RU2532993C1 - Method of guidance of spinning missile with relay drive of steering body and system of its implementation - Google Patents

Abstract

FIELD: instrument.

SUBSTANCE: point of time t_s is set before launching, and the relay two-position signal V is formed by the law $$V=\{\begin{array}{l}sign\lfloor h_y+U_1\rfloor C\left(\gamma \right)+sign\left[h_z+U_2\right]S\left(\gamma \right)att\le t_0\\ sign\lfloor h_y+U_1\rfloor C\left(\gamma \right)+sign\left[h_z+U_{2}sign(-U_1)\right]S\left(\gamma \right)att>t_0\end{array},$$

where U₁, U₂ are the signals periodic by the angle γ, which are shifted by the angle π/2 relative to each other and by the angle π/2, respectively, relative to the signals C(γ), S(γ), and the point of time t₀ is determined as the nearest point of time after the point of time t_s set before launching, corresponding to switching the signal S(γ) from zero level to the positive level. At that in the system with relay drive of steering bodies the corresponding additional summing amplifiers, relay elements, modulators, phase shifter and an inverting amplifier are added.

EFFECT: improving accuracy of guidance of the missiles with relay drives of steering bodies.

2 cl, 6 dwg

Description

The proposed group of inventions relates to the field of development of guidance systems (SN) missiles and can be used in anti-tank systems and missiles.

One of the problems solved in the development of strategic missiles rotating along the roll angle of missiles is to increase the accuracy of their guidance. To control ATGMs and missiles, the steering gear relay (PRO) is widely used, the input of which receives a two-position relay signal, which enables the steering gear to be shifted from one stop to another.

, где ω₀ - частота сигнала линеаризации, $$\dot{\gamma }$$

- частота вращения ракеты по крену, в случае, если $$\tau \dot{\gamma }\ge (\mathrm{0,17}\dots \mathrm{0,20})\pi$$

, где τ - время запаздывания привода рулевого органа, и по условию n=4 в случае, если $$\tau \dot{\gamma }<(\mathrm{0,17}\dots \mathrm{0,20})\pi$$

, при этом моменты времени t₀ изменения значения n с условия n=2 на условие n=4 устанавливают по зависимости $$\tau (t_{)})\dot{\gamma }(t_0)=(\mathrm{0,17}\dots \mathrm{0,20})\pi$$

или в ближайший момент времени после времени t₀, соответствующий переключению сигнала C(γ) с отрицательного уровня на нулевой уровень, суммирование промодулированных сигналов управления и сигнала линеаризации, формирование релейного двухпозиционного сигнала посредством определения знака этой суммы и преобразование полученного релейного сигнала управления в отклонение рулевого органа.A known method of guidance of a rotating rocket with relay missile defense (patent RU No. 2375667, IPC ⁷ F41G 7/00, F42B 15/01, 03/11/08), including the generation of control signals in the vertical and horizontal planes, modulating these signals periodically in roll angle of the rocket relay three-position signals C (γ), S (γ), shifted relative to each other by an angle π / 2, the formation of a linearization signal in phase with periodic along the roll angle signals according to the condition n = 2, and $$n=\frac{{\mathrm{<figure-callout\; id="0"\; label="\omega "\; filenames="00000047.png,00000048.png"\; state="\{\{state\}\}">\omega </figure-callout>}}_0}{\dot{\gamma }}$$

where ω ₀ is the frequency of the linearization signal, $$\dot{\gamma }$$

- roll speed of the rocket, if $$\tau \dot{\gamma }\ge (0.17...0.20)\pi$$

, where τ is the delay time of the steering gear drive, and by condition n = 4 in case $$\tau \dot{\gamma }<(0.17...0.20)\pi$$

, while the moments of time t ₀ changes in the value of n from condition n = 2 to condition n = 4 are set according to $$\tau (t_{)})\dot{\gamma }(t_0)=(0.17...0.20)\pi$$

or at the nearest time after time t ₀ , corresponding to switching the signal C (γ) from a negative level to a zero level, summing the modulated control signals and linearization signal, generating a relay on-off signal by determining the sign of this sum and converting the received relay control signal to the steering deviation body.

SN that implements this method (patent RU No. 2375667, IPC7 F41G 7/00, F42B 15/01, 03/11/08) includes control signal shapers in the vertical (FSVU) and horizontal planes (FSVG), the outputs of which are connected to the first inputs, respectively the first and second modulators, the first summing amplifier (SU), the first and second inputs of which are connected respectively to the outputs of the first and second modulators, and the third input is connected to the output of the linearization signal conditioning unit (BFSL), a roll angle sensor (ALC), the first output of which connected to the second input the first modulator and the first BFSL input, and the second output is connected to the second input of the second modulator and the second BFSL input, and the signals from the first and second outputs of the DLC are three-position relay, shifted relative to each other by an angle π / 2, a two-position relay element (RE), the input of which is connected to the output of the first SU, the drive of the steering element (PRO), the input of which is connected to the output of the on-off RE.

BFSL includes a linearization signal shaper (FSL), which, on the basis of information from the DLC, implements a sawtooth signal at each rotation period according to condition n = 2, as well as a temporary signal source (IVS), a third modulator, and a set of logical devices (LN), which provide at t > t _{0 the} inversion of the sawtooth signal at two quarters of a roll turn (its formation by condition n = 4).

According to this method and the device realizing it, a two-position relay signal V is generated, which is transmitted to the missile defense system, providing missile control based on pulse-width modulation (PWM).

первой гармоники разложения в ряд Фурье сформированного выходного сигнала V определяется выражением:Complex amplitude $${\overline{V}}^{\mathrm{one}}$$

the first harmonic of the Fourier expansion of the generated output signal V is determined by the expression:

, $${\overline{V}}^{\mathrm{one}}=V_y^{\mathrm{one}}+j{V}_z^{\mathrm{one}}$$

,

; $$V_{y,z}^1$$

- проекции комплексной амплитуды $${\overline{V}}^1$$

на оси декартовой системы координат, представляющие собой результирующие команды управления в вертикальной и горизонтальной плоскости.Where $$j=\sqrt{-\mathrm{one}}$$

; $$V_{y,z}^{\mathrm{one}}$$

- projections of complex amplitude $${\overline{V}}^{\mathrm{one}}$$

on the axis of the Cartesian coordinate system, which are the resulting control commands in the vertical and horizontal plane.

имеют вид:In accordance with the expansion in a series of projections $$V_{y,z}^{\mathrm{one}}$$

have the form:

$$V_y^{\mathrm{one}}=\frac{\mathrm{four}}{\pi }\sin (\frac{\pi }{\mathrm{four}}{k}_y);V_z^{\mathrm{one}}=\frac{\mathrm{four}}{\pi }\sin (\frac{\pi }{\mathrm{four}}{k}_z),\left(\mathrm{one}\right)$$

where k _{y, Z} - normalized by the amplitude of the linearization signal A _l control signals in the vertical and horizontal planes:

$$k_{y,z}=\{\begin{array}{ccc}\frac{h_{y,z}}{A_l}& PR\mathrm{and}& |\; |\; |\frac{h_{y,z}}{A_l}|\; |\; |\le \mathrm{one};\\ sign\left(\frac{h_{y,z}}{A_l}\right)& PR\mathrm{and}& |\; |\; |\frac{h_{y,z}}{A_l}|\; |\; |>\mathrm{one.}\end{array}$$

до $$\frac{4}{\pi }\frac{\sqrt{2}}{2}\approx \mathrm{0,9}$$

.The resulting teams in both planes are formed independently of each other, each in its own plane, and the range of their change is: from minus $$\frac{\mathrm{four}}{\mathrm{<figure-callout\; id="2"\; label="\pi "\; filenames="00000049.png,00000051.png"\; state="\{\{state\}\}">\pi </figure-callout>}}\frac{\sqrt{2}}{2}\approx 0.9$$

before $$\frac{\mathrm{four}}{\mathrm{<figure-callout\; id="2"\; label="\pi "\; filenames="00000049.png,00000051.png"\; state="\{\{state\}\}">\pi </figure-callout>}}\frac{\sqrt{2}}{2}\approx 0.9$$

.

The disadvantage of this method is the inability to provide maximum commands up, necessary for missiles with a deficit of available overload. In addition, the dependence of the resulting control commands on deviations is non-linear in nature, associated with the implementation of the linearization signals of the sawtooth type.

, где ω₀ - частота сигнала линеаризации, $$\dot{\gamma }$$

- частота вращения ракеты по крену, суммирование промодулированных сигналов управления и сигнала линеаризации, формирование релейного двухпозиционного сигнала посредством определения знака этой суммы, преобразование полученного релейного сигнала управления в отклонение рулевого органа.Closest to the proposed method is the guidance of a rotating missile with a relay missile defense (patent RU No. 2310151, MPK7 F41G 7/00, F42B 15/01, 12/20/05), which includes generating control signals in the vertical and horizontal planes, modulating these signals periodically in angle rocket roll signals, the formation of a linearization signal in phase with periodic roll angle signals, until the rocket marching engine is turned on and after it is turned off according to n = 3, and while the marching engine is running, n = 2, moreover $$n=\frac{{\mathrm{<figure-callout\; id="0"\; label="\omega "\; filenames="00000047.png,00000048.png"\; state="\{\{state\}\}">\omega </figure-callout>}}_0}{\dot{\gamma }}$$

where ω ₀ is the frequency of the linearization signal, $$\dot{\gamma }$$

- the roll speed of the rocket along the roll, the summation of the modulated control signals and the linearization signal, the formation of a relay on-off signal by determining the sign of this sum, the conversion of the received relay control signal to the steering deviation.

SN that implements this method (patent RU No. 2310151, IPC ⁷ F41G 7/00, F42B 15/01, 12/20/05), includes FSVU and FSUG, the outputs of which are connected, respectively, with the first inputs of the first modulator and second modulator, SU, the first and second inputs of which are connected respectively to the outputs of the first and second modulators, and the third input is connected to the output of the BFSL, DUK, the first output of which is connected to the second input of the first modulator, and the second output is connected to the second input of the second modulator and the input of the BFSL, the first and second outputs of the DUK are relay three-position, shifted relative to each other by an angle π / 2, a two-position RE, the input of which is connected to the output of the control system, as well as a missile defense, the input of which is connected to the output of the two-position RE.

BFSL includes FSL, the input of which is connected to the second output of the DUK, the first LU, the input of which is connected to the second output of the DUK, the second LU, the first input of which is connected to the second output of the DUK, and the second input is connected to the output of the IVS, the third modulator, the first input of which is connected with the FSL output, the second input is connected to the output of the first LU, the third input is connected to the output of the second LU, and the output is connected to the third input of the LU.

CH works as follows.

The linear mismatch signals h _y , h _z from the outputs of the FSOF and FSOA are multiplied by modulators M1 and M2 with signals C (γ), S (γ) from the outputs of the DOA, which are three-position relay contacts that are shifted relative to each other by an angle π / 2. In BFSL, on the basis of information from the ALC, for each period of rocket rotation along the roll angle, the FSL implements a sawtooth signal U _{l of the} form (by condition n = 4)

$$U_l=\{\begin{array}{ccc}-A_l+2A_l\frac{\gamma +\pi /\mathrm{four}}{\pi /2}& PR\mathrm{and}& -\pi /\mathrm{four}\le \gamma <\pi /\mathrm{four};\\ A_l+2A_l\frac{\gamma -\pi /\mathrm{four}}{\pi /2}& PR\mathrm{and}& \pi /\mathrm{four}\le \gamma <3\pi /\mathrm{four};\\ -A_l+2A_l\frac{\gamma -3\pi /\mathrm{four}}{\pi /2}& PR\mathrm{and}& 3\pi /\mathrm{four}\le \gamma <5\pi /\mathrm{four};\\ -A_l+2A_l\frac{\gamma -5\pi /\mathrm{four}}{\pi /2}& PR\mathrm{and}& 5\pi /\mathrm{four}\le \gamma <7\pi /\mathrm{four.}\end{array}$$

which is corrected by signals from the logic devices LU1 and LU2. As a result, the corrected linearization signal U _l1 at the BFSL output for t <t ₁ and t> t ₂ is formed by the condition n = 3

$$U_{l\mathrm{one}}=\{\begin{array}{ccc}-A_l+2A_l\frac{\gamma +\pi /\mathrm{four}}{\pi /2}& PR\mathrm{and}& -\pi /\mathrm{four}\le \gamma <\pi /\mathrm{four};\\ A_l-2A_l\frac{\gamma -\pi /\mathrm{four}}{\pi /2}& PR\mathrm{and}& \pi /\mathrm{four}\le \gamma <3\pi /\mathrm{four};\\ -A_l+2A_l\frac{\gamma -3\pi /\mathrm{four}}{\pi /2}& PR\mathrm{and}& 3\pi /\mathrm{four}\le \gamma <5\pi /\mathrm{four};\\ -A_l+2A_l\frac{\gamma -5\pi /\mathrm{four}}{\pi /2}& PR\mathrm{and}& 5\pi /\mathrm{four}\le \gamma <7\pi /\mathrm{four.}\end{array}$$

and at t ₁ ≤t≤t ₂ by condition n = 2:

$$U_{l\mathrm{one}}=\{\begin{array}{ccc}-A_l+2A_l\frac{\gamma +\pi /\mathrm{four}}{\pi /2}& PR\mathrm{and}& -\pi /\mathrm{four}\le \gamma <\pi /\mathrm{four};\\ A_l-2A_l\frac{\gamma -\pi /\mathrm{four}}{\pi /2}& PR\mathrm{and}& \pi /\mathrm{four}\le \gamma <3\pi /\mathrm{four};\\ -A_l+2A_l\frac{\gamma -3\pi /\mathrm{four}}{\pi /2}& PR\mathrm{and}& 3\pi /\mathrm{four}\le \gamma <5\pi /\mathrm{four};\\ A_l-2A_l\frac{\gamma -5\pi /\mathrm{four}}{\pi /2}& PR\mathrm{and}& 5\pi /\mathrm{four}\le \gamma <7\pi /\mathrm{four.}\end{array}$$

After summing the modulated mismatches with the corrected linearization signal on the control system and determining the sign of the sum by a two-position RE, the resulting output signal

V = sign (hyC (γ) + h _z S (γ) + U _l1 ),

arriving at a single-channel relay missile defense missile during the time t <t ₁ and t> t ₂ is formed at a triple frequency of rotation of the rocket along the roll, and during the time t ₁ ≤t≤t ₂ - at doubled.

ABM carries out the development of this signal, i.e. shifting rudders in accordance with a change in its sign. A rocket rotating in roll angle demodulates the rudder deflection δ, as a result of which a control moment is created in each of the planes corresponding to the initial linear mismatches h _y , h _z .

при этом имеют видIn accordance with the expansion in the harmonic series, the resulting missile defense commands in the vertical and horizontal planes $$V_{y,z}^{\mathrm{one}}$$

at the same time they have the form

$$V_y^{\mathrm{one}}=\frac{\mathrm{four}}{\pi }\left[\sin (\frac{\pi }{\mathrm{four}}{k}_y)+\cos (\frac{\pi }{\mathrm{four}}{k}_z)-\frac{\sqrt{2}}{2}\right];V_z^{\mathrm{one}}=\frac{\mathrm{four}}{\pi }\sin (\frac{\pi }{\mathrm{four}}{k}_z).\left(2\right)$$

The range of changes in the resulting command for missile defense is:

:in the vertical plane $$\left(V_y^{\mathrm{one}}\right)$$

:

до $$\frac{4}{\pi }\approx \mathrm{1,27}$$

(при нулевой команде в горизонтали);from $$\frac{\mathrm{four}}{\pi }\left(\mathrm{one}-\sqrt{2}\right)\approx -0.53$$

before $$\frac{\mathrm{four}}{\pi }\approx 1.27$$

(with a zero horizontal command);

from minus 0.9 to 0.9 (with the maximum horizontal command);

:in the horizontal plane $$\left(V_{y,z}^{\mathrm{one}}\right)$$

:

from minus 0.9 to 0.9.

, что необходимо для управления ракетами с дефицитом располагаемой перегрузки.The known method and its implementing CH make it possible to provide maximum upward commands at the initial and final guidance sections (with horizontal commands close to zero) by forming an additional upward command $$\Delta V_y^{\mathrm{one}}=\frac{\mathrm{four}}{\pi }\left[\cos (\frac{\pi }{\mathrm{four}}{k}_z)-\frac{\sqrt{2}}{2}\right]$$

, which is necessary to control missiles with a shortage of available overload.

A disadvantage of the known method and SN is the possible expansion of the dispersion of the trajectories in the initial section in the vertical plane, associated with the dependence of the implemented vertical command on the magnitude of the command in the horizontal plane, due, in turn, to the magnitude of the active perturbations of the missile descent (yaw angle and its derivative) and crosswind (for example, for missiles with a low initial speed, sensitive to the effects of lateral disturbances and wind).

In addition, the dependence of the resulting control command on deviations is non-linear in nature, associated with the implementation of linearization signals of the sawtooth type.

The objective of the proposed group of inventions is to ensure throughout the flight high precision guidance of a single-channel rotating missile with a two-position relay missile defense.

To solve this problem, it is necessary to provide:

minimum dispersion of missile trajectories in the initial section;

linear dependence of the resulting control command from deviations;

the choice of a rational way of forming control commands during the entire flight of the rocket.

The problem is solved due to the fact that, in comparison with the known method of guidance of a rotating rocket with a relay missile defense, including the generation of control signals in the vertical h _y and horizontal h _z planes, the modulation of control signals periodic by the angle γ of the rocket of the rocket with three-position relay signals C (γ) , S (γ), shifted relative to each other by an angle π / 2, and the conversion of the on-off relay control signal to the steering organ deviation, set the time t _s before the start, the on-off relay signal V form by law

, $$V=\{\begin{array}{l}sign\lfloor h_y+U_{\mathrm{one}}\rfloor C\left(\gamma \right)+sign\left[h_z+U_2\right]S\left(\gamma \right)PR\mathrm{and}t\le t_0\\ sign\lfloor h_y+U_{\mathrm{one}}\rfloor C\left(\gamma \right)+sign\left[h_z+U_{2}sign(-U_{\mathrm{one}})\right]S\left(\gamma \right)PR\mathrm{and}t>{\mathrm{<figure-callout\; id="0"\; label="t"\; filenames="00000047.png,00000048.png"\; state="\{\{state\}\}">t</figure-callout>}}_0\end{array}$$

,

where U ₁ , U ₂ are signals periodic in the angle γ, shifted by an angle π / 2 relative to each other and by an angle π / 2, respectively, with respect to the signals C (γ), S (γ), and the time t ₀ is determined as the closest moment time after the time t _z specified before the start, corresponding to the switching of the signal S (γ) from zero to a positive level.

In SN, which implements the proposed guidance method, in contrast to the known SN, a rotating missile with a relay missile defense, including control signal shapers in the vertical and horizontal planes, the first and second modulators, the outputs of which are connected respectively to the first and second inputs of the summing amplifier, roll angle sensor, the signals from the first and second outputs of which are periodic in the angle of heel, shifted relative to each other by the angle π / 2, the source of the temporary signal and missile defense, is new that it is introduced second and third summing amplifiers, the first inputs of which are connected respectively to the outputs of the imbalance signal generators in the vertical and horizontal planes, the first and second relay elements, the inputs of which are connected respectively to the outputs of the second and third summing amplifiers, and the outputs are connected respectively to the first inputs of the first and second modulators, a phase shifter, the first and second inputs of which are connected respectively to the first and second outputs of the roll angle sensor, the switching unit, the first and second whose inputs are connected respectively to the first and second outputs of the phase shifter, the third input is connected to the output of the temporary signal source, and the first and second outputs are connected to the second inputs of the second and third summing amplifiers, respectively, the third and fourth relay elements, the inputs of which are connected respectively to the first and the second outputs of the roll angle sensor, an inverting amplifier, the input of which is connected to the output of the fourth relay element, the fourth and fifth summing amplifiers, the first inputs of which are connected respectively, with the outputs of the third and fourth relay elements, the second inputs are connected respectively to the output of the inverting amplifier and the output of the third relay element, and the outputs are connected respectively to the second inputs of the first and second modulators, and the fourth input of the switching unit is connected to the output of the fourth relay element, and the input The missile defense is connected to the output of the first summing amplifier.

Graphic materials are presented in figures 1-6.

The structure of the proposed SN is shown in figure 1, where 1 - FSUV, 2 - FSUG, 3 - the second SU (SU2), 4 - the third SU (SUZ), 5 - the first relay element (RE1), 6 - the second relay element (RE2 ), 7 - the first modulator (M1), 8 - the second modulator (M2), 9 - DUK, 10 - phase shifter (PV), 11 - switching unit (PSU), 12 - IVS, 13 - third relay element (REZ), 14 - the fourth relay element (RE4), 15 - the inverting amplifier (IU), 16 - the fourth SU (SU4), 17 - the fifth SU (SU5), 18 - the first SU (SU1), 19 - relay missile defense.

The type of signals from the outputs of the elements of the proposed SN, explaining its operation at t≤t ₀ , is presented in figure 2, and at t> t ₀ - in figure 3.

Figure 4 shows the dependence of the resulting command in the vertical plane on the control signal in the vertical plane (with a zero control signal in the horizontal plane) at t≤t ₀ (solid line) and at t> t ₀ (dash-dot line),

Figure 5 shows the formation of the output relay signal with zero control signals in both planes in the region of time t ₀ .

Figure 6 shows a diagram of a possible implementation of BP 11, where 20 is the fifth relay element (RE5), 21 is the third modulator (M3), 22 is the first LU (LU1), 23 is the second LU (LU2) 24 is the logical inverter LI, 25 - RS-trigger (T), synchronized by the front.

The proposed SN works as follows (figure 1).

- амплитуда сигналов U₁ и U₂.The signals from the first and second outputs of the DUK 9, shifted relative to each other by an angle π / 2, which, in the general case, can be any periodic along the angle of heel, are converted on the PV 10 into signals U ₁ and U ₂ by changing their phase to the side delays at the angle π / 4 (which is necessary for phase matching of signals). For example, when the signals from the outputs of the ALC are harmonious in the angle of the roll, the signals from the outputs of the PV 10 are of the form U ₁ = a _l cosγ and U ₂ = a _l sinγ, where $$a_l={\mathrm{BUT}}_l\cdot \sqrt{2}$$

- the amplitude of the signals U ₁ and U ₂ .

In BP, the inputs of which in addition to these signals receive a signal from IHD 12 and a signal from the output of RE4 14, they are converted according to the algorithm

$$U_{\mathrm{one}}^{*}=U_{\mathrm{one}}$$

$${\mathrm{<figure-callout\; id="2"\; label="U"\; filenames="00000049.png,00000051.png"\; state="\{\{state\}\}">U</figure-callout>}}_2^{*}=\{\begin{array}{ccc}{U}_2& PR\mathrm{and}& t\le t_0\\ U_{2}sign\left(-U_{\mathrm{one}}\right)& PR\mathrm{and}& t>t_0\end{array}\left(3\right)$$

In more detail, the operation of the PSU is described below.

и $$U_2^{*}$$

с выходов БП 11. В результате выходные сигналы этих сумматоров U_T1, U_T2 (см. фиг.2, 3) помимо низкочастотной составляющей, пропорциональной отклонению ракеты соответственно в вертикальной и горизонтальной плоскостях, содержат высокочастотную колебательную составляющую на частоте вращения по углу крена γ ( $$U_1^{*}$$

, $$U_2^{*}$$

).The linear mismatch signals h _y , h _z (lines with long strokes in FIGS. 2, 3) from the outputs of the FSUV 1 and FSUG 2 are summed up on SS2 3 and SS3 4 with signals that are periodic in roll angle $$U_{\mathrm{one}}^{*}$$

and $${\mathrm{<figure-callout\; id="2"\; label="U"\; filenames="00000049.png,00000051.png"\; state="\{\{state\}\}">U</figure-callout>}}_2^{*}$$

from the outputs of the PSU 11. As a result, the output signals of these adders U _T1 , U _T2 (see Figs. 2, 3), in addition to the low-frequency component proportional to the deflection of the rocket, respectively, in the vertical and horizontal planes, contain a high-frequency oscillating component at a rotational speed along the roll angle γ ( $$U_{\mathrm{one}}^{*}$$

, $${\mathrm{<figure-callout\; id="2"\; label="U"\; filenames="00000049.png,00000051.png"\; state="\{\{state\}\}">U</figure-callout>}}_2^{*}$$

)

All relay elements of the circuit (RE1 5, RE2 6, RE3 13, RE4 14) convert the linear signals arriving at their inputs to a relay on-off view. The levels of relay signals at the output of RE1 5, RE2 6 are set equal to ± 1, and at the output of RE3 13, RE4 14 are set to ± 0.5.

Relay signals from the outputs of RE3 13 and RE4 14 with the help of IU 15 and cross summation on SU4 16 and SU5 17 with coefficients equal to 1 at all inputs are converted into three-position relay signals similar to signals C (γ), S (γ) of the prototype ( see figure 2, 3).

Relay signals VK1, VK2 from the outputs of RE1 5 and RE2 6 are multiplied by modulators M1 7 and M2 8 with signals C (γ), S (γ) from the outputs of СУ4 16 and СУ5 17.

After summing the modulated mismatches in the vertical and horizontal planes on SU1 18, the resulting relay on-off control signal V is fed to a single-channel relay PRO 19, which carries out the processing of this signal. Deviations of the rudders create a control moment corresponding to the initial linear mismatches h _y , h _z .

BP 11 corrects the signals U ₁ and U ₂ . When setting the IVS 12 to start points in time t _s, more flight time t _n missile to the target, the resulting V control signal to the missile 19, is formed on the quad rocket speed of the roll, by setting points in time t _j = 0 - for triple frequency, and at 0 <t _s <t _p - quadruple and triple frequencies alternate sequentially in flight time.

The process of generating a relay control signal V from linear mismatch signals and periodic roll signals is presented in detail in Figs. 2, 3 for the case of zero (a line with short dashes) and non-zero (solid line) deviations in the vertical and horizontal plane that determine the magnitude of the displacements of the fronts of the relay signals VK1 , VK2 and V in an angular measure, which implements pulse-width modulation of control signals.

(фиг.4) имеют вид:When the signals U ₁ , U _{2 are} harmonic in the angle of heel, the resulting missile defense commands in the vertical and horizontal planes $$V_{y,z}^{\mathrm{one}}$$

(figure 4) have the form:

; $$V_z^1=\frac{4}{\pi }\frac{\sqrt{2}}{2}{k}_z$$

;at t≤t ₀ : $$V_y^{\mathrm{one}}=\frac{\mathrm{four}}{\mathrm{<figure-callout\; id="2"\; label="\pi "\; filenames="00000049.png,00000051.png"\; state="\{\{state\}\}">\pi </figure-callout>}}\frac{\sqrt{2}}{2}{k}_y$$

; $$V_z^{\mathrm{one}}=\frac{\mathrm{four}}{\mathrm{<figure-callout\; id="2"\; label="\pi "\; filenames="00000049.png,00000051.png"\; state="\{\{state\}\}">\pi </figure-callout>}}\frac{\sqrt{2}}{2}{k}_z$$

;

;for t> t ₀ : $$V_y^{\mathrm{one}}=\frac{\mathrm{four}}{\pi }\left[\frac{\sqrt{2}}{2}{k}_y+\sqrt{\mathrm{one}-{\left(\frac{\sqrt{2}}{2}{k}_y\right)}^2}\right]-\frac{\sqrt{2}}{2}$$

;

. $$V_z^{\mathrm{one}}=\frac{\mathrm{four}}{\mathrm{<figure-callout\; id="2"\; label="\pi "\; filenames="00000049.png,00000051.png"\; state="\{\{state\}\}">\pi </figure-callout>}}\frac{\sqrt{2}}{2}{k}_z$$

.

As can be seen from the above formulas and figure 4, the dependence of the resulting teams on deviations is, in contrast to the known methods (dependencies (1), (2)), linear in nature.

On the other hand, the proposed group of inventions retains positive property closest analogue - providing maximum possible commands up after time t _s.

The optimum value of the moment _of time t, defined to start at the proposed method (5) is determined a priori specifically for each type of missile and implemented in CHD. One of the determining factors can be the size of the available rocket overload, which is significantly variable during the flight of the rocket (for example, in the engine operation area and in the departure section after it is turned off). Switching the frequency of signal formation from a quadruple to a triple rotational speed can be performed, for example, at the end of the transition process after a missile shot or directly at the end of the flight in conditions of deficiency of available overload.

Signal generation at the initial flight stage at a triple rotational speed is undesirable for missiles with a low initial speed due to an increase in the dispersion of trajectories.

So, with a command in a horizontal plane close to zero, there is a certain dispersion tube in the vertical plane from the vertical perturbations of the rocket descent (along the pitch angle and its derivative). Scattering is the scatter of deviations at the extremum from the minimum value of Y _min to the maximum value of Y _max .

At maximum commands in the horizontal plane, the dispersion tube shifts downward by ΔY, due to the absence of an additional command and, accordingly, the total dispersion in the vertical plane increases by ΔY (from the minimum value of Y _min -ΔY to the maximum value of Y _max ).

.As PV, the scheme presented in the book by A.A.Kazamarov, AMPalatnik, L.O. Rodnyansky can be used. - Dynamics of two-dimensional systems of automatic control, Moscow: Nauka, 1967, p.153, Fig.2.6.6, which is a two-dimensional device with antisymmetric cross-coupling between channels. The implementation of the required phase angle π / 4 is provided at coefficients, all of which are $$\frac{\sqrt{2}}{2}$$

.

As an example of the implementation of BP 11 can be used in the circuit shown in Fig.6. A signal of the form U ₂ sign (-U ₁ ) is generated at MZ 21 using RE5 20. The first S-input of the RS-flip-flop T25 receives a signal from the IVS 12, which determines the time t _s , and its second R-input receives a signal logically inverted to LI 24 (to reset T to its initial state). The third C-input T 25 receives a synchronization signal from LU1 22, working according to the algorithm

$$U_{L\mathrm{At}\mathrm{one}}=\{\begin{array}{l}\mathrm{one}PR\mathrm{and}{U}_{RE\mathrm{four}}=0.5\\ 0PR\mathrm{and}{U}_{RE\mathrm{four}}=-0.5\text{'}\text{'}\end{array}$$

where U _RE4 is the signal from the output of RE4 14, the leading edges of which correspond to the switching of the signal S (γ) from zero to a positive level.

The moment of switching on the specified front corresponds to the beginning of a quarter of the rotation period according to the angle of heel, in which the output signal is inverted (Fig. 5), providing an increase in the command up.

Minimizing deviations in the vertical plane after switching can be achieved by changing the program-time signal in the vertical channel, compensating for the dynamic error from the action of acceleration of gravity, as, for example, in patent RU No. 2131576, IPC ⁶ F41G 7/00, 25.03.98.

As a result, T25 generates a signal U _T for switching at time t ₀ , and a signal of the form

. $${\mathrm{<figure-callout\; id="2"\; label="U"\; filenames="00000049.png,00000051.png"\; state="\{\{state\}\}">U</figure-callout>}}_2^{*}=\{\begin{array}{ccc}{U}_{2}sign\left(-U_{\mathrm{one}}\right)& PR\mathrm{and}& U_t=\mathrm{one}\\ U_2& PR\mathrm{and}& U_t=0\end{array}$$

.

The signal U ₁ in the PSU is not converted. Thus, the output signals of the PSU correspond to dependence (3).

As the remaining elements of the CH can be used the devices presented in the closest analogue and in patent RU No. 2375667, IPC ⁷ F41G 7/00, F42B 15/01, 03/11/08.

The application of the proposed method and SN makes it possible to ensure high accuracy of guidance of single-channel missiles with relay missile defense rotating along the roll angle during the entire flight time.

Claims (2)

1. The method of guidance of a rotating rocket with a relay drive of the steering organ, including the generation of control signals in the vertical h _y and horizontal h _z planes, modulation of the control signals periodic by the angle γ of the roll of the rocket with three-position relay signals C (γ), S (γ) shifted by each other relative to each other by an angle π / 2, and the conversion of the on-off relay control signal to the steering organ deviation, characterized in that they set the time t _s before starting, the on-off relay signal V is formed according to the law
$$V=\{\begin{array}{l}sign\lfloor h_y+U_{\mathrm{one}}\rfloor C\left(\gamma \right)+sign\left[h_z+U_2\right]S\left(\gamma \right)PR\mathrm{and}t\le t_0\\ sign\lfloor h_y+U_{\mathrm{one}}\rfloor C\left(\gamma \right)+sign\left[h_z+U_{2}sign(-U_{\mathrm{one}})\right]S\left(\gamma \right)PR\mathrm{and}t>t_0\end{array}$$

,
where U ₁ , U ₂ - periodic along the angle γ signals shifted by an angle π / 2 relative to each other and by an angle π / 2, respectively, with respect to the signals C (γ), S (γ),
and time t ₀ is determined as the nearest point of time after a predetermined start-up, the corresponding switching signal points _of time t S (γ) from the zero level to the positive level. 2. A guidance system for a rotating rocket with a steering gear relay, including control signal shapers in the vertical and horizontal planes, first and second modulators, the outputs of which are connected respectively to the first and second inputs of the summing amplifier, a roll angle sensor, signals from the first and second outputs of which are periodic in roll angle, shifted relative to each other by an angle π / 2, a temporary signal source and a steering gear drive, characterized in that the second and third mumming amplifiers, the first inputs of which are connected respectively to the outputs of the imbalance signal generators in the vertical and horizontal planes, the first and second relay elements, the inputs of which are connected respectively to the outputs of the second and third summing amplifiers, and the outputs are connected respectively to the first inputs of the first and second modulators, phase shifter , the first and second inputs of which are connected respectively with the first and second outputs of the roll angle sensor, a switching unit, the first and second inputs of which the second are connected respectively to the first and second outputs of the phase shifter, the third input is connected to the output of the temporary signal source, and the first and second outputs are connected to the second inputs of the second and third summing amplifiers, respectively, the third and fourth relay elements, the inputs of which are connected respectively to the first and second outputs roll angle sensor, an inverting amplifier, the input of which is connected to the output of the fourth relay element, the fourth and fifth summing amplifiers, the first inputs of which are connected respectively connected with the outputs of the third and fourth relay elements, the second inputs are connected respectively to the output of the inverting amplifier and the output of the third relay element, and the outputs are connected respectively to the second inputs of the first and second modulators, the fourth input of the switching unit being connected to the output of the fourth relay element, and the drive input the steering element is connected to the output of the first summing amplifier.

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