RU2681749C1 - Method of controlling the aerial glide bomb at wind - Google Patents

Abstract

FIELD: military equipment.SUBSTANCE: method is based on measuring the flight speed of an aerial bomb using pressure and temperature sensors installed in the nose and side parts of the bomb. According to the information from these sensors, according to the laid-down algorithm, the flight of the bomb is controlled using electric rudders. When an aircraft (AC) reaches the striking distance target area of an aerial bomb (AB) with the help of the on-board systems measure the mutual position of the coordinates of the aircraft and the target (range L and height H). With the help of onboard sensors in AC, the ground speed V and the wind speed are measured. This information (distance to the target L and the speed of the aircraft in the direction of the target V, as well as wind speed) is continuously introduced into the computers that are part of the aiming and navigation complex of AC and AB. Based on the known algorithms, the required deviation of the rudders of the AB is continuously calculated and signals proportional to the deviation of the rudders are fed to the AB actuators. Position of the AB rudders is controlled by feedback sensors connected to the AB rudders. Direction of the bombing is chosen basing on the speed and direction of the wind. At the time of uncoupling AB from AC, the power supply to the rudders from AC stops. After the separation of the AB from the AC, the power supply on the AB is started and the rudders are controlled against it. After starting the current source on AB board, the AB calculator is started. Using the speed sensor installed in the nose of the bomb, the total pressure of the air flow in the direction of the bombs is continuously determined and the speed of the bombs vis calculated. Static air pressure in the area of the aerial bomb Pis determined. For each flight time interval Δt, the vertical component vof the bomb falling speed is determined using the relation v=Δh/Δt, where Δh– height at which the aerial bomb fell for time Δt, which is determined by the ratio Δh=h-h=ln(P/P)RT/gM, where P– atmospheric pressure at height h, P– atmospheric pressure at height h(h>h), M – molar mass of air, g – acceleration of gravity, R– universal gas constant, T– average air temperature at altitudes hand h. Horizontal component of the bomb flight speed is determined using the ratio v=(v-v). Corrected value of the bomb speed is calculated using the ratio v=kv, where k=v/v(v– the first value of the bomb speed after its release from the aircraft, measured by the nose speed sensor). With at least two gas flow sensors installed in the bombs on the left and right of the axis of the bomb, the total pressures of air flows Pand Prespectively on the left and right sides of the bomb are determined. Using the relations v=[2(P-P)/ρ]and v=[2(P-P)/ρ],the lateral speeds of the bomb perpendicular to the axis of the bomb under the action of the wind are determined (left – vand right – v), the maximum value is selected from them and the direction (right or left) of the offset of the bomb under the action of the wind is determined. Using the relation α=arcsin(v/v), the angle αof rotation of the horizontal speed of the bomb vunder the action of the wind is determined. Using the relation v=vcosαthe actual value of the horizontal component of the speed of the aerial bomb in the direction of the target vis determined. Using the relation ΔS=vΔt, the distance ΔS, traveled by a bomb to the target for a period of time Δt, is calculated. Continuously, control commands are sent to the electric actuators of the bombs from the calculator of the bomb, which allow the bombs to tilt and turn and to select the speeds vand vsuch that the bomb falls into the target at a distance S=ΣΔS, where n=H/Δh.EFFECT: invention can be used to build control systems for aerial bombs for various purposes.1 cl, 3 dwg

Description

The invention relates to military equipment and can be used to build control systems for bombs for various purposes.

There are various ways to control the flight path of aerial bombs, based on controlling the rudders of an aerial bomb on command from a bomb calculator. The designs of such bombs are complex technical devices.

For effective bombing with planning bombs, it is necessary to use complex flight control systems for these bombs using electronic devices exposed to electronic warfare (EW).

A known method of controlling a planning air bomb based on measuring the flight speed of an air bomb using pressure and temperature sensors installed in the nose of the bomb. According to information from these sensors, according to the established algorithm, the flight of the bomb is controlled using electric rudders. Such a control system is protected from the effects of electronic warfare. The basis of this control method is based on well-known patterns on the relationship of gas pressure with the flow rate of such a gas (Kuznetsov N.S. Suggestions for modernizing the bomb control system // Scientific and Technical Collection of the State Research Center of the Russian Federation FSUE TsIIIIMM named after DI Mendeleev / / Ammunition, 2018, No. 1).

The disadvantage of this method is that it does not have a system for correcting the trajectory of a bomb’s flight when it acts on the last wind, which carries the bomb to the side. Correction is carried out only at the moment of detachment of the bomb from the aircraft (LA) due to the lead performed by the aircraft.

To ensure that the impact on the trajectory of an aerial bomb of side and course winds is taken into account, the proposed technical solution measures the speed of a bomb under the influence of a side wind, and corrective calculations are performed. The proposed control method is based on the known laws on the relationship of gas pressure with the flow rate of such a gas.

Description of the technical solution is illustrated by the drawings shown in FIG. 1, 2 and 3. FIG. 1. Scheme for determining the pressure in the gas stream: I - a tube for measuring pressure P ₁ , II - a tube for measuring pressure P ₂ . FIG. 2. The movement pattern of an aerial bomb after uncoupling from an aircraft. FIG. 3. The installation diagram of the speed sensors on the bomb: 1 - section of the body of the bomb, 2 - speed sensor in the nose of the bomb, 3 and 4 speed sensors on the sides of the bomb.

According to Bernoulli’s theorem, with steady-state gas motion without taking into account friction, the total pressure equal to the sum of the static and dynamic (velocity) pressures retains its value along the trajectory of the gas particle. This pattern is used in practice to measure the gas flow rate. The principle of such a measurement is illustrated by the circuit shown in FIG. one.

Mathematically, the total pressure P ₂ of an air stream moving at a speed V can be expressed using a known relation:

where P ₁ is the static pressure, ρ is the air density, V is the flow velocity.

Transforming (1), we obtain the expression for the air velocity V.

In (2), the air density ρ is a variable, and depends on the pressure and air temperature in the measurement zone. As is known, ρ can be determined using the relation:

where R is the gas constant, equal to 286.7 J / (kg × ° K) for air; T is the Kelvin temperature.

The above ratios show that in practice it is possible to determine the speed of a body moving in air based on pressure and temperature measurements according to the circuit shown in FIG. 1. It is proposed to use this method to determine the speed of the falling air bombs. To do this, a combination of tubes and sensors must be installed in the bow and sides of the bomb. Having processed the information from the measuring devices according to the given algorithm, at each moment of time the speed of the bomb is determined, both forward (according to the data from the nose speed sensor) and sideways (according to the data from the side speed sensors).

The essence of the proposed technical solution is as follows. When the aircraft reaches the target reach area with an air bomb (AB), the relative position of the aircraft’s coordinates and the target (range L and height H) is measured using the aircraft’s onboard systems. Using airborne sensors in the aircraft, the ground speed V and wind speed are measured. This information (the distance to the target L and the speed of the aircraft in the direction of the target V, as well as the wind speed) is continuously entered into the computers that are part of the aiming and navigation system of the aircraft and AB. Based on known algorithms, the required deviation of the rudders of the ABs is continuously calculated and signals proportional to the deviation of the rudders are fed to the AB drives. The position of the AB rudders is controlled by feedback sensors connected to the AB rudders. The direction of the bombing is chosen taking into account the speed and direction of the wind. At the time of disconnecting the AB from the aircraft, the power supply to the rudders from the aircraft ceases. After the separation of the battery from the aircraft, the power source for the battery is launched and the rudders are controlled from it.

The AB control algorithm is as follows. After starting the current source on board the AB, the AB calculator starts. In this computer, the flight coordinates are fixed (transmitted from the aircraft computer) to the coordinates of the target relative to the aircraft in the form of flight altitude N and range L, as well as the initial heading flight speed AB v ₀ .

In FIG. Figure 2 shows a diagram of the movement of AB after its detachment from the aircraft, which shows these initial parameters, as well as the decomposition of the rate of fall of the AB into horizontal and vertical components.

The range to the target on the horizon S is determined using the ratio:

The AB calculator continuously receives information from speed sensors installed in the bow and sides of the AB (see Fig. 3), as well as from a static atmospheric pressure sensor in the AB zone and a temperature sensor in the AB zone. The computer continuously issues commands to the electric drives of the AB rudders, providing the calculated position of the AB according to information from speed sensors. This design position is determined by the angle of inclination of the AB axis with respect to the horizon and heading. It is the angle of inclination of the AB that changes the force of air resistance to the movement of the bomb in the direction of the target, since when the angle of inclination changes, the cross-sectional area of the AB changes in the direction of movement.

The drag force D exerted by the movement of the bomb in the air can be estimated using the well-known relation:

where ρ is the air density, F is the cross-sectional area of the bomb, V is the speed of movement, and C _D (M) is the dimensionless function of the Mach number (equal to the ratio of the velocity of the projectile to the speed of sound in the medium in which the projectile moves), called the drag coefficient .

As can be seen from (5), the drag force is proportional to the cross-sectional area of AB F.

и вертикальную v_yi скорость движения АБ в каждый конкретный промежуток времени Δt и по этим значениям, с учетом введенных данных о цели, вырабатывает команды управления на электроприводы рулей АБ.To fly at maximum range, the bomb must fly in direction, providing minimum air resistance (minimum cross section forward), and fall, providing maximum resistance (maximum cross section down). AB calculator determines horizontal

and vertical v _{yi the} speed of movement of the AB in each specific period of time Δt and according to these values, taking into account the entered data about the target, it generates control commands for electric drives of the AB rudders.

When the AB moves horizontally along the course, the set distance to the target L (horizontal distance S), the AB will pass in time t _m (the time that the AB drops from a height H to the target).

The speed of movement of the battery v _i at each specific point in time t _i (see Fig. 2) is determined by calculation using relation (2) based on information from the speed sensor installed in the bow of the battery.

As a speed sensor, a CER sensor developed by Engelsky Design Bureau “Signal” named after A.I. Glukhareva.

In this case, the specific value of the speed of the bomb is determined using the ratio:

where ρ is the air density, P _i is the static air pressure in the area of the bomb, P _p is the total pressure of the air flow in the direction of movement of the bomb at the time of measurement. In order to take into account the influence on this speed v _{i of the} components of the wind effect, a correction, a coefficient k, is introduced into the speed value. The coefficient is determined from the ratio

where v ₁ - the first value of the speed of the bomb, measured by the nose speed sensor after disengaging the AB from the aircraft.

Taking into account (7), the adjusted speed value is used in the calculations, namely:

The fall rate of AB v _y is determined by measuring the change in static air pressure P in the AB zone during the time Δt, during which the AB descends to a height Δh. The ratio for determining the vertical velocity v _yi fall AB (see Fig. 2) in this case will be:

To determine Δh _{i, we} use the dependence of air pressure on altitude above sea level, which is described by the so-called barometric formula. This ratio after conversion has the form:

where P _i - atmospheric pressure at a height of h _i , P _{i + 1} - atmospheric pressure at a height of h _{i + 1} (h _i > h _{i + 1} ), M - molar mass of air, g - gravitational acceleration, R _c - universal gas constant, T _s - average air temperature at heights h _i and h _{i + 1} , (M = 29 gram / mol, R _c = 8.31 Joule / mol * K, g = 9.81 m / s ² ).

The horizontal AB speed v _xi in the absence of a crosswind is determined using the ratio:

и

соответственно с левой и с правой сторон бомбы. Используя (2), с помощью соотношений:Using the gas flow sensors installed in the aerial bomb to the left and right of the axis of the bomb (see items 3 and 4 in FIG. 3), the total pressure of the air flows is determined

and

respectively on the left and right sides of the bomb. Using (2), using the relations:

и правое -

) скорости движения авиабомбы под действием ветра, выбирают из них максимальное значение и по нему определяют направление (правое или левое) смещения авиабомбы под действием ветра.determine the lateral perpendicular axis of the bomb (left -

and right -

) the speed of the bomb under the influence of wind, select the maximum value from them and determine the direction (left or right) of the displacement of the bomb under the influence of wind.

For each time interval Δt using the relation

.determine the angle α _i , the rotation of the horizontal speed of the aerial bomb v _xi under the influence of wind, namely the speed of lateral drift

.

Using the relation

.determine the actual value of the horizontal component of the flight speed of the bomb in the direction of the target

.

Using the relation

, пройденное авиабомбой до цели за промежуток времени Δt.calculate the distance

, passed by an aerial bomb to the target for a period of time Δt.

составляющих скорости АБ v_i, путем анализа данных с датчиков скорости, давления и температур в зоне АБ, а также значение текущей высоты нахождения АБ. Эти данные являются основой для осуществления коррекции траектории полета АБ по заданному алгоритму.The calculator AB at each moment of time determines the specific values of vertical v _yi and horizontal

components of AB speed v _i , by analyzing data from speed, pressure and temperature sensors in the AB zone, as well as the value of the current AB altitude. These data are the basis for the correction of the flight path of AB according to a given algorithm.

Continuously from the aerial bomb calculator, control commands are provided to the electric rudders of the aerial bombs that provide for tilting and rotating the aerial bombs, allowing choosing the speeds v _yi and v _xi so that the bombs fall into the target at a distance

where n = H / Δh.

Thus, the above materials show that the proposed technical solution for the correction of the flight path of the bomb can be implemented using known means. The proposed technical solution allows to significantly simplify the scheme of correction of air bombs in comparison with those currently used. And most importantly, the control of such a bomb is completely protected from the effects of electronic warfare on it.

The above information about the claimed invention, characterized in an independent claim, indicates the possibility of its implementation using the described in the application and known means and methods. Therefore, the claimed method meets the condition of industrial applicability.

Claims (30)

A method of controlling a planning aerial bomb in wind, which means that the aerial bomb is mounted on the aircraft so that its longitudinal axis coincides with the flight direction of the aircraft, connect the calculator of the aircraft to the calculator of the bomb, direct the aircraft to the target area, using the calculator of the aircraft continuously measure the heading speed of the aircraft and the flight altitude, fix the target, determine the distance to the target, determine the speed and direction of the wind, direction they take the aircraft to the target, taking into account the drift of the aerial bomb by the wind, enter the distance to the target L, the flight altitude H and the heading speed ν ₀ as a flight task, continuously calculate the necessary deflection of the rudders of the aerial bomb and signals proportional to the deflection of the rudders, and feed them to the electric drives of the aerial bomb , the position of the rudders of the bomb is controlled by feedback sensors connected to the rudders of the bomb, disconnect the bomb from the aircraft and turn on the power of the bomb, using the sensor yes Lenia installed in bombs continuously determine the static air pressure in the bomb zone P _i, by a temperature sensor installed on the outer surface of the bomb, the air temperature measured in the zone bombs T _i, using the relation

where P _i - atmospheric pressure at a height h _i , P _{i + 1} - atmospheric pressure at a height h _{i + 1} (h _i > h _{i + 1} ), M is the molar mass of air, g is the acceleration of gravity, R _c is the universal gas constant, T _with - the average temperature at heights h _i and h _{i + 1} , determine the height Δh _i , which dropped the bomb over time Δt, using the relation

determine the vertical component ν _yi of the fall speed of the bomb, using the gas flow velocity sensor installed in the nose of the bomb, continuously determine the total pressure of the air flow P _p in the direction of the bomb movement and for each time interval Δt calculate the speed of the bomb ν _i using the ratio

where ρ is the density of air, characterized in that the corrected value of the speed of the bomb is calculated using the ratio

where k = ν ₀ / ν ₁ (ν ₁ - the first measured by the nose speed sensor the speed value of the bomb after it is detached from the aircraft), using the relation

determine the horizontal component of the flight speed of the bomb, using at least two gas flow sensors installed in the bomb on the left and right of the axis of the bomb, determine the total air flow pressures Р _Рлi and _Рпi, respectively, on the left and right sides of the bomb, using the relations

and

determine the lateral perpendicular axis of the bomb (left - ν _il and right - ν _ip ) of the speed of the bomb under the influence of wind, select the maximum value from them and determine the direction (right or left) of the displacement of the bomb under the influence of wind, using the ratio

determine the angle α _{i of} rotation of the horizontal speed of the bomb ν _xi under the influence of wind, using the ratio

determine the actual value of the horizontal component of the flight speed of the bomb in the direction of the target

using the relation

calculate the distance

a bomb traveled to the target for a time interval Δt, continuously from the calculator of the bomb to the electric rudders of the bomb, send control commands that tilt and rotate the bomb, allowing you to choose the speeds ν _yi and ν _xi so that the bomb falls into the target at a distance

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