RU52815U1 - Autopilot for anti-aircraft guided missile stabilized on a roll - Google Patents

Abstract

The utility model relates to control of aircraft, in particular to control devices for anti-aircraft guided missiles (SAM) of a symmetrical aerodynamic configuration, stabilized along the roll. The technical result is an extension of the functionality of the autopilot of a symmetrical missile stabilized roll. An autopilot includes two transverse control channels (KPUs) identical in structure, the outputs of which are connected to the rocket rudder drive control signal generation block; a series-connected unit for receiving primary flight information, a block for generating gear ratio correction laws, a distribution block for gear ratio correction laws. Each CPU contains a transverse overload sensor in series, a comparison unit, a first correction amplifier, a first adder, a first integrator and a second adder, the output of which is the output of the CPU, and an angular velocity sensor, the output of which is connected to the second and third correction amplifiers, the output of which connected to the second input of the second adder. The outputs of the primary flight information receiving unit are also connected to the comparison unit of each of the control units, and the correction amplifiers of each control unit are covered by negative feedbacks through the elements of the distribution block of the laws of correction of the autopilot gear ratios.

Description

The utility model relates to control of aircraft, in particular to control devices for anti-aircraft guided missiles (SAM) of a symmetrical aerodynamic configuration, stabilized along the roll.

A known autopilot for a roll-stabilized symmetric rocket, comprising a current speed sensor, a threshold unit and a controllable switch, connected in series, and in each of the two transverse control channels, a command reference unit, a comparison unit, a variable gain amplifier, an adder and an integrator, the output of which is connected to the servo drive, the angular velocity sensor, the output of which is connected to the servo drive and the second input of the adder, transverse overload sensor, the first output d is connected to a second input of the comparator, and the second output - with an input detection unit module, a first output connected to the first input of the comparator, and the second output - to an input of scaling amplifier whose output is connected to the second input of the comparator opposite lateral control channel; the outputs of the comparators are connected to the second and third inputs of the managed switch, the first and second output of which are connected to the second input of the amplifier with a variable gain, respectively, of the first and second transverse control channels [1].

The reason that impedes the achievement of the technical result indicated below when using the well-known autopilot is the limited functionality of the autopilot, due to the fact that the sensor of the current flight speed is used only to ensure the specified quality of spatial control of SAM in a limited speed range.

The objective of the utility model and the technical result in its implementation is to expand the functionality of the autopilot of a symmetrical SAM stabilized along the roll.

This is achieved by the fact that in the well-known autopilot for a symmetrical roll-stabilized rocket, containing two identical transverse control channels (KPUs), each of which contains an angular velocity sensor, a transverse overload sensor in series, and a comparison unit connected in series

the first adder and the first integrator, according to a utility model, a primary flight information reception unit, a gear ratio correction law generation block, a gear ratio correction law distribution block, a gear ratio correction law distribution block, a rocket rudder drive signal generation block are introduced, the third and fourth output of the primary flight information reception block are connected respectively with the first and second input of the block of formation of laws of gear ratio correction, the first, second and third outputs of which are connected respectively the first and third inputs of the distribution block of the laws of gear ratio correction, and the first, second and third correction amplifiers, the second adder are introduced into each of the control gears, the first input of the first correction amplifier connected to the output of the comparison unit, and the output to the first input of the first adder, the first the inputs of the second and third correction amplifiers are connected to the output of the angular velocity sensor, the output of the second correction amplifier is connected to the second input of the first adder, the output of the third correction amplifier is connected to the first input of the second of the adder, the first input of which is connected to the integrator's output, the output of the second adder, being the channel output, is connected to the corresponding input of the rocket rudder drive control signal generation unit, while the first and second outputs of the primary flight information receiving unit are connected to the second input of the comparison unit, respectively, of the first and the second CPU; the first, second and third outputs of the distribution block of the laws of gear ratio correction are connected to the second inputs of the first, second and third correction amplifiers of the first KPU, respectively, and the fourth, fifth and sixth inputs of this block are connected to the data outputs of the correction amplifiers; the fourth, fifth and sixth outputs of the distribution block of the laws of gear ratio correction distribution are connected to the second inputs of the first, second and third correction amplifiers of the second CPU, respectively, and the seventh, eighth and ninth inputs of this block are connected to the data outputs of the correction amplifiers.

The utility model is illustrated by drawings, on which are presented: figure 1 - structural diagram of the claimed autopilot; figure 2 is a structural diagram of a block receiving primary flight information; figure 3 is a structural diagram of a block for generating laws of gear ratio correction; figure 4 is a structural diagram of a distribution block of the laws of gear ratio correction; 5 is a structural diagram of a unit for generating control signals for rocket rudder drives; 6 is a form of the law of gear ratio correction; Fig.7 is a structural diagram explaining the principle of formation of the laws of gear ratio correction.

The autopilot for roll stabilized missiles (Fig. 1) contains a block 1 for receiving primary flight information, a block 2 for generating transfer correction laws

numbers, block 3 distribution of laws of gear ratio correction, block 4 for generating control signals for rocket rudder drives and two transverse control channels (KPUs) identical in structure 5. Each KPU 5 contains a transverse overload sensor 6 connected in series 6, a comparison unit 7, a first correction amplifier 8 ₁ , the first adder 9 ₁ , the first integrator 10 ₁ and the second adder 9 ₂ ; the angular velocity sensor 11, the output of which is connected to the first inputs of the second 8 ₂ and third 8 ₃ correction amplifiers, and the output of the second correction amplifier 8 _{2 is} connected to the second input of the first adder 9 ₁ , and the output of the third correction amplifier 8 ₃ is connected to the second input of the second adder 9 ₂ . The first and second outputs of the primary flight information receiving unit 1 are connected to the second input of the comparison unit 7, respectively, of the first 5 ₁ and second 5 ₂ KPUs, and the second and third outputs of block 1 are connected to the first and second inputs of the generating ratio correction law block 2, the first the third outputs of which are connected respectively with the first or third inputs of the distribution ratio correction law distribution block 3, the fourth, fifth and sixth inputs of which are connected with the output of the first 8 ₁ , second 8 ₂ and third 8 ₃ amplifiers section of the first CPU 5 ₁ , and the seventh, eighth and ninth inputs - with the output of the first 8 ₁ , second 8 ₂ and third 8 ₃ amplifiers of the correction of the second CPU 5 _2, respectively. The first, second and third outputs of block 3 of the distribution of laws of gear ratio correction are connected to the second inputs of the first 8 ₁ , second 8 ₂ and third 8 _{3 of the} correction amplifiers of the first CPU 5 ₁ , respectively, and the fourth, fifth and sixth outputs are connected to the second inputs of the first 8, respectively ₁ , the second 8 ₂ and the third 8 ₃ amplification correction of the second CPU 5 ₂ . The output of the second adder 9 _{2 of the} first KPU 5 _{1 is} connected to the first input of the block 4 for generating control signals of the rocket rudder drives, to the second input of which the output of the second adder 9 _{2 of the} second KPU 5 ₂ is connected. The autopilot's input is the first and second inputs 12 of the primary flight information receiving unit 1 associated with the missile guidance system, and the output is the first, second, third and fourth outputs 13 of the rocket rudder drive control signal generation unit 4, the first and second outputs being connected to the drive respectively, the first and third, and the third and fourth outputs - with a drive, respectively, of the second and fourth rudders of a symmetrical rocket. Block 1 receiving primary flight information (figure 2) contains sequentially connected first register 14 ₁ and the first Converter CODE-ANALOG 15 ₁ , the output of which is the first output of the block, which is connected to the second input of the comparison unit 7 of the first CPU 5 ₁ ; sequentially connected the second register 14 ₂ and the second Converter KOD-ANALOG 15 ₂ , the output of which is the second output of the unit, which is connected to the second input

block comparison 7 of the second CPU 5 ₂ ; a series-connected longitudinal overload sensor 16 of the rocket and a second integrator 10 ₂ , the output of which is the third output of the block. In addition, the output of the longitudinal overload sensor 16 is also output as the fourth output of the block. The inputs of the first 14 ₁ and second 14 ₂ registers, which are the inputs of the block and, accordingly, the autopilot, are connected to the guidance system of missiles. Block 2 of the formation of laws of gear ratio correction (Fig. 3) contains a switch 17, a switch 18, a first 19 ₁ , a second 19 ₂ and a third 19 ₃ shaper of correction signals. The first input of the switch 17 is the first input of the block and is connected to the third output of the block 1 (the output of the second integrator 10 ₂ ), the second input of the switch 17 and the input of the switch 18 are combined and are the second input of the block, which is connected to the fourth output of the block 1 (the output of the longitudinal overload sensor 16). The output of the switch 18 is connected to the third input of the switch 17, the output of which is connected to the inputs of the first 19 ₁ , second 19 ₂ and third 19 ₃ drivers of correction signals, the outputs of which are respectively the first, second and third outputs of the block. Block 3 distribution of the laws of gear ratio correction (Fig. 4) contains the first 20 ₁ , second 20 ₂ and third 20 ₃ ADCs, the first 21 ₁ , second 21 ₂ , third 21 ₃ , fourth 21 ₄ , fifth 21 ₅ and sixth 21 ₆ DACs . The first input of block 3, connected to the output of the first driver of correction signals 19 _{1 of} block 2, is the input of the first ADC 20 ₁ , the output of which is connected to the first inputs of the first 21 ₁ and fourth 21 ₄ DACs. The second input of the first DAC 21 ₁ is the fourth input of the block connected to the output of the first correction amplifier 8 _{1 of the} first CPU 5 ₁ , and the output is the first output of the block connected to the second input of the same correction amplifier; the second input of the fourth DAC 21 ₄ is the seventh input of the block connected to the output of the first correction amplifier 8 _{1 of the} second CPU 5 ₂ , and the output is the fourth output of the block connected to the second input of the same correction amplifier. The second input of block 3, connected to the output of the second driver of correction signals 19 _{2 of} block 2, is the input of the second ADC 20 ₂ , the output of which is connected to the first input of the second 21 ₂ and fifth 21 ₅ DAC. In this case, the second input of the second DAC 21 ₂ is the fifth input of the block connected to the output of the second correction amplifier 8 _{2 of the} first CPU 5 ₁ , and the output is the second output of the block connected to the second input of the same correction amplifier; the second input of the fifth DAC 21 ₅ is the eighth input of the block connected to the output of the second correction amplifier 8 _{2 of the} second CPU 5 ₂ , and the output is the sixth output of the block connected to the second input of the same correction amplifier. The third input of block 3, connected to the output of the third driver of correction signals 19 _{3 of} block 2, is the input of the third ADC 20 ₃ , the output of which is connected to the first

the input of the third 21 ₃ and the sixth 21 ₆ ADC. The second input of the third ADC 21 ₃ is the sixth block input connected to the output of the third correction amplifier 8 _{3 of the} first CPU 5 ₁ , and the output is the third output of the block connected to the second input of the same correction amplifier; the second input of the sixth ADC 21 ₆ is the ninth input of the block connected to the output of the third correction amplifier 8 _{3 of the} second CPU 5 ₂ , and the output is the sixth output of the block connected to the second input of the same correction amplifier. All ADCs 20 _{(1-3) are} made with one input and n-channel output. All DACs 21 _{(1-6) are} made according to the well-known scheme [2] with an n-channel input and one output in the form of a set of series-connected resistors R _(1-n) , in parallel with which are connected electronic keys Кл _(1-n) (Fig. 7). The input and output of the set of resistors are connected, respectively, to the output and the second input of the corresponding correction amplifier 8, and the electronic keys are connected to the n-channel output of the corresponding ADC 20. The block 4 for generating the control signals for the rocket rudder drives (Fig. 5) contains the first 22 ₁ and the second 22 ₂ filters to suppress the bending vibrations of the rocket body, the first 23 ₁ , second 23 ₂ , third 23 ₃ and fourth 23 ₄ amplifiers. The first input of the block is the input of the first filter 22 ₁ connected to the output of the second adder 9 _{2 of the} first PKU 5 ₁ , the second input of the block is the input of the second filter 22 ₂ , which is connected to the output of the second adder 9 _{2 of the} second PKU 5 ₂ . The first and second outputs of the first filter 22 _{1 are} connected to the inputs of the first 23 ₁ and second 23 ₂ amplifiers, the outputs of which (13 ₁ and 13 ₃ ) are connected to the drives of the first and third rudders of the rocket, respectively. The first and second outputs of the second filter 22 _{2 are} connected to the inputs of the third 23 ₃ and fourth 23 ₄ amplifiers, respectively, the outputs of which (13 ₂ and 13 ₄ ) are connected to the drives of the second and fourth rudders of the rocket, respectively.

The described blocks are made according to well-known rules on typical elements of digital technology. In particular, in block 2 of the formation of the laws of gear ratio correction, the switch 17 can be made, for example, in the form of two electronic keys with a combined output; as a switch 18, a comparator can be used, to the second input of which a threshold voltage source is connected; operational amplifiers can be used as shapers of correction signals 19 ₁ -19 ₃ , stabilized reference voltage sources are connected to the second inputs of which. In block 4 for generating control signals for rocket rudder drives, filters 22 ₁ , 22 _{2 for} suppressing bending vibrations of the rocket body are made in the form of an operational amplifier with RC feedback.

Autopilot for missile stabilized roll, works as follows. During

of the entire passive section of the guided flight of the rocket to the inputs of the first 14 ₁ and second 14 ₂ registers of the primary flight information receiving unit 1 (FIG. 1, FIG. 2), signals are sent in the form of codes defining for the first CPU 5 ₁ and second KPU 5 ₂ values of control commands in two mutually perpendicular planes. These signals are converted into analog form (using converters 15 ₁ , 15 ₂ ) and fed to the second input of the comparison unit 7 of the corresponding CPU 5, the first input of which receives inverted signals from the output of the transverse overload sensor 6, proportional to the acceleration of the rocket in this transverse plane. At the output of the comparison unit 7, error signals are generated that are transmitted to the first input of the first correction amplifier 8 ₁ , and from its output, through the first adder 9 ₁ and the first integrator 10 ₁ , to the first input of the second adder 9 ₂ . The signals proportional to the angular velocity of the rocket from the output of the angular velocity sensor 11 in each CPU 5 are fed to the first input of the second 8 ₂ and third 8 ₃ correction amplifiers, while the output signal of the third correction amplifier 8 ₃ is supplied to the second input of the second adder 9 ₂ , and the output signal of the second correction amplifier 8 ₂ is supplied to the first input of the second adder 9 ₂ through the first adder 9 ₁ and the first integrator 10 ₁ . Error signals from the output of the second adder 9 _{2 of the} first CPU 5 ₁ and from the output of the second adder 9 _{2 of the} second CPU 5 ₂ are respectively supplied to the first and second inputs of the block 4 for generating control signals for the rocket rudder drives (Fig. 5). Using filters 22 ₁ , 22 _{2, the} high-frequency components of the output signals of the angular velocity sensors 11, which respond to the bending vibrations of the rocket body in the range of 20-80 Hz, are suppressed. The output signals of the filters 22 ₁ , 22 _{2 are} amplified by powerful amplifiers, respectively 23 ₁ , 23 ₃ and 23 ₂ , 23 ₄ and are supplied to the corresponding input devices of the four drives mechanically connected with the aerodynamic rudders of the rocket. To ensure the specified dynamic characteristics of the stabilization system for SAM, in each CPU 5, three gear ratios K of the autopilot are corrected - by the integral of the error signal (lateral acceleration), by the integral of angular velocity and angular velocity. These gear ratios are determined by the formulas:

- for feedback on the integral of the error signal (transverse acceleration);

- for feedback on the integral of the angular velocity;

- for feedback on angular velocity,

Where , , are constants whose values are determined by the relations

resistances in input circuits, feedback circuits of correction amplifiers 8 ₁ , 8 ₂ , 8 ₃ and other elements of the device;

, , - laws of gear ratio correction.

Sources of information for gear ratio correction are the signal measured by the longitudinal overload sensor 16, proportional to the longitudinal acceleration of the rocket W _x , and the output signal of the second integrator 10 ₂ , proportional to the integral of the longitudinal acceleration W _x , in the primary flight information receiving unit 1 (FIG. 2), which arrive respectively at the second and first inputs of block 2 of forming the laws of gear ratio correction (Fig. 3). On the active section of the flight of missiles with the engine turned on, the argument of the laws of correction of the gear ratios of the autopilot is the output signal the second integrator 10 ₂ , which is supplied to the first input of the switch 17 and from its output to the inputs of the first 19 ₁ , second 19 ₂ and third 19 ₃ shapers of analog correction signals for the current flight speed of the rocket. On the passive flight section with the engine off, the correction argument is the output signal W _x of the longitudinal overload sensor 16, which is fed to the second input of the switch 17 and the input of the switch 18. This signal passes to the output of the switch 17 and further to the correction signal generators 19 ₁ -19 ₃ only in the presence of an enabling signal supplied to the third input of the switch 17 from the output of the switch 18 when changing the sign of the longitudinal overload. The values of the analog correction signals and the moments of their appearance at the outputs of the shapers 19 ₁ -19 ₃ are set by comparing the values of the stabilized reference voltages with the voltages coming from the output of the second integrator 10 ₂ or the longitudinal overload sensor 16. The laws of correction of gear ratios of a rocket autopilot usually have the form of an equal-sided hyperbola and implemented as a linear function of the change of the correction argument [3]. In the claimed autopilot, the laws of gear ratio correction (f _i ) are implemented as a linear function of changing the gain of operational correction amplifiers 8 ₁ -8 ₃ in feedback circuits and the nature of the change in the correction laws , , the same (Fig.6). The values of f _imax and f _imin are constants, and f _imax value corresponds to the minimum value of the longitudinal acceleration W _x1, the value of f _imin - maximum value W _x2, which are determined at the stage of designing of missiles and stabilize the system. Next, in block 3 of the distribution of laws of gear ratio correction (Fig. 4), the analog correction signals are converted into digital binary codes and distributed between the first and second CPU 5. In the first 21 ₁ , second 21 ₂ and third 21 ₃ DACs, digital

correction signals are converted into analog ones, mixed with the output analog signals of the first 8 ₁ , second 8 ₂ and third 8 ₃ amplifiers of the correction of the first CPU 5 ₁ , respectively, and are fed to the second inputs of the same amplifiers, forming feedbacks corresponding to the integral of the error signal (transverse acceleration in this plane), by the integral of the angular velocity, by the angular velocity of the rocket. Similarly, in the fourth 21 ₄ , fifth 21 ₅ and sixth 21 ₆ DACs, the digital correction signals are converted to analog, mixed with the output analog signals of the first 8 ₁ , second 8 ₂ and third 8 ₃ correction amplifiers of the second CPU 5 _2, respectively, and fed to the second inputs of the same amplifiers, forming feedbacks, respectively, by the integral of the error signal (lateral acceleration in a given plane), by the integral of the angular velocity, by the angular velocity of the rocket.

The correction of the gear ratios of the autopilot is carried out identically for all three feedbacks in each control unit and is illustrated by the example of gear ratio adjustment for feedback on the angular velocity (Fig.7). Correction amplifier 8 ₁ , the input of which from the sensor 11 receives an analog signal proportional to the angular velocity of the rocket, is covered by negative feedback through the DAC 21 ₁ , in which the electronic keys Kl _{(1-n) are} controlled by an n-bit digital code from the output of the ADC 20 ₁ corresponding to the analog correction signal supplied to the input of the ADC 20 ₁ from the shaper of the correction signal 19 ₁ . As a result of switching the resistors R _(1-n) , the resistance of the feedback circuit of the correction amplifier 81 changes and, accordingly, the gain in the direct circuit is proportional to the specified correction law .

Information sources:

1. RU 2085443, B 64 C 13/18, 1997.

2. W. Titze, K. Schenk. Semiconductor circuitry. Moscow, Mir, 1982, p. 445, fig. 243.

3. I.N. Bronstein, K. A. Semendyaev. Math reference. M, Gos. Publishing House of Technical and Theoretical Literature, 1962, p. 210, Fig. 189.

Claims (1)

An autopilot for a roll stabilized anti-aircraft guided missile, comprising two transverse control channels (KPUs) identical in structure, each of which contains an angular velocity sensor, a transverse overload sensor in series, and a comparison unit, a first adder and a first integrator connected in series, characterized in that a primary flight information receiving unit, a gear ratio generation law generation block, a gear ratio correction law distribution block, a gear forming block are introduced the control signals of the rocket rudder drives, and the third and fourth output of the primary flight information receiving unit are connected respectively to the first and second input of the gear ratio correction block, the first, second and third outputs of which are connected respectively to the first or third inputs of the gear ratio distribution distribution block numbers, and in each of the CPUs introduced the first, second and third correction amplifiers, the second adder, and the first input of the first correction amplifier is connected to the output of the block and comparison, and the output is with the first input of the first adder, the first inputs of the second and third correction amplifiers are connected to the output of the angular velocity sensor, the output of the second correction amplifier is connected to the second input of the first adder, the output of the third correction amplifier is connected to the first input of the second adder, the first input which is connected to the integrator’s output, the output of the second adder, being the channel output, is connected to the corresponding input of the rocket rudder drive control signals generation unit, while the first and second the outputs of the primary flight information reception unit are connected to the second input of the comparison unit of the first and second control gears respectively, the first, second and third outputs of the gear ratio correction distribution block are connected to the second inputs of the first, second and third correction amplifiers of the first control gear, and the fourth, fifth and the sixth inputs of this block are connected to the data outputs of the correction amplifiers, the fourth, fifth and sixth outputs of the distribution block of the laws of gear ratio correction are connected to the second inputs with responsibly first, second and third amplifiers of the second correction CPU, and the seventh, eighth and ninth inputs of the block are connected to the outputs correction data amplifiers.