RU76473U1 - ANGULAR STABILIZATION SYSTEM - Google Patents

Abstract

The utility model is designed to increase the stability of the angular stabilization system of the rocket during the flight on the active part of the trajectory. This goal is achieved by the fact that three adders, three amplification units, an inverting device are additionally introduced into the known angular stabilization system, while the signal from the pitch channel is fed to the adder 17, the inverting device 19 and the first amplification unit 21, the signal from the inverting device 19 to the adder 16, and the signal from the first amplification unit 21 to the adder 18, the signal from the rotation channel is fed to the adder 18, to the second amplification unit 20 and to the third amplification unit 22, the signal from the first amplification unit 20 to the adder 16, and the signal from the W of the amplification unit to the adder 17, the signal from the yaw channel passes through the adder 16, and then to the steering gear 23, the signal from the adder 17 and the adder 18 is fed to the steering gear 23, the signal from the steering gear 23 is transmitted to the actuator 24. This is achieved increasing the stability of the angular stabilization system of the rocket during the flight in the active section of the trajectory.

Description

The utility model relates to control systems and stabilization of aircraft and can be used in guided missiles.

A known rocket stabilization system, including measuring angle sensors, angular velocity, scaling units, amplifiers, the control signal from which through the converter is fed to the steering gear and governing bodies. In this control system, the moments are proportional to the control signals of pitch, yaw, rotation and do not depend on the angle of rotation. At the same time, the possibility of using all control bodies for stabilization at the same time, by turning the hull in a rotation angle (Pavlov V.A., Ponomarenko S.A., Khovansky Yu.M. Stabilization of aircraft and autopilots - M: Higher school. 1964-483 s )

A known stabilization system comprising pitch, yaw rotation, an angle sensor, an angular velocity sensor connected to the adder via scaling units, the outputs of the adders are connected to the inputs of the steering gear, the output of the steering gear is connected to the input of the actuators (Razygraev A.P., Basics spacecraft flight control and warping M .: Mashinostroenie, 1977-422 c), which was adopted as a prototype of the invention.

The disadvantage of this system of angular stabilization is:

- limitation of control moments, determined by the deviation range of the governing bodies, which can lead to instability of the angular stabilization system, under the action of large perturbations.

The aim of the proposed model is to increase the stability of the angular stabilization system of the rocket during the flight in the active section of the trajectory.

This goal is achieved by the fact that in the angular stabilization system, containing the following channels: pitch, yaw, rotation, angle sensor, angular velocity sensor connected to the adder via scaling units, the adder outputs are connected to the inputs of the steering drive, the output of the steering drive is connected to the input of the actuators organs, three adders, three amplification units, an inverting device are additionally introduced into it, while the output of the adder of the pitch channel is connected to the input of the adder of the yaw channel and with an inverting amplifier, the first is connected to the input of the first adder and to the first amplification unit, which is connected to the third adder, the output of the adder of the rotation channel is connected to the input of the first adder, which is connected to the second input of the steering gear, the output of the second adder is connected to the input of the second amplification unit, which is connected to the first the adder, with the third adder and the third gain unit, which is connected to the adder of the yaw channel, the output of the adder of the yaw channel is connected to the first input of the steering gear, the output of the third adder is connected to t etim input of the steering gear, the steering drive output coupled to an input of the executive authority.

The functional diagram of the system of angular stabilization along the channels of pitch, yaw, rotation is shown in FIG. 1, in FIG. 2, control moments with a rotation angle value φ = 0, in FIG. 3, control moments with a rotation angle value φ ≠ 0, , in figure 4 control moments with the value of the angle of rotation φ ≠ 0, .

Where in figure 1:

1 - pitch angle sensor

2 - rotation angle sensor

3 - yaw angle sensor

4 - pitch channel angular velocity sensor

5 - angular velocity sensor of the rotation channel

6 - yaw channel angular velocity sensor

7 - the first scaling unit

8 - second scaling unit

9 - third scaling unit

10 - fourth scaling unit

11 - fifth scaling unit

12 - sixth scaling unit

13 - first adder

14 - third adder

15 - fifth adder

16 - fourth adder

17 - second adder

18 - sixth adder

19 - inverting amplifier

20 - second gain block

21 - the first block gain

22 - third gain block

23 - steering gear

24 - executive bodies.

The pitch angle sensor 1 is connected to the scaling unit 7, which is connected to the adder 13, the pitch channel angle sensor 3 is connected to the scaling unit 8, the latter is connected to the adder 13, which is connected to the adder 17, inverting amplifier 19, amplification unit 21, adder 17 connected to the steering gear 13, the yaw angle sensor 3 is connected to the scaling unit 11, which is connected to the adder 15, the angular velocity sensor of the yaw channel 6 is connected to the scaling unit 12, the latter is connected to the adder 15, which is connected to gain lock 20, adder 18, amplifier 22, the latter is connected to the adder 17, the adder 18 is connected to the steering gear 23, the inverting amplifier 19 is connected to the adder 16, the amplification unit 20 is connected to the adder 16, which is connected to the steering gear 23, the latter is connected with the executive body 24.

The system of angular stabilization along the channels: pitch, yaw rotation works in this way:

The output of the adder 13 produces a signal by summing the signal from the pitch angle sensor 1, passed through the scaling unit 7, with the signal of the angular velocity sensor of the pitch 4 channel, passing through the scaling unit 8. The control signal is supplied to the adder 17, the inverting amplifier 19, the amplification unit 21, the signal from the adder 17 is equal give in to the steering gear 23, a signal is generated at the output of the adder 15 , by summing the signal of the yaw angle sensor 3 passed through the scaling unit 11 with the signal of the angular velocity sensor yaw 6 passing through the scaling unit 12. Control signal arrives at the adder 18, the amplification unit 20, the amplification unit 22. On the adder 18, the sum of the signals which enters the steering gear 23.

At the output of the adder 14, a signal 4 is formed by summing the rotation angle sensor 2, passed through the scaling unit 9 with the signal of the rotation angle sensor, passing through the scaling unit 10, the signal from the adder 14 is fed to the adder 16, where the signals from the inverting amplifier 19 and the amplification unit are added 20, and from the adder 16 the signal is equal served on the steering gear 23 and the executive body 24.

An analysis of the dependence of the moments of the governing bodies on the angle of rotation shows that the rotation of the housing by a certain angle of rotation leads to an increase in the moment along one axis, but at the same time the control moment along the other axis can significantly decrease and even become equal to zero (Figure 3).

Analysis of the expressions shows that the control moment along the Z axis will decrease. The dependence of the rudder moments on the rotation angle disrupts the normal operation of the stabilization system for pitch and yaw channels, leading to the relationship between these channels and loss of stability.

It should be borne in mind that at certain values of the rotation angles, the values of the control moment on one axis will be more than the maximum, but on the other it will be zero. (Fig. 3)

Moreover, in the case of equality of control signals Δφ will be close to zero. With a significant difference in the signals, the value of Δφ will be selected as a function of this difference. For ease of implementation, the software value of the rotation angle can be changed according to the following algorithm . In this case, the difference sign of the control signals allows a corresponding increase in the control moment either along the pitch channel or on the yaw channel.

Consequently, when the control bodies are rotated by an angle of rotation, the values of the control moments will be proportional to the control signals.

If the perturbations along the pitch and yaw channels are approximately the same, then the increment of the rotation angle value will be close to zero. .

For the case when the disturbing moment along the pitch channel is much greater than along the yaw channel, then . The value of the rotation angle can reach 30 °, it is adjusted by selecting the coefficients. The value of the work little since - small, and the control signal along the yaw channel is calculated in accordance with the expression that will allow for a non-zero angle of rotation to obtain a value of the control torque that exceeds the maximum (when φ = 0), (figure 4).

Theoretically, the increase could be in times, when the control bodies are rotated by an angle of rotation φ _opt . This is achieved by increasing stability

angular stabilization systems of the rocket during the flight on the active part of the trajectory.

Claims (1)

An angular stabilization system containing, through the channels of pitch, yaw, rotation, an angle sensor, an angular velocity sensor connected to the adder via scaling units, the adder outputs are connected to the inputs of the steering gear, the output of the steering gear is connected to the input of the actuators, characterized in that it additionally introduced three adders, three gain blocks, an inverting amplifier, while the output of the adder of the pitch channel is connected to the input of the adder of the yaw channel and to the inverting amplifier, which is connected to the input the first adder and the first amplification unit, which is connected to the third adder, the output of the adder of the rotation channel is connected to the input of the first adder, which is connected to the second input of the steering gear, the output of the second adder is connected to the input of the second amplification unit, which is connected to the first adder, to the third the adder and the third gain unit, which is connected to the adder of the yaw channel, the output of the adder of the yaw channel is connected to the first input of the steering gear, the output of the third adder is connected to the third input of the steering about the drive, the output of the steering drive is connected to the input of the executive body.