RU2704571C1 - Method of improving accuracy of guidance of weapons complex (versions) - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: invention relates to the field of weapons and military equipment, in particular to protection against air attack means, for example, using missile or cannon armament. Method of improving accuracy of guidance of weapons of combat complex includes detection and recognition of target, taking for tracking and tracking of target, determination of angular corrections of firing from mathematical expressions, generation based on corrections of guidance angle signals in a stabilized coordinate system and conversion thereof into guidance signals in an unstabilised coordinate system with calculation of first, second or more derivative signals with smoothing, weapon deviation relative to line of sight along vertical and horizontal channels in accordance with signals of guidance angles in non-stabilized coordinate system and derivatives of these signals. At that, calculation of signals of the first, second or more derivatives with anti-aliasing is performed in vertical and horizontal guidance channels several times, wherein time constants of said derivatives smoothing differ two or more times from the initial one, obtained derivative signals are then summed through their amplification factors, and values of smoothing time constants and amplification coefficients are set from the condition of providing the required guidance accuracy. In another version, in the vertical and horizontal guidance channels, the first derivative signal is continuously delayed, then the obtained signals are summed through their amplification factors, wherein values of constant delay and amplification coefficients are set based on the condition of providing the required accuracy of arming in the maximum wide frequency range.

EFFECT: high accuracy of arming in a wide range of complexed control signals.

2 cl, 8 dwg

Description

The present invention relates to the field of weapons and military equipment, in particular to improving the efficiency of firing rocket or cannon weapons of a combat vehicle.

Known methods for improving the accuracy of guidance of weapons of the combat complex described in the patent for the invention of the Russian Federation No. 2172463 and the patent for the invention of the Russian Federation No. 2401973. In the presented methods, when firing at a target from a place or in motion after taking a target for escort, the power drives of the weapon process control signals integrated for guidance and stabilization, and formed taking into account the parameters of the target’s movement, meteorological parameters and the quality of the base.

The disadvantage of these methods is the lack of accuracy of the guidance of weapons in connection with the increasing requirements for the operation of combat systems to defeat more maneuverable targets and when driving at high speeds.

In order to increase the dynamics and accuracy of the armament complex, power drives with combined control according to the setting action are used as the power drives of the weapons.

There is a method of improving the accuracy of guidance of weapons of a combat complex, described in the patent for the invention of the Russian Federation No. 2630361, and selected as a prototype.

This method consists in detecting and recognizing targets, taking on target tracking and tracking, determining angular corrections of firing from mathematical expressions, generating, taking into account corrections, signals of guidance angles in a stabilized coordinate system (CCK) and converting them into signals of guidance angles in an unstabilized coordinate system ( NSC) with the calculation of the signals from them of the first, second or more derivatives with smoothing, then the deviation of weapons relative to the line of sight along the vertical and horizontal th channel in accordance with signals pointing angles in the NSC and the derivatives of these signals.

Calculation of signals with combined regulation is performed using a differentiating-smoothing device (DCS), which implements an algorithm for calculating the first two (three) derivatives with smoothing and summing them with their gain factors. The presented method is schematically illustrated in FIG. 1, where T0 is the period for calculating the DAC, z ^-1 is the delay per clock cycle of the calculation of the central computing system, TF1 is the time constant of the smoothing filter, K1 and K2 are the amplification factors for the first and second derivatives.

With the introduction of combined regulation, the control of power drives is carried out not only by the main guidance signal, but also by a pre-emptive signal from the output of the control system. However, it is known that a method with combined control along with an increase in the accuracy of operation of power drives has a disadvantage associated with the phenomenon of overcompensation, depending on the frequency of the control signal, which is determined by the "physics" of the calculation of derivatives. So for the harmonic signal described by the expression:

Y (t) = sin (ωt) + a,

where ω = 2πf is the circular frequency of the signal;

f is the signal frequency;

t is the current time;

a is a constant component

the following expressions are valid:

= ω cos(ωt) - первая производная;

= ω cos (ωt) is the first derivative;

= - ω² sin(ωt) - вторая производная;

= - ω ² sin (ωt) is the second derivative;

= - ω³ cos(ωt) - третья производная входного сигнала.

= - ω ³ cos (ωt) is the third derivative of the input signal.

It can be seen from the above that with a change in the frequency of the signal, the amplitude of its first derivative increases linearly with frequency, the amplitude of the second derivative increases quadratically, and the amplitude of the third derivative grows with a cubic dependence. Summing up the calculated derivatives through their specially selected gain factors, it is possible to adjust the power drives to work only in a narrow frequency range of control signals. At frequencies less than the optimum frequency, there is undercompensation, i.e. mining with delay, and at high frequencies, the phenomenon of overcompensation is observed, i.e. exceeding the amplitude of the output signal up to several times the control signal.

It is possible to adjust the operation of the power drives for the precise development of control signals in the frequency range up to 1-1.5 Hz, while at frequencies in the region of 4 Hz a resonant rise to 20 dB is possible.

Another drawback in the operation of the weapon guidance system with combined regulation is the possibility of the occurrence of self-oscillation stabilization when the loop is closed, with an amplitude of up to 15 mrad. and a frequency of 2 to 4 Hz.

These shortcomings arise due to the imperfection of the DSU algorithm that produces at frequencies above 1.0 Hz an output signal with an amplitude greater than necessary. It is not possible to form the optimal frequency response of the DSU using well-known corrective filters due to the delay introduced by such filters, leveling the effect of the DSU itself.

In the method of increasing the accuracy of guidance of weapons of the combat complex used in the prototype, in order to eliminate the phenomenon of overcompensation, adaptive control at the equivalent frequency and additional combined control by mistake of the power drives are used.

However, this method in addition to the positive effect has the following disadvantages:

1) there is a delay (0.5-1 s) at the time of determining the equivalent frequency;

2) automatic adjustment of the combined regulation is made only for one frequency, the so-called "equivalent", which is ineffective when working out multi-spectral control signals characteristic for guidance and stabilization of weapons when the vehicle is moving at different speeds along different terrain;

3) the introduction of additional combined regulation of the error of the power drives, used in the prototype, only partially reduces the stabilization error due to the simultaneous increase in high-frequency noise.

These shortcomings do not fully ensure the required accuracy of guidance in the entire energy-efficient zone of the drives, which in turn significantly reduces the combat effectiveness of firing a combat vehicle.

Thus, the disadvantage of the existing method and the system that implements it is the increased errors in guiding the weapons during the development of integrated signals by power drives in a wide frequency range.

The objective of the proposed method is to increase the accuracy of guidance of weapons in a wide range of frequencies of integrated control signals.

The problem is solved by a method of improving the accuracy of guidance of weapons of a combat complex, including target detection and recognition, target acquisition and tracking, determination of angular corrections of firing from mathematical expressions, generation of corrections of signals from angle angles in a stabilized coordinate system and their conversion into signals of guidance angles in an unstabilized coordinate system with the calculation of the signals from them of the first, second or more derivatives with smoothing, the deflection relative to the line of sight along the vertical and horizontal channels in accordance with the signals of the pointing angles in the NSC and derivatives of these signals, while new is that the calculation of the signals of the first, second or more derivatives with smoothing is performed in the vertical and horizontal guidance channels several times, the smoothing time constants of these derivatives differ two or more times from the original, then the resulting signals of the derivatives are summarized through their amplification factors, and the quantities s smoothing time constants and gain factors are established from the condition of ensuring the required accuracy of pointing weapons in the widest frequency range.

The problem is solved by a method of improving the accuracy of guidance of weapons of a combat complex, including target detection and recognition, target acquisition and tracking, determination of angular corrections of firing from mathematical expressions, generation of corrections of signals from angle angles in a stabilized coordinate system and their conversion into signals of guidance angles in an unstabilized coordinate system with the calculation of the signals from them of the first, second or more derivatives with smoothing, the deflection relative to the line of sight along the vertical and horizontal channels in accordance with the signals of the pointing angles in the NSC and derivatives of these signals, the new one is that a constant delay of the signal of the first derivative is introduced in the vertical and horizontal pointing channels, then the received signals are summed through their coefficients gain, while the values of constant delay and gain factors are established from the condition of ensuring the required accuracy of aiming weapons at the widest possible th frequency band.

In both methods of increasing the accuracy of guidance of the weapons of the combat complex, the formation of the optimal frequency response of the DSU is carried out due to the frequency-dependent phase shift between the derivatives of the control signals, or in other words, the phase-compensating method is used.

The presented inventions are illustrated by drawings, where in FIG. Figure 2 shows an example of a calculation algorithm using the phase-compensating method of DCS based on the use of two DCSs. In FIG. Figure 3 shows an example of a calculation algorithm using the phase-compensating method of DCS based on the use of one DCS with the introduction of the delay of the signal of the first derivative. In FIG. 4 - FIG. Figure 6 shows graphs of the output signals of the differential control system of various designs when working out the input signals of three frequencies, explaining the principle of phase-compensating formation of combined regulation. In FIG. Figure 7 shows a graph of the development of sophisticated input signals by weapons drives with two methods of forming a DCS. In FIG. 8 presents a weapon guidance system BM, which implements the proposed method of firing.

A variant of the circuit, consisting of two parallel operating DSUs, is shown in FIG. 2. The development of this method shows that the best results are obtained by the scatter of DCS time constants of more than two, working in parallel, but with different time constants (TF) of smoothing filters and different amplification factors (K) of the derivatives signals.

Also, the use of the method for improving the accuracy of guidance performed according to the second embodiment can be implemented in the form of one well-known DCS, in which the signal of the lowest derivative, taken with constant delay and the signal of the highest derivative, taken with an increased transmission coefficient, are summarized - an option is shown in FIG. 3.

The principle of operation of the phase compensation of the output signal of the DSU is illustrated by the example of the operation of the version of the DSU with delay, as the most obvious.

In FIG. 4 presents the following graphs:

- on the upper graph - the signals of the first (speed) and second (acceleration) derivatives of the input signal 0.5 Hz, 5.0 degrees. and their amount in turn for regular execution and with phase-compensating method;

- on the average graph - the input and output signals of the armament drive, which works in turn with a standard ДСУ and with ДСУ with a phase-compensating method;

- on the bottom graph - the error of the weapon guidance loop, also shows the signal switching structures.

From the graphs it is seen that the signal of the first derivative of the differential control system with the phase-compensating method has a delay of 65 mc (phase shift ≈23 °) relative to the corresponding signal of the standard differential control system. The signal of the second derivative of the DCS with the phase-compensating method has a 3 times greater amplitude relative to the corresponding signal of the standard DCS, but the same phase. In this case, the output signals of the two ДСУ are approximately equal. Accordingly, the armament drive works identically in two structures.

In FIG. 5 shows graphs similar to FIG. 4, but for a signal with a higher frequency - 2.0 Hz, 0.5 deg.

The graphs show that a constant delay of 65 mc at a frequency of 2 Hz gives a greater phase (≈47 °) shift of the first derivative, which, when summing two derivatives, reduces the amplitude of the output signal of the DC DC in comparison with the standard DCS. This affects the operation of the drive. During the operation of a standard DSU, an increase in the amplitude of the output signal relative to the input signal is observed - the phenomenon of overcompensation. When working with a phase-compensating control system, this phenomenon is reduced.

The effect of phase compensation of the overshoot phenomenon in FIG. 6, where the development of the input signal of 4 Hz., 0.3 deg. At this frequency, the signal of the first derivative is almost out of phase with the second derivative, and the total signal of the DCS with the phase-compensating method has not only a lower amplitude, but also a better phase in comparison with the standard DCS.

In FIG. 7 is a graph of the development of complex input signals by weapons actuators, representing the sum of three sinusoids: 0.6 Hz, 2.0 degrees. + 1.5 Hz, 0.3 deg + 4 Hz., 0.2 deg. with two methods of forming a DSU. From this graph it can be seen that the proposed method for improving the accuracy of guidance of weapons of the combat complex allows several times to increase the accuracy of guidance in the extended frequency range, both when working out harmonic signals and when working out multi-spectral signals.

The proposed refinement of the method for improving the accuracy of guidance of weapons of a combat complex can be applied separately from the method of automatically changing gain factors with combined regulation depending on the current value of equivalent frequencies, but their combined use is most effective.

The guidance loop system shown in FIG. 8, operates as follows. In the process of combat work, from the survey and aiming (1), navigation systems (3) and the environmental data block (2), signals about the target parameters, base pitch, and meteorological parameters are received at the corresponding inputs of the on-board computer system (BVS) (4). Based on the signals arriving at the BVS, the aiming angle generation block (5) calculates the values of the foregrounded weapon guidance angles in the SSC using the vertical (F) and horizontal (Q) guidance channels, which, when received in the coordinate converter in the NSC (6), are converted into pointing angles weapons. These signals (F _nsk and Q _nsk ) are fed to the control inputs of the corresponding power drives (9) and (10), which control the angular position of the weapon (11). Combined control power drives have two inputs: control inputs to which the weapon guidance signals to the NSC arrive, and KR inputs to which the FC DCS signals (7) and (8) arrive. In FC DSU guidance (7) and (8), the signals of the first two derivatives of control signals are calculated. In this case, the phase shift between the signals of the derivatives is not 90 °, as in the prototype, but varies for different frequencies of the signal according to the optimal dependence, pre-configured. Power drives in the general case are a corrector, a power amplifier, and a power engine connected in series with the mechanical part that controls the angular position of the weapons of the combat vehicle (11).

The experimentally obtained results in the implementation of the firing system in accordance with the stated methods of firing confirm the positive effect in terms of increasing the accuracy of guidance of weapons in a wide range of frequencies of control signals and, as a result, increasing the efficiency of firing of cannon weapons.

Claims (2)

1. A way to increase the accuracy of guidance of weapons of a combat complex, including target detection and recognition, target acquisition and tracking, determination of angular corrections of firing from mathematical expressions, development, taking into account corrections of signals of guidance angles in a stabilized coordinate system, and their conversion to guidance angle signals into unstabilized coordinate system with the calculation of the signals from them of the first, second or more derivatives with smoothing, deviation of weapons relative to the line of sight vertical and horizontal channels in accordance with the signals of the pointing angles in an unstabilized coordinate system and derivatives of these signals, characterized in that the calculation of the signals of the first, second or more derivatives with smoothing is performed in the vertical and horizontal pointing channels several times, with time constants the smoothing of these derivatives differ two or more times from the original, then they summarize the received signals of the derivatives through their amplification factors, and the values of the constant smoothing times and amplification factors are established from the condition of ensuring the required accuracy of pointing the weapons in the widest frequency range. 2. A method of improving the accuracy of guidance of weapons of a combat complex, including target detection and recognition, target tracking and tracking, determination of angular corrections of firing from mathematical expressions, generation of corrections of signals from angle angles in a stabilized coordinate system and their conversion into signals of pointing angles into unstabilized coordinate system with the calculation of the signals from them of the first, second or more derivatives with smoothing, deviation of weapons relative to the line of sight vertical and horizontal channels in accordance with the signals of the guidance angles in an unstabilized coordinate system and derivatives of these signals, characterized in that the vertical and horizontal guidance channels introduce a constant delay of the signal of the first derivative, then summarize the received signals through their amplification factors, while the values of constant delay and amplification factors are established from the condition of ensuring the required accuracy of pointing weapons in the widest possible astotnom range.

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