinusoid driver 23, the switching control inputs of which are the controlled inputs A ₁ , ... and A _{n-2 of the} first 25a, the second 25b, ... and the k-th 25k slew signal multiplexers, switching inputs V ₁ V ₂ , ... and B _{k of the} first the signal switch 28a are the input signals of the decay signals of the sine wave generator 23, the first and second inputs of the switching control of which is are respectively the control inputs A and B of the first signal switch 28a, and the digital output of the sine wave former 23 is the digital output of the first signal switch 28a.

The cosine shaper 24 is made in the form of k decay signal multiplexers 26a, 26b, ... and 26k, as well as a second signal switch 286, the switching inputs of which are B ₁ V ₂ , ... and B _k which are connected to the outputs of the first 26a, second 26b, ... and k, respectively 26th multiplexers of decay signals, with the first (X ₁ ) m ₁ m ₂ , ... and m _k ; ... penultimate (X _m-1 ) b ₁ b ₂ , ... and b _k , and last (X _m ) a ₁ a ₂ , ... and a _k inputs of switching signals from the first 26a, second 26b, ... and k-th 26k multiplexers the decay signals are the switching inputs of the cosine generator 24, the switching control inputs of which are the controlled inputs A ₁ , ... and A _{n-2 of the} first 26a, the second 26b, ... and the k-th 26k of the decay signal multiplexers, switching inputs A ₁ , A ₂ , ... A _k and second signals switch 28b are input signals rise cosine generator 24, first and second switch control inputs niyami which are, respectively, the control inputs A and B signals of the second switch 28b, and the digital output of the cosine curve 24 is the output of the second digital signal switch 28b.

The sine-cosine shaper of the missile control system that implements the method of generating sine and cosine signals on a rocket rotating along the roll angle for generating control commands on it, shown in Fig. 5, works as follows.

Bits of a binary number, for example, for n = 4 d ₂ and d ₁ (the least significant bit) from the outputs of the gyroscopic roll angle meter 4, the logical levels of which are given on the diagrams "and" and "k" of Fig.6, go to the address inputs of the switching control ( the corresponding inputs d ₂ and d _{1 of the} sine-cosine shaper 5). These inputs are the switching control inputs of the formers of the sinusoid 23 and cosine 24, and therefore the controlled inputs A ₁ and A _{2 of the} multiplexers of the signals of rise 25a, 25b, ... and 25k (sine formation) and fall 26a, 26b, ... and 26k (cosine formation). In this case, the bits d ₂ and d ₁ form a binary number having four values.

The bits of the first binary (in parallel form) of the number K _{1, the} value of which is, for example, 0.2 (in decimal code), from the outputs a ₁ a ₂ , ... and a _{k of the} first master 22a go to the first switched inputs of the multiplexers of the rise signals 25a , 25b, ... and 25k. Moreover, the least significant bit of the binary number a ₁ follows from the first output of the setter of number 22a and goes to the first switched input X ₁ , from its second output to the first switched input X _{1 of the} second multiplier 25b, etc. In this case, the senior bit k from its output a _k goes to the first switched input X _{1 of the} multiplexer of the rise signals 25k.

The bits of the second binary number K ₂ , for example, 0.56 (in decimal code), from the outputs b ₁ b ₂ , ... and b _{k of the} second setpoint number 22b are supplied similarly to the second switched inputs X _{2 of the} rise signal multiplexers, respectively 25a, 25b, ... and 25k. The digits of the third binary number K ₃ , for example 0.83 (in decimal code), from the outputs ₁ to ₂ , ... and _{k of the} third setter number 22c are supplied similarly to the third switched inputs X _{3 of the} rise signal multiplexers 25a, 25b, ... and 25k. The digits of the fourth binary number K ₄ , for example, 0.98 (in decimal code), from the outputs m ₁ m ₂ , ... and m _{k of the} fourth setter of the number 22g (in the general case 22m) arrive similarly to the fourth switched inputs X ₄ (X _m in in the general case) multiplexers of slew signals 25a, 25b, ... and 25k, respectively.

Thus, in accordance with the change in the binary number (its bits d ₂ and d ₁ ) at the controlled inputs of A ₂ and A ₁ respectively _{of the} multiplexers of the rise signals 25a, 25b, ... and 25k, a k-bit is generated at their outputs in binary parallel code a rise signal, an analog form of which is shown in the diagram "o" of Fig.6, with a repetition period corresponding to 90 °.

In addition, the digits of the fourth binary number K _4, for example 0.98 (in decimal code), from the outputs m ₁ m ₂ , ... and m _{k of the} fourth setter of the number 22g (in the general case 22m) are supplied to the first switched inputs X _{1 of the} signal multiplexers recession 26a, 26b, ... and 26k. In this case, the least significant bit m _{1 of the} binary number K ₄ from the first output of the fourth setter of the number 22g (in the general case 22m) is supplied (in contrast to the above) to the first input X _{1 of the} first multiplexer of decay signals 26a, and the highest bit m _k goes to the first Switched input X _{1 of the} 26k decay multiplexer.

The digits of the third binary number K ₃ , for example 0.83 (in decimal code), from the outputs ₁ , ₂ , ... and _{k of the} third setter number 22c are supplied to the second switched inputs X _{2 of the} decay signal multiplexers 26a, 26b, ... and 26k . The bits of the second binary number K ₂ , for example, 0.56 (in decimal code), from the outputs b ₁ b ₂ , ... and b _{k of the} second setter of the number 22b are supplied similarly to the third switched inputs X _{3 of the} decay signal multiplexers 26a, 26b, ... and 26k . The digits of the first binary number K _2, for example 0.2 (in decimal code), from the outputs a ₁ a ₂ , ... and a _{k of the} first setter of the number 22a arrive similarly to the fourth switched inputs X ₄ (X _m in figure 5) of the signal multiplexers recession 26a, 26b, ... and 26k.

Thus, in accordance with a change in the binary number at the control inputs A ₁ and A _{2 of the} decay signal multiplexers 26a, 26b, ... and 26k, a decay signal is generated in binary parallel code on their outputs, an analog form of which is shown in the diagram "p" of FIG. .6, with a repetition period corresponding to 90 °.

The signals from the outputs of the multiplexers for generating slew signals 25a, 25b, ... and 25k are supplied to the switching inputs A ₁ A ₂ , ... and A _{k of the} first signal switch 28a, respectively, to the switching inputs B ₁ V ₂ , .... and B _k signals from the outputs of the multiplexers of the decay signals 26a, 26b, ... and 26k are received.

The signals from the outputs of the decay signal multiplexers 26a, 26b, ... and 26k are supplied to the switching inputs B ₁ V ₂ , .... and B _{k of the} second signal switch 28 b, to the switching inputs A ₁ A ₂ , .... and A _k which receives signals from the outputs of the multiplexers of the rise signals 25a, 25b, ... and 25k.

The discharge d ₃ (in the general case d _n-1 ) of a binary number (diagram “c” in FIG. 6) from the output of the gyroscopic tilt angle meter 4 in parallel form, the logical levels of which are shown in diagram “l” of FIG. 6, are fed to address input control switching (corresponding input d ₃ sine-cosine shaper 5). This input is an input of the logic circuit NOT 27, as well as the second inputs of the switching control, respectively, of the shaper of the sine wave 23 and cosine 24, i.e. inputs B and A, respectively, of the first 28a and second 28b of the signal switches.

The signal from the output of the logic circuit NOT 27 is fed to the first inputs by the switching control of the sinusoid generator 23 and the cosine wave 24, respectively. The switching control inputs of the sinusoid generator 23 and the cosine 24 are the control inputs A and B, respectively, of the first 28a and second 28b signal switches.

At the digital outputs of the sine wave generators 23 and cosine 24, which are respectively the outputs of the first 28a and second 28b signal switches, corresponding incomplete (without sign discharge) sine and cosine signals (plots "p" and "c" in Fig.6) are generated.

As noted earlier, the third and fourth inputs of the converter of control commands 2 also receive logical levels of signals, which are signed digits of binary sine and cosine numbers. In this case, the senior bit d ₄ (in the general case d _n ) of a binary number (plot "m" in Fig.6) from the output of the gyroscopic roll angle meter 4 is a sign discharge of the sine signal. And the signal from the output of the logic circuit exclusive OR 6 is a significant discharge of the cosine signal of the plot "n" in Fig.6). Moreover, a sign discharge having a logical zero is a number (signal), positive, and a logical unit is negative. Thus, the claimed technical solution:

1. Does not contain elements that have trigger functions, for example, a pulse counter, which means that when changing the value of the binary number, the mode of accumulation of error is excluded when determining the angle of heel of the rocket.

2. The conversion of teams is carried out directly by the position (presence) of each roll pulse, while the presence of short-duration interference pulses, for example, due to a raster jitter (light – shadow track interface), leads to a short-term change in the measured rocket roll angle by an amount, not exceeding a unit of the least significant bit.

3. Changing the direction of rotation of the rocket along the roll angle, even within one revolution of the rocket, does not affect the performance of the claimed technical solution.

Therefore, the proposed group of inventions is a method for generating control commands on a rocket rotating in a roll angle, a rocket control system, a method for measuring roll angle on a rocket, a gyroscopic roll angle meter for a rocket control system, a method for generating sine and cosine signals on a rocket rotating in roll angle , for the formation of control commands on it, and the sine-cosine shaper of the missile control system - allows you to increase the efficiency of the formation of control commands on the rocket due to Sintered insensitivity to change the direction of rotation of the missile roll angle and better noise immunity.

Claims (8)

1. A method of generating control commands on a rocket rotating in a roll angle, including decoding the received signals at the heading and pitch, and generating a binary number corresponding to the roll angle of the rocket, characterized in that the roll angle of the rocket is measured as a signal in n -gray code of Gray, which is converted into a binary number containing n-bits, the logical levels of which produce a multi-stage approximation of the signals of the sine wave and cosine wave, forming from the decoded received the rocket control command signals in the course and pitch, respectively, while the value of each discrete value in the multi-stage approximation of the sine and cosine signals forms the corresponding value of the k-bit binary number, and the number of discrete values in the angle in each roll period determines the value of the n-bit binary number, where n and k are given, the required number of bits in the corresponding binary numbers. 2. A control system for a rocket rotating along a roll angle, comprising a receiving path, a sine-cosine shaper and a first steering gear, characterized in that it is equipped with a gyroscopic roll angle meter, excluding OR, a command command converter and a second steering gear, heading and pitch outputs of the receiving path are connected respectively to the first and second inputs of the control command converter, the address inputs of the switching control of the sine-cosine shaper are connected to by the moves d ₁ , ... and d _{n-2 of the} gyroscopic roll angle meter, the output d _{n-1 of} which is connected to the corresponding address input of the sine-cosine shaper switching control and the first input of the logic circuit exclusive OR, the second input of which is connected to the gyroscopic output d _n roll angle meter, cosine digital signal from the first output of the sine-cosine shaper and its sign discharge from the output of the logic circuit exclusive OR connected to the third input of the control command converter, the fourth the course of which is connected to a sine digital signal from the second output of the sine-cosine shaper and its sign discharge from the output d _{n of the} gyroscopic roll angle meter, the fifth and sixth inputs of the control command converter are connected to the outputs of the first and second steering drives, the inputs of which are connected respectively to the first and second outputs of the control command converter. 3. A method of measuring the roll angle of a rocket rotating in roll angle, comprising the formation of a roll angle in each roll period of the first and second sequences of logical levels with a gyroscopic sensor, the duration of which is equal to an angular interval of 180 °, characterized in that additional sequences of logical levels are formed, starting with the third, in each of which the zero and unit logical levels have the same duration in angular magnitude (φ _N ), equal to
φ _N = 360 ° / 2 ^N-1 ,
where N = 3, 4, ... n are samples of additional sequences of logical levels, while the first, second and additional sequences of logical levels form, respectively, the bits q _n , q _n-1 and additional q _n-2 , ... and q _1, forming the number in the n-bit Gray code, and in all the sequences of logical levels formed, the moments of transitions from zero levels to single ones, closest to the rocket roll angle of 0 °, should be out of phase by 0 ° by (Δφ _N ) equal to
Δφ _N = 360 ° / 2 ^N ,
where N = 1, 2, 3, ... n are samples of sequences of logical levels corresponding to q _n , q _n-1 q _n-2 , ... and q _1, which are converted into a binary n-bit number d _n , d _n-1 d _n-2 , ... and d ₁ corresponding to the measured value of the angle of heel of the rocket. 4. A gyroscopic roll angle meter of the missile control system, comprising the first logic circuit eliminating OR and a gyroscopic roll angle sensor, including a gyroscope, on the axis of the outer frame of which an opaque raster with sections transparent around the circumference is fixed, and two pairs of LED-photodiode separated by a raster and placed on the gyroscope case, the outputs of the photodiodes from the first and second pairs are connected respectively to the first and second load resistors, characterized in that it is equipped with an additional third and fourth pairs of LED-photodiode located on the gyroscope housing and separated by a raster, four threshold devices, the second and third logic circuits exclusive OR, while the outputs of the first, second, third and fourth photodiodes from the corresponding pairs are connected respectively to the first, second, third and fourth threshold devices, the outputs of the third and fourth photodiodes are connected respectively to the third and fourth load resistors, and the outputs of the second, third and fourth threshold devices are connected s with the first inputs of the first, second and third logic circuits exclusive OR, while the output of the first threshold device and the second input of the first logic circuit exclusive OR are the output of the fourth (highest level) binary number of the gyroscopic roll angle meter of the rocket control system, the output of the third bit is binary whose numbers are the output of the first logic circuit exclusive OR and the second input of the second logic circuit exclusive OR, the output of the second logic circuit exclusive OR and the second the exclusive OR gate is the output of the second bit of the binary number of the gyroscopic angle meter of the rocket control system, the first output bit of which is the output of the third logic exclusive OR. 5. A method of generating sine and cosine signals on a rocket rotating in a roll angle to generate control commands on it, including generating a binary number in parallel form, variable in the angular range of a rocket roll of 0 ° -360 °, characterized in that the binary number in form in a parallel form in the form of n-bit, from which 1, ... and n-2 bits are allocated, the logical levels of which in each quadrant of the angular interval, starting from 0 °, set the corresponding discrete values of the rise and fall signals, determined by k -digit binary number in parallel form, while the logical levels of the n-1 bit of the binary number and its inverted values form the sequence of alternation of the rise and fall signals, as a result of which discrete digital values of a sine wave and cosine wave are generated, which n bits are respectively used as sign digits -th bit of a binary number and the same bit, shifted by 90 °, while the magnitude of the discrete sine and cosine in roll angle is 360 ° / n, and the order of their sequence in each quadran e determines the values of K _m of discrete amplitudes in accordance with the expression
$${\mathrm{TO}}_M=\sin \frac{90\circ (M-0.5)}{n}$$

,
where M = 1, 2, ... 2 ^n-2 are samples of discrete values in the order of their sequence for rise signals and a countdown for fall signals. 6. Sine-cosine shaper of the rocket control system, containing shapers of the sine wave and cosine wave, characterized in that it is equipped with M number adjusters and a logic circuit NOT, while outputs a ₁ , a ₂ , ... and a _{k of the} first, b ₁ , b ₂ , ... and b _{k of the} second, ... and m ₁ m ₂ , ... and m _{k of the} Mth number of generators are connected respectively to the switching inputs of the signal generators of the sinusoid and cosine wave, the output of the logic circuit is NOT connected to the first inputs of the switching control of the generators of the sinusoid and cosine wave, respectively with inputs controlled commutations of the shapers of the sine wave and cosine are the address inputs of the switching control d ₁ ... and d _{n-2 of the} sine-cosine shaper of the rocket control system, the address of the switching control address d _{n-1 of} which are the second inputs of the control of the shapers of the sinusoid and cosine wave, respectively, as well as the input logic circuitry NOT, the digital outputs of the sine and cosine formers are respectively the first and second outputs of the sine-cosine former of the rocket control system. 7. The sine-cosine shaper according to claim 6, characterized in that the sine wave shaper is made in the form of k rise signal multiplexers and a first signal switch, the switching inputs of which are A ₁ , A ₂ , ... and A _{k of} which are connected to the outputs of the first, second, ... and the k-th slew multiplexers, with the first a ₁ , a ₂ , ... and a _k , the second b ₁ , b ₂ , ... and b _k , ... and the last m ₁ , m ₂ , ... and m _k switching inputs signals from the first, second, ... and k-th multiplexers of the rise signals are the inputs of the commutation of the sinusoid shaper, in whose switching control paths are the controlled inputs A ₁ , ... and A _{n-2 of the} first, second, ... and k-th rise signal multiplexers, switching inputs B ₁ , B ₂ , ... and B _{k of the} first signal switch are inputs of the decay signals of the sine wave shaper , the first and second switching control inputs of which are the control inputs A and B of the first signal switch, respectively, and the digital output of the sine wave former is the digital output of the first signal switch. 8. The sine-cosine shaper according to claim 6, characterized in that the cosine shaper is made in the form of k decay signal multiplexers and a second signal switch, the switching inputs of which are ₁ V ₂ , ... and B _k which are connected to the outputs of the first, second ,. .. and the k-th decay multiplexers, with the first m ₁ m ₂ , ... and m _k , the penultimate b ₁ , b ₂ , ... and b _k and the last a ₁ , a ₂ , ... and a _k switching inputs from the first , the second ... and the k-th multiplexers of the decay signals are the inputs of the commutation of the cosine shaper, the control inputs the commutations of which are the controlled inputs A ₁ , ... and A _{n-2 of the} first, second, ... and k-th multiplexers of the decay signals, the switching inputs A ₁ , A ₂ , ... and A _{k of the} second signal switch are inputs of the rise signals of the cosine shaper, the first and the second switching control inputs of which are respectively the control inputs B and A of the second signal switch, and the digital output of the cosine shaper is the digital output of the second signal switch.

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