RU2629922C1 - Method of two-channel attitude control of objects with six degrees of freedom of spatial motion - Google Patents

Abstract

FIELD: tool engineering.

SUBSTANCE: two-channel guidance principle is proposed, based on the formation of measuring signals using only one spherical gyroscope in the form of three polyorthogonal sine-cosine signals that in their informative characteristics and parameters carry information about the values and signs of angular positions both in an orthonormal rectangular Cartesian coordinate system, and in a single spherical one, related to the object of a relatively fixed coordinate system representing the outer space. From these signals the equatorial and azimuth angular positions of the object are determined, its deviations and deviation signs from specified values are determined, and control signals proportional to the deviations of the equatorial and azimuth angles are formed along the two channels and fed them to the reverse steering elements of the first and second channels, force moment of the handle bars which are located in the equatorial and azimuth planes, and the direction of rotation corresponds to the signs of deviations.

EFFECT: reducing the costs of technical equipment on-board equipment, reducing the weight and size and costs of objects.

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Description

The present invention relates to the field of technology of orientation control systems for objects that are completely free in space with six degrees of freedom for their stabilization, regulation of angular positions and motion parameters, tracking control, automatic piloting, navigation, homing, and relates to a two-channel autonomous method, i.e. without involving ground-based means, controlling the orientation of six-degree objects in an inertial, pseudo-inertial or non-inertial space.

The proposed technical solution (TP) can be used in aircraft of any type and purpose, including spacecraft (KLA), in guided missiles, shells, torpedoes, combat elements, including in their homing systems, in systems underwater, air and space navigation.

To implement any type of automatic control and regulation, including the designated control objects, first of all, it is necessary to collect information about the current values of the controlled coordinates of the object, for which primary measuring transducers (sensors) are used, and then develop and implement control actions for the given purposes, for This is served by control signal shapers (FSU) and executive steering bodies, steering-machines (RM) and rudders.

The number of controlled and control coordinates, as a rule, determines the number of control channels. For objects of spatial motion, there is the concept of the number of degrees of freedom. As is known from the theoretical mechanics of solids, the number of degrees of freedom is the number of independent possible rotational and / or translational movements of an object. Thus, an object that is completely free in space has six degrees of freedom.

Before highlighting the level of the designated field of technology, we first briefly turn to its theoretical foundations, the mathematical apparatus used, and compare with the theoretical justifications of the proposed TR.

Historically, to count the positions of an object in all degrees of freedom when creating mechanics of solids, i.e. statics, kinematics, and speakers had a hand in mostly pure mathematicians. To do this, they used homogeneous coordinate systems in the form of three rectangular Cartesian coordinate systems (hereinafter referred to as the MPCS), (see, for example, (1), p. 86, (10), p. 214, 215). Namely, a stationary PDSK, representing external space, progressively moving together with an object PDSK, the axes of which are parallel to the axes of a fixed PDSK, and PDSK, rigidly connected with the object.

However, it is known that PDSK is a pure abstraction, created for calculations in an invented ideal inertial space, which does not correspond to the nature of motions and the topology of real physical space, where all bodies and fields are in motion different from linear translational (2, p. 20). Even the light does not spread purely in a straight line, but runs around it in a zigzag pattern. According to the author, this is due to the fact that nature tends to stable, equilibrium states and symmetry, which is ensured by rotational movements, in which many heterogeneous forces are combined, and then not only solids, but even liquid and gas formations acquire the properties of a kind of gyroscopes .

And the prolific L. Euler applied homogeneous PDSKs to determine the angles that characterize the necessary and sufficient orientation of the movable PDSK relative to the fixed if they have a common origin. The mathematical community called these angles by its name, although other names are also in use, as the angles of its own (pure) rotation, precession and nutation. And to date, kinematic analysis, calculations of the motion of kinematic pairs, nodes and mechanisms, as well as moving objects with a different number of degrees of freedom, are carried out mainly using PDSK and Euler angles. Although this approach is not always optimal and complicates the calculated ratios. To solve many problems of mechanics, it is more acceptable to use curvilinear coordinate systems, for example, cylindrical, spherical toroidal. Moreover, the Euler algorithm is sequential (3, p. 643), therefore, complicated. The fact is that Euler did not take into account and did not use that with a divergence of the PDSK orientation, more than one line of nodes (LN) is formed between the OXY and OX'Y 'planes, but three between all three coordinate planes.

I have developed another mathematical apparatus based on a combination of heterogeneous coordinate systems represented by a unit spherical (hereinafter referred to as SSK), and PDSK limited by a unit sphere of SSK having a common origin. Such a representation of an object connected with an immovable SC provides universality, since it becomes possible to determine orientation angles both in the PDSK and in the SSC, moreover, according to more advantageous parallel algorithms. In a single SSC, the orientation of the moving coordinate system with respect to the fixed one can be determined by only two parameters, azimuthal ϕ and zenith θ angles (in geographic SK these angles are called latitude and longitude). The initial reference can be set both from the half-plane ϕ = const passing through the OX axis and passing through the missile-target line of sight, which is more acceptable for three-dimensional homing systems.

In SSC, the coordinate surfaces are the plane ϕ = const, the cones θ = const, and the spheres r = const. In our case, r = 1, therefore, the coordinate planes OXY, OXZ, OYZ and all azimuthal planes are bounded by unit trigonometric circles, which also simplifies the calculations, since all the trigonometric functions sin, cos, tg, ctg, sec, cosec are defined in the unit circle, in which the unit vector rotates counterclockwise with an angular velocity w, and the sine-cosine functions are like projections of this unit vector on the abscissa and ordinates.

,

. Практическая реализация изложенного, см. (5).For the analytical presentation of the geometric presented above, I used a system of three polyorthogonal (in three variables) sine-cosine functions. Variables w _x t, w _y t, w _z t, where t is time, ω is the angular velocity of rotation of the unit vector. In pairs, these functions are biorthogonal in two variables. In this case, the transition formulas in the PDSK are simplified: x = cosϕ sinθ, γ = sinθ cosϕ, z = cosθ, and vice versa

,

. A practical implementation of the above, see (5).

Widely known and described in numerous sources (6, 7, 8, 9) is a way to control a 6-degree object such as an airplane, through which the airplane is controlled by aerodynamic forces and moments through three channels: along the course and pitch from horizontal and vertical rudders, and along the roll from ailerons (for example, RF patent 2036273). The widely known method has the same purpose, but it is three-channel, that is, differs in technical essence, therefore, it can only be adopted as an analogue conditionally.

The methods for controlling 6-power objects such as non-rotating rockets are widely known and described in the literature (10, 11, 12, 13). The orientation of the missiles is also controlled through three channels, within the atmosphere mainly by aerodynamic rudders, and outside it by gas-dynamic or jet. The method of controlling the orientation of the missiles can also be taken as an analogue only conditionally.

Known 6-power objects KLA. The KLA orientation systems also contain 3 sensors and at least three steering elements and three rudders with rejection of the mass, or by changing the kinetic moment of the inner parts of the KLA (flywheel and liquid orientation regulators). For example, in a multi-channel spacecraft orientation system called the “Pulse controller” (14), to give rotation to an object around three axes in three mutually perpendicular planes, many pipelines for circulating liquid medium around the center of mass of the apparatus are installed. The controller receives the values of the deviations of the coordinates from the given orientation, the program determines the momentum kinetic moments of the liquid medium necessary to restore the orientation, then the external medium is pumped into the circuits and circulated into them, as a result of which the spacecraft undergoes angular accelerations until the spacecraft regains the specified orientation in starry space. Thus, the method implemented in US patent (14) is multi-channel, and cannot be accepted as an analogue.

6-power objects are known - submarines, and other manned and unmanned underwater vehicles. Their control systems are also multi-channel, for example, the navigation system of submarines developed by the Azimut Scientific and Production Association contain 10-12 sensitive gyroscopes, each of which measures only one position and motion parameter. Methods for controlling the orientation of submarines also cannot be accepted as analogues.

Closer in technical essence (but not intended) to the proposed TP are the principles for determining the coordinates of an air target, and for single-channel control of 5-power objects by single-channel rotating anti-aircraft missiles (ASGMs) of the Strela MANPADS systems. "Needle", "Willow" (USSR. RF). "Stingers" of POST and RST technologies. Mistral (France). (15, 16, 17). (I’ll clarify the purpose, WGDT objects are 5-degree, since they are stabilized by roll over the roll).

The VZUR control principle is dual-purpose, the small contour tracks the missile-air target line of sight, and the large guidance contour generates a single-channel control signal, and the control force in rotation mode, the vector module of which is proportional to the angular velocity of the line of sight, and the phase corresponds to the plane in which the line of sight is rotated, shifted by lead to the point where the missile meets the target (proportional guidance method). Thus, with the two components of the control force vector (module and phase, if you use the polar SK, the components of the vector along the course and pitch, if you use the Cartesian SC), the autopilot WZUR forms one CS, which is fed to the RM, and the rudders control the two components of the control force one at a time channel (for more details see (15). The theory of single-channel rotating guided missiles was developed at the Zhukovsky VVIA by a group of scientists and engineers headed by an aviation general, doctor of sciences, professor A.A. Krasovsky.

Thus, the method of single-channel control of rotating missiles is closer in technical essence. But the object is different, with 5 degrees of freedom of positions and movements in space, therefore, it can only be taken as a prototype conditionally.

Based on the foregoing, we choose as a prototype a generalized method based on well-known methods, based on the formation of measuring signals of the object’s orientation angles, determining angles, comparing the measured angles and set based on the trajectory and flight mode, forming control signals along the channels proportional to the mismatches of the measured and set angles of orientation of the object, and the filing of these signals to the steering organs of each channel.

The objectives of the invention are to simplify the orientation control of 6-degree objects by reducing the number of control channels to two, the number of measurement transformations to one (implemented only by one spherical gyroscope of a new, previously unknown type) in order to reduce the cost of technical equipment and reduce the weight and the value of the facilities.

These goals in the method of controlling the orientation of objects with six degrees of freedom, which consists in the formation of measuring signals of the angular positions of the object using sensitive mechanical gyroscopes, comparing the measured values of the angular positions with the angles given by the path and flight mode, and forming, in the presence of deviations (inconsistencies), the values of these angles control signals in each channel of the controlled coordinates of the object, the formation of control actions in each channel by supplying control signals n and steering organs, characterized in that they form measuring signals in the form of a system of three polyorthogonal sine-cosine signals using a single spherical gyroscope by rotating a spherical rotor magnet magnetized perpendicular to its axis of rotation inside or outside a spherical stator with mutually perpendicular to three spherical solenoids, the azimuthal and zenith angular positions of the object in a single SSC are extracted from these signals, compared with the given flight task, determining I mismatches and mismatches, form control signals of the corresponding sign in two channels and are proportional to the mismatches, and are fed to pairs of reversing rudder cars of the first and second channel, whose rudders are installed outside the object so that their thrust vectors are directed opposite and tangent to the equatorial coordinate plane of the SSC in the first channel, and in the second along the tangent to the azimuthal coordinate plane of the SSC associated with the object.

The novelty of the method consists in the introduction of a new operation unknown in science and technology for the formation of measuring polyorthogonal sine-cosine signals based on the use of only one gyroscope, the determination of mismatches in a single SSC, which reduced the number of control channels to two. The inventive step of the proposed TP is shown by a new mathematical apparatus developed by me, unknown in theoretical mechanics, and the practice of its application, where even today we use multi-story transition formulas based on PDSK and Euler angles (matrix of hypercomplex numbers and the like apparatus developed 300 years ago pure mathematicians such as Euler, when the tasks of gyroscopy and navigation were limited only to the study of the motions of celestial bodies and navigation).

In FIG. Figure 1 shows on the left the combined ones with a common beginning of the PDSK and a unit SSK with an arbitrary divergence of their orientation, where the Euler angles ν, μ, θ are indicated. For comparison, the alignment algorithm in the CCK is shown in the middle and on the right. We rotate the SSC in the equatorial plane by the angle ϕ, and in the azimuthal plane by the angle θ, after which we get the combination in just two turns.

In FIG. 2, for comparison, the Euler algorithm based on the use of PDSK is presented. The results of three consecutive turns are indicated by "a", "b" and "c". We turn through the angle ν in the OXY plane in the direction of the shortest rotation of the OX axis to the OY axis, after which we obtain the combination of the OX axis with the LN ("a"). We rotate an angle μ from the LN in the OXYZ plane in the direction of the shortest rotation of OX to the OU ', and we select the LN from two of its rays in such a way that the three rays of the LN, OZ and OZ' form the right triple ("b"). Then we combine the axes OZ and OZ 'along the shortest path at an angle θ ("in").

The comparative analysis shown in FIG. 1 and FIG. 2 in a geometric representation, demonstrates that if homogeneous PDSKs are used to control the orientation of 6-power objects, three control channels are needed with complex sequential algorithms for switching from a fixed SC to a fixed one, and vice versa.

In FIG. 3 is an enlarged functional diagram of one embodiment of the method (other options are possible for stabilization systems, inertial navigation, piloting, tracking, and homing systems). FIG. 3 shows the control object 1, which shows the associated mobile MPC OX'Y'Z 'and the unit CCK combined with it, having a beginning in the center of mass of the object. Above, the stationary SC is conventionally shown, representing the outer space OXYZ, progressively moving together with object 1, whose axes are parallel to the axes of the fixed coordinate system of the outer space.

A gyroscopic sensor 2 of polyorthogonal sine-cosine signals is installed at object 1 (for the sensor device see (5), the initial coordinate reference unit 3. Dotted lines show the mechanical connections of the sensor 2 and the initial reference generator 3 with object 1. The outputs of the sensor 2 are connected to the input (input device) of the controller 4. The program-time controller 5 depicts the parameters ϕ, θ of the flight mode of object 1, shapers 6, 7 of the control signals of the first and second channels, and the comparison circuit. The outputs of controller 4 are connected to the first inputs of the comparison circuits, the outputs of the master 5 flight mode are connected to the second inputs of the comparison circuits, the output of the first comparison circuit is connected to the input of the shaper 6 of the control signal of the first channel, the output of the second comparison circuit with the input of the shaper 7 of the control signal of the second control channel. Two pairs of reversible biorthogonal rudders 1-1, 1-2 and 1-3, 1-4 are installed in Fig. 1. The rudders 1-1, 1-2 are located in the equatorial plane tangentially (tangentially) to the imaginary coordinate surface sphere of SSC (but not tangent to the body of the object). Rudders 1-3, 1-4 are located in the azimuthal plane to the coordinate surface of the SSK sphere (orthogonal pairs of rudders located in one plane from biorthogonal ones located in two mutually perpendicular regions should be distinguished. The former are capable of creating rotational motion of an object only in two degrees of freedom, the second - for all three).

The dual-channel 6-power object control system shown in FIG. 3, works as follows. Gyroscopic sensor 2 after setting the initial coordinate reference is mechanically rigidly connected to the object (for more details, see 4, 5). At the outputs of sensor 2, three polyorthogonal space-time sine-cosine signals are generated. Controller 4 calculates the parameters ϕ _and and θ _and the divergence angles of the associated and fixed coordinate systems. The signals carrying information o ϕ _and θ and θ _and given are compared by comparison schemes ⊗ of the first and second channels (they can be represented both in analog and digital form). The outputs of the comparison circuits generate signals proportional to the mismatches between the given and measured ϕ _s -ϕ _and ; θ _s -θ _and and the corresponding signs sign (ϕ _s -ϕ _u ), (θ _s -θ _u ), which determine the direction of rotation of the object. These signals are supplied to the shapers 6 and 7, which generate control signals of a type corresponding to the type of reversible steering machines used, which drive pairs, for example, inkjet rudders 1-1, 1-2 and 1-3, 1-4. They create moments of force proportional to the values of the mismatch until ϕ _and , θ _and the measured values coincide with the set flight program. The corrective links necessary to provide a margin of stability for the control system and transients, in FIG. 3 are not shown, nor are circuit solutions of the electronic part of the units shown, since the scope of the claims of the application is limited by the method.

Developed back in the 60s of the last century, single-channel guided rotating missiles and other rotating carriers made it possible to drastically reduce the mass dimensions of anti-aircraft missiles, to create the most small-sized, small-caliber and low-cost man-portable air defense systems, but very effective for low-flying targets, as shown by the practice of their combat use. The idea of the proposed and other TP (4, 5) declared by me is to bring non-rotating missiles closer to them by these characteristics. Today, when a potential adversary has the concept of a massive disarming strike without the use of nuclear weapons, this task is urgent. In order to counteract thousands of missiles of various types, it is necessary to create multiple-launch rocket launchers of individual guidance missiles, and for them small-sized cheap and commercially-suitable missiles are needed. The industrial applicability of the proposed TP is limited only by the need to develop a new technology for manufacturing a spherical measuring gyroscope, the remaining blocks and elements are known, so TP meets the criterion of industrial applicability.

LITERATURE

1. M.A. Pavlovsky, T.V. Putyata, “Theoretical Mechanics”, Higher. school, 1985, p. 86.

2. V.P. Seleznev, "Navigation Devices", M., Oborongiz, 1961. p. 20.

3. Mathematical Encyclopedic Dictionary, M., Owls. Encyclopedia, 1988, p. 643.

4. Application No. 2016110020/28 (015809).

5. Applications No. 2016110019, 2016129612.

6. Patents of the Russian Federation No. 2036273, 2505786.

7. A.A. Krasovsky, "Automatic flight control systems and their analytical design", M., Nauka, 1973.

8. A.S. Shatalov, "Aircraft as an object of control", Mash-e, 1975.

9. I.N. Krasovsky, "Theory of motion control", M., 1968.

10. V.I. Feodosiev, G. B. Sinyarev, “Introduction to rocketry”, Oborongiz, 1956.

11. V.I. Feodosiev, “Fundamentals of rocket flight technology”, M., Science, 1981.

12. V.D. Andreev, "Theory of inertial navigation. Autonomous systems", M., Nauka, 1966.

13. A.Yu. Ishlinsky, "Orientation, gyroscopes and inertial navigation", M., Science, 1976.

14. US patent No. 5026008.

15. A.A. Krasovsky, "Design theory of single-channel guided rotating missiles", VVIA them. Zhukovsky, 1963.

16. Technical descriptions of the product 9E410 and MANPADS 9K38M Igla, Oborongiz, 1980 (unclassified).

17. US patents No. 4009848, 4155521, 4309393, 4399097, French patent No. 1501166.

Claims (1)

A method of two-channel control of the orientation of objects with six degrees of freedom of spatial movement, which consists in the formation of measuring signals of the orientation angles of the object using sensitive mechanical gyroscopes, comparing the measured values of the angular positions of the object with the angles specified by the path and flight mode, and forming control signals if there are deviations in each channel of the controlled coordinates of the object, the formation of control actions in each channel by applying a signal s of steering controls, characterized in that they form measuring signals in the form of a system of three polyorthogonal sine-cosine signals with the help of only one spherical gyroscope by rotating a rotor magnet magnetized perpendicular to its axis of rotation, inside or outside the stator with located on it mutually perpendicular to three spherical solenoids, determine the demodulation of these spatio-temporal azimuthal signals

 and anti-aircraft θ the angles of the position of the object in the spherical coordinate system relative to the set initial reference, as well as their signs as

 and

where φ_s, θ_s - given values, and

 - measured, form control signals in two channels, in the first - angle

, in the second, by the angle θ, proportional deviations of the measured values

 and given

, then a control signal of the first channel is supplied to a pair of reversing steering elements, the rudders of which are mounted outside the object so that their thrust vectors are directed oppositely to the equatorial coordinate plane of the spherical coordinate system associated with the object, and the control signal of the second channel is directed to the second a pair of reverse steering organs, the rudders of which are set so that their thrust vectors are opposite and directed along the tangent to the azimuthal plane of the spherical system we coordinate associated with the object.

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