RU2568277C1 - Method of simulating quadrature reference signals - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: method includes, in conditions of varying geometrical dimensions and shapes of radiation sources, setting up a model as a reference coordinate system in rotation mode; synchronously on frequency and phase of the simulated rotation, generating two "unfolding-folding" signals of sine and cosine lines of a single trigonometric circle; comparing, on a first channel, the "unfolding-folding" signal of the sine line and, on a second channel, the "unfolding-folding" signal of the cosine line with a field of variable reference levels, wherein positions of the field of levels and the variable sampling interval are selected based on approach to the initial single sine-cosine functions using an approximation technique; and at points when the "unfolding-folding" signals of each level cross, generating quadrature reference signals in the form of a sequence of count pulses, which code the sine-cosine functions with a unitary pulse-number code in the form of a binary number, as well as in the form of a parallel additional binary code and in analogue form.

EFFECT: real-time simulation of both digital and analogue forms of quadrature reference signals.

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Description

The present invention relates to the field of modeling, control, monitoring and registration of rotating objects (VO), for example, optoelectronic tracking coordinators (OESK), optoelectronic tracking systems (OESS), optical homing heads (OGS), combat elements (BE) ), rotating anti-aircraft guided missiles (WGIS) and rotating guided artillery shells (WUAS). The proposed technical solution (TP) can be used in the design of the aforementioned VO by simulation methods, the assessment of their functioning during simulation of rotation, for monitoring and recording VO parameters as part of simplified complexes of test bench equipment (CPAS).

To set the coordinate reference system of the coordinates controlled by HE, stabilized in flight by rotation, use quadrature reference signals (CBS). The most widespread are CBS, which represent trigonometric sine-cosine functions: sinWt and cosWt, where W is the angular velocity of rotation of VO, t is time. In the normal mode of operation of VO, induction or photoelectric methods are used to convert the physical rotation of an object into a CBS (1, 2). But in this case of the natural functioning of the HE, it is necessary to set the rotation in two coordinates: around the roll axis of the object and in the tracking plane. To do this, use a dynamic stand, which includes two adjustable rotation drives, two rotating contact devices, a set of standard and non-standard instrumentation, simulators of targets and interference, and many other devices and elements. Thus, a dynamic stand is a complex and expensive complex of equipment of large dimensions, mass, energy consumption, which is why it is used only in stationary conditions of the developer and manufacturer.

However, during routine checks of the operation of HE in the conditions of storage facilities, field conditions, and in the development of prototypes using simulation methods, it is difficult or impossible to use a dynamic stand. In these cases, it is necessary to use simplified equipment with imitation of the operation of VO without rotation, and, accordingly, imitation of WWTF.

There is a known method for simulating the functioning of the ASGM and a method for simulating the WWTF implemented in a number of devices (3, 4, 5). The known method is based on a simulated rotation synchronous in frequency and phase, consistent with the rotational speed of the OESK gyroscope and the total frequency of the rotor and object, electronically generating the CBS by fixing the sine-cosine functions in the memory of the microprocessor controller and forming the CBS by reading them using software. Since the patent search in Russia and other countries producing precision weapons - the USA, England, France, China, Israel, which have technologies for the development and production of small-sized controlled rotating homing objects (for example, passive optical seeker technology, USA), did not show the availability of other methods of simulating CBS while simulating the functioning of VO (or they are classified) without physical rotation, the TP method described above developed in KBM, Kolomna, is both close and closest to the proposed one.

The advantages of the known method are: 1. the method provides control of the VO parameters without rotation, which, in turn, made it possible to create a simplified compact portable stand CPAS, which is applicable in any conditions where it is impossible to use a full-fledged dynamic stand with the natural implementation of the rotation of the line of sight and object ; 2. The digital form of information presentation provides a digital form of CBS processing and interfacing with digital computers.

However, in many cases, for example, with purely analog modeling, or with a combined digital-to-analog, but without the use of digital computers, but using only hardware circuitry and analog machines (note that analog machines have a high differentiation accuracy when it is necessary to introduce derivatives into the control loop high orders), the known method is unsuitable. Also, in the case of mathematical or semi-physical modeling using digital computers, their main task is to close the small (tracking) and large (guidance) contours using a mathematical model of the kinematics of the target and VO in the form of a system of differential or integro-differential equations. This requires a large amount and speed of computational operations in real-time mode (RMW), and therefore it is also undesirable to load computers by solving secondary problems that can be solved by hardware-circuit method.

The aim of the invention is to expand the range of applications of the method of simulating CBS. This goal in the method based on the synchronous frequency and phase of the simulated rotation IN electronic generation of the CBS, consistent with the frequency and phase of rotation of the gyro rotor and the generator for suppressing the total frequency of the reference voltage of the gyroscope, is achieved by the fact that, in contrast to the TP similar method, two shifted in shape 90 ° phase of the triangular waveform of "sweep-convolution" of the sine and cosine lines of a single trigonometric circle, the signal "sweep-convolution" of the s whisker, and the second - line with the cosine reference levels a field variables U, U arranged at positions (i, s)

, где: $$U(i,s)=\frac{2}{\pi }\left\{\frac{\sqrt{\mathrm{one}-{\left(is-\mathrm{one}\right)}^2}-\sqrt{\mathrm{one}-{\left(is+s-\mathrm{one}\right)}^2}}{\arcsin \left[(is+s-\mathrm{one})\sqrt{\mathrm{one}-{(is-\mathrm{one})}^2}-(is-\mathrm{one})\sqrt{\mathrm{one}-{(IS+S-\mathrm{one})}^2}\right]}\right\}$$

where:

квантования линий синуса и косинуса; n - двоичное число шагов квантования линий синуса и косинуса, U(i,s) - квантованная решетчатая функция поля опорных уровней переменного шага ΔU, формируют в первом и втором канале в моменты пересечения сигналами "развертки-свертки" каждого опорного уровня параллельный двоичный дополнительный код КОС и последовательные унитарные число-импульсные коды КОС, затем преобразуют один из полученных кодов КОС в аналоговые сигналы.i = 1, 2, 3 ... n position number; $$s=\frac{\mathrm{one}}{n}$$

quantization of sine and cosine lines; n is the binary number of steps for quantizing the sine and cosine lines, U (i, s) is the quantized lattice function of the field of reference levels of variable pitch ΔU, form a parallel binary additional code in the first and second channel at the moments of intersection-convolution signals of each reference level CBS and sequential unitary number-pulse codes CBS, then convert one of the received CBS codes into analog signals.

Thus, the novelty of the proposed method consists in the totality of the operations of generating “sweep-convolution” signals of the sine and cosine, their nonlinear asynchronous comparison with a binary number (eg, 128, 256, 512 ...) of the field of variable reference levels and the formation of the CBS of two digital forms submissions and analogue CBS. The operation of asynchronous nonlinear matching in combination with those listed above is unknown (the operations of algebraic calculation of nonlinearities of the current rotation phase proposed by me and protected in a number of inventions are known). Due to the previously unknown set of operations, the method acquires the following advantages: it provides interoperability with both analog modeling complexes, digital, or a combination thereof; the method is applicable for simplified CPAS variants; if digital computers are used, they are released to solve the main models of HE kinematics and targets for defeat . Thanks to the new approximation method proposed by me, the reproduction accuracy of the sine-cosine functions is increased (see. Fig. 2).

In FIG. 1, 2, 3 presents a mathematical description in graphical and analytical forms of the proposed method and the calculated ratios of the variable positions of the current phase and the field of reference levels of simulated CBS; in FIG. 4 is a functional diagram of an example device for implementing the method; in FIG. 5 is an enlarged electrical diagram of an asynchronous analog-to-digital converter for nonlinear matching; in FIG. 6 is a timing diagram of an apparatus for implementing the method of FIG. four.

, получаем нелинейные переменные отрезки текущей фазы вращения орта ΔWt и переменный шаг по уровню ΔU. Линейный асинхронный алгебраический счет полученных нелинейностей воспроизводит единичные синусно-косинусные функции, т.е. КОС. Расчетные формулы переменных позиций текущей фазы и уровня для использованного более приближенного метода аппроксимации приведены на Фиг. 3.In FIG. 1 shows a trigonometric circle in which a unit vector (ort) rotates in a positive direction with an angular velocity W. Moreover, its projection onto the sine line is by definition a function sinWt, and on the cosine line it is cosWt. By linearly expanding and collapsing, for example, the sine line (see Fig. 2) in increments $$s=\frac{\mathrm{one}}{n}$$

, we obtain nonlinear variable segments of the current phase of rotation of the unit vector ΔWt and a variable step in the level ΔU. The linear asynchronous algebraic account of the obtained nonlinearities reproduces the unit sine-cosine functions, i.e. CBS. The calculated formulas for the variable positions of the current phase and level for the more approximate approximation method used are shown in FIG. 3.

The device for implementing the method of FIG. 4 contains a signal generator 1, a, b of the “convolution-convolution” of the sine and cosine lines of a triangular shape, which are supplied to the inputs of the channel 2 of the sine and channel 3 of the cosine, respectively, the channel 2 of the sine contains serially connected asynchronous ADC 2-1 non-linear matching, four-quadrant DAC 2 -2 and a 2-3 low-pass filter (low-pass filter); and also a shaper of 2-4 short counting pulses, the input of which receives a signal from the least significant bit of the ADC 2-1. The cosine channel is constructed similarly to the sine channel.

The device of FIG. 4 operates as follows (see Fig. 6). The signal a "sweep-convolution" of the sine line is fed to the input of the ADC 2-1, where it is compared with the field of reference levels specified with a variable pitch. Due to the non-linearity of the conversion, the ADC output generates a digital signal in a binary additional code with the reproduction of a sine functional dependence, which is fed to the input of the 4-quadrant DAC 2-2 and then to the input of the low-pass filter 2-3, the output of which produces a precision analog signal. Low-pass filter 2-3 serves to smooth the steps. The signal 6 "scan-convolution" of the cosine line is fed to the input of the ADC 3-1, where it is also compared with the field of variable reference levels, and at the output of the ADC 3-1 a digital signal is generated with the reproduction of the cosine dependence. The received signal from the output of the ADC 3-1 goes to the input of the 4-quadrant DAC 3-2 and then to the input of the low-pass filter 3-3, where the cosine signal of the analog form of representation is reproduced. Rectangular pulses from the outputs of the least significant bits of the ADC 2-1 and 3-1 arrive at the inputs of the shapers 2-4 and 3-4 short counting pulses, the sequences of which represent the sine and cosine functional dependencies in the form of a unitary number-pulse code.

The proposed method is based on a new form of signal representation and conversion that I developed. In this case, one-dimensional entities of the length of the sine and cosine lines are quantized with a constant step as arguments, and the functions are variable levels and variable segments of the current phase of rotation of the VO, representing sine and cosine in the form of a binary code (levels) and in the form of a unitary code (nonlinearity of the segments of the current phase). Thus, the two-dimensional problem of CBS formation is reduced to a one-dimensional, simple algebraic calculation of the nonlinearities of variable level segments and the current phase. Thus, the proposed method for simulating CBS is far from obvious, does not follow from the existing level of mathematics, science and technology, i.e. has an inventive step. To implement the method, well-known electronic components are required, the resistor line of the voltage dividers of the ADCs of non-linear comparison can be performed by spraying resistors through a mask in the form of an arc sin wt function, and when modeling, when only a single instance is used, it can be composed of precision variable resistors for accurate settings of the specified design positions of the level field. That is, the method meets the criterion of industrial applicability. All details of the circuitry of the device are not disclosed in the application materials, they are shown enlarged, since the scope of claims is limited only by the method.

In conclusion, it should be noted that the development of VO by modeling methods is now lost, although these methods give the maximum approximation to the real conditions of functioning of homing objects. This allows you to drastically reduce the development time, reduce the cost, dramatically reduce the volume of full-scale tests at the test site, evaluating the functioning of the prototype for various purposes and external influences and adjusting its optimal functioning even on the modeling complex. For example, at LOMO OJSC, St. Petersburg, according to the recommendations of Mac Kinsey and company, the design bureau was eliminated. If the probability of defeat of the old "Needle" worked out on the model reached 80%, then new modifications sharply reduced this indicator, and to mask and hide this fact, a non-contact fuse was needed. Thus, solving the problems of simulating signals and external influences is very important for the rearmament of our army with modern precision weapon systems.

Information sources

1. Bruskin D. et al. "Electric machines", T. 2, p. 32-38.

2. USSR. A.S. No. 297567.

3. USSR, A.S. No. 59292.

4. USSR, A.S. No. 176399.

5. USSR, A.S. No. 210307 - analogues and prototype.

Also taken into account: Technical descriptions of complexes 9K32M and 9K38M, Oborongiz, 1970, 1980.

Claims (1)

A method of simulating quadrature reference signals, which consists in electronically generating sine-cosine signals synchronous in frequency and phase of the simulated rotation, characterized in that two triangular-shaped signals of a triangular shape of a single trigonometric sine and cosine lines are shifted between each other by 90 ° circles, at the same time on the first channel the signal “scan-convolution” of the sine line is compared, and on the second - the cosine line with the field of variable reference levels located at positions
$$U(i,s)=\frac{2}{\pi }\arcsin \left\{\frac{\sqrt{\mathrm{one}-{\left(is-\mathrm{one}\right)}^2}-\sqrt{\mathrm{one}-{\left(is+s-\mathrm{one}\right)}^2}}{\arcsin \left[(is+s-\mathrm{one})\sqrt{\mathrm{one}-{(is-\mathrm{one})}^2}-(is-\mathrm{one})\sqrt{\mathrm{one}-{(is+s-\mathrm{one})}^2}\right]}\right\}$$

where:
i = 1, 2, 3, ... n the first independent variable is the number of the reference level; $$s=\frac{\mathrm{one}}{n}$$

- the second independent variable is a constant quantization step of the sine and cosine lines; n is the binary number of quantization steps; U (i, s) is the quantized lattice function of the arguments i, s, characterizing the position of the field of variable reference levels for a given step s; form in the first channel at the moments of intersection of the signal "scan-convolution" of each reference level, a parallel binary additional code of the signal of the sine functional dependence and at the same time as a sequence of counting pulses of a unitary number-pulse code, and in the second channel at the moments of the intersection of the signal "scan-convolution" each level in the same way form cosine signals, then convert one of the received digital signals in the first and second channels into quadrature reference signals Lair of the presentation.

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