RU2561319C1 - Small-sized guided spinning missile - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: invention relates to guided spinning missiles. The small-sized guided spinning missile comprises the electronic control equipment, control units, and an inertial measurement unit. The inertial measurement unit comprises three micromechanical gyroscopes (MMG) and a biaxial linear acceleration sensor (LAS) placed on a common panel mounted perpendicular to the longitudinal axis X of the missile rotation. The electronic control equipment comprises a microcontroller of preliminary treatment and conversion of signals of three MMG and biaxial LAS into signals corresponding to the transverse axes Y and Z, and a non-volatile reprogrammable memory device for storing the calibration coefficients.

EFFECT: improving the accuracy of targeting and increasing the firing range with the guided missile.

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Description

The invention relates to guided rotating missiles.

A device for controlling the projectile flight path is known, US Pat. No. 6,629,668 BA, class NKI 244-3.22, published October 7, 2003. To correct the projectile path after launch, onboard accelerometers are used that are mounted orthogonally along the longitudinal axis of the projectile. Unwanted deviations from a given trajectory are corrected by triggering pulsed motors by signals from accelerometers converted into control commands in the on-board electronic equipment. Pulse motors are mounted on the peripheral surface of the projectile body. Such control of the trajectory of the projectile allows you to increase the firing range of such shells from artillery shells.

However, the operation of the pulse engines necessary to adjust the trajectory is a significant disturbing factor, leading to additional oscillations of the projectile. When firing at long ranges, this entails an increase in dispersion and large misses when the projectile approaches the target.

A device is known (RF Patent No. RU 2438095, IPC F42B 10/00, 2010), selected as a prototype, a guided rotating projectile containing electronic control equipment, flight path controls and sensitive elements of the deviation of the projectile from a given path, characterized in that the controls are made in the form of aerodynamic rudders, and the sensitive elements are arranged on the basis of two micromechanical gyroscopes placed on two mutually perpendicular boards with radio elements installed on them, ensuring which combine the signals of micromechanical gyroscopes supplied to the electronic control equipment with its own signals that go to the controls, with the boards fixed to a common base mounted perpendicular to the longitudinal axis of the projectile X so that the sensitive axes of the micromechanical gyroscopes are perpendicular to each other and aligned with the corresponding transverse axes Y and Z of the projectile, and the base is deployed in the direction of rotation of the projectile relative to the aerodynamic rudders at an angle, whose rank is equivalent to the time of formation of commands for the governing bodies.

This device damps projectile vibrations along two perpendicular axes by signals from an inertial measuring module containing two angular velocity sensors with mutually perpendicular measuring axes, which, after a certain processing and transformation, enter the on-board apparatus of the projectile, where they are algebraically summed with the main control signals. With this formation of control commands, the angular oscillations of the projectile are converted to decaying, the frontal resistance of the projectile decreases, the firing range increases and the probability of the projectile hitting the target.

The disadvantage of this device is the lack of accuracy of the guidance of the rocket in the initial section, due to the influence on the sensors of angular velocities of linear acceleration during operation of the accelerating engine of the rocket and centrifugal acceleration when changing the speed of rotation of the rocket.

The aim of the invention is to increase the accuracy of guidance of the rocket along the entire flight path by compensating for the error of the sensors.

This goal is achieved due to the fact that in the claimed small-sized guided rotating rocket containing electronic control equipment, controls made in the form of aerodynamic rudders and an inertial measuring module containing sensitive elements of the deviation of the rocket from a given path based on micromechanical gyroscopes, an inertial measuring module contains three uniaxial micromechanical gyroscopes (MMG) and a biaxial linear acceleration sensor (DLU), placed on a common board installed perpendicular to the longitudinal axis X of rotation of the rocket, with the sensitive axis of the first MMG shifted 40 ÷ 45 ° relative to the transverse axis Z of the rocket, the axes of the second and third MMG are shifted ± 120 ° relative to the first MMG, the measuring axes of the biaxial DL are mutually perpendicular and perpendicular to the longitudinal axis X of rotation missiles and one of them coincides with the measuring axis of the first MMG, and the microcontroller is additionally introduced into the electronic control equipment, the information inputs of which are connected to the outputs of the MMG and DLU, a temperature sensor and non-volatile reprogrammable memory of the microcontroller.

The invention is illustrated by graphic material - FIG. 1 and FIG. 2, where in FIG. 1 shows a diagram of the relative position of the measuring axes of the micromechanical MMG and the DLO of the inertial measuring module relative to the rudders of the rocket, FIG. 2 - functional diagram of electronic equipment:

1 - rocket body;

2 - aerodynamic wheels;

3, 4 and 5 - the first, second and third MMG, for example, type ADXSR450 company Analog Devices;

6 - biaxial DLU, for example, type ADXL278 company Analog Devices;

7 - temperature sensor, for example, a built-in temperature sensor MMG type ADXSR450 company Analog Devices;

8 - microcontroller, for example, a 32-bit microcontroller family ARM Sortex-M3;

9 - non-volatile storage device, for example, a built-in reprogrammable memory microcontroller (EEPROM).

The device operates as follows.

Due to the oscillatory and rotational movements of the rocket along the trajectory, in the sensitive elements of the MMG and DLU, electrical signals arise that are proportional to the projections of the angular velocities and linear accelerations on the measuring axes of the sensors. To measure angular velocities with respect to the three axes X, Y and Z of the rocket, it is necessary, from the principle of sufficiency, to have at least three sensors with an arbitrary non-orthogonal arrangement of the measuring axes. Any complex movement of a rocket with an MMG mounted on it can be represented as rotation about the three axes X, Y and Z, then with complex movement the signal A ₁ taken from the first MMG can be written in the form of the equation:

A ₁ = ν _x · A ₂ + ν _y · A ₃ + ν _z · A ₄ , where

A ₁ - indications of the first MMG;

A ₂ - cosine of the angle between the axis of the sensor and the axis X;

A ₃ is the cosine of the angle between the axis of the sensor and the axis Y;

A ₄ is the cosine of the angle between the axis of the sensor and the Z axis;

ν _x ν _y ν _z are the components of the rotation speeds relative to the X, Y, and Z axes.

Similarly, you can write equations that reflect the readings of the second and third MMG:

A ₅ = ν _x · A ₆ + ν _y · A ₇ + ν _z · A ₈ ;

A ₉ = ν _x · A ₁₀ + ν _y · A ₁₁ + ν _z · A ₁₂ .

Thus, the description of all three MMGs can be reduced to a single system of equations (matrix):

A ₁ = ν _x · A ₂ + ν _y · A ₃ + ν _z · A ₄

A ₅ = ν _x · A ₆ + ν _y · A ₇ + ν _z · A ₈

A ₉ = ν _x · A ₁₀ + ν _y · A ₁₁ + ν _z · A ₁₂ .

To find a solution to the values of the angular velocities relative to each of the missile axes, in addition to the readings of MMG sensors A ₁ , A ₅ , A ₉ , it is necessary to know the remaining matrix coefficients A ₂ , A ₃ , A ₄ , A ₆ , A ₇ , A ₈ , A ₁₀ , A ₁₁ , A ₁₂ (cosines of the angles between the measuring axes of the sensors and the axes of the rocket X, Y and Z). Unknown coefficients can be determined by alternately calibrating the MMG by rotating the hardware compartment of the rocket relative to each of the axes at a predetermined speed. And then the matrix describing the MMG signals, when rotated around the X axis, will take the form:

A ₁ = ν _x · A ₂ ;

A ₅ = ν _x · A ₆ ;

A ₉ = ν _x · A _10.

The coefficients A ₂ , A ₆ , A _{10 are} unambiguously determined from these three equations (with perfect perpendicularity of the MMG axes, they should be zero, however, due to the mounting error of the installation, reaching ± 1 ° and a higher angular velocity of rotation of the rocket, they are different from zero and subject to calculation).

Similarly, when conducting calibration operations of the rocket equipment compartment with respect to the other two axes Y and Z, the remaining missing matrix coefficients A ₃ , A ₄ , A ₇ , A ₈ , A ₁₁ and A ₁₂ are determined, which are recorded in the integrated non-volatile EPROM of the microcontroller.

The desired values of the angular velocity of the rocket for any complex movement are determined by the equations:

where the coefficients:

Dependencies (1), (2) and (3), according to which the values of the angular velocity of the rocket are calculated, are entered into the control program of the microcontroller, the coefficients A ₂ , A ₃ , A ₄ , A ₆ , A ₇ , A ₈ , A ₁₀ , A ₁₁ , A ₁₂ , which reflect the geometry of the actual arrangement of the MMG axes to the executive axes of the rocket, are also recorded in the integrated ROM of the microcontroller.

The second component of the error of the inertial measuring module, caused by the MMG's own non-zeros and their temperature drift, is compensated by the temperature calibration in the operating temperature range of the rocket using the built-in temperature sensor. The presence of a DLU sensor makes it possible to compensate for the error caused by the influence of linear accelerations in rocket control.

Thus, the use of an inertial measuring module with a non-orthogonal arrangement of the MMG measuring axes and DLD sensors in the control loop of a small-sized guided missile allows one to take into account and compensate for the dispersion of the missile in the initial guidance section and to actively damp oscillations along the trajectory, which ensures stable guidance of the missile, in the presence of disturbing factors and, therefore, increases the accuracy of guidance and increases the firing range of a guided missile.

Claims (1)

A small-sized guided rotating rocket containing electronic control equipment, controls made in the form of aerodynamic rudders, and an inertial measuring module containing sensitive elements of the deviation of the rocket from a given trajectory based on micromechanical gyroscopes placed on a common board mounted perpendicular to the longitudinal axis X of rotation of the rocket, characterized in that the inertial measuring module contains three uniaxial micromechanical gyroscopes and a biaxial linear sensor velocity, the sensitive axis of the first micromechanical gyroscope is shifted 40 ÷ 45 ° relative to the transverse axis Z of the rocket, the axes of the second and third micromechanical gyroscopes are offset ± 120 ° relative to the measuring axis of the first micromechanical gyroscope, and the measuring axes of the biaxial linear acceleration sensor are mutually perpendicular and perpendicular to the longitudinal the X axis of the rocket’s rotation and one of them coincides with the measuring axis of the first micromechanical gyroscope, and add to the electronic control equipment no introduced microcontroller, whose data inputs are connected to outputs of micromechanical gyroscopes and linear acceleration sensor, a temperature sensor and a non-volatile reprogrammable memory microcontroller.

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