Method for generation of signals for control of homer rotating by list angle

FIELD: weapons and ammunition.

SUBSTANCE: method of generation of a signal of control of a shell rotating by list angle consists in detection of an amplitude modulated signal with a tracking gyroscopic head of homing, proportional to angular speed of a target sighting line, conversion of a signal into a width-modulated signal that arrives to an inlet of a steering drive of the shell. At the same time the sum of the amplitude-modulated signal and the signal of the sensor of angular speed of the shell filtered with a filter of noise components and a filter of a permanent component is converted into the width-modulated signal.

EFFECT: provision of possibility to increase probability of shell hitting a target.

1 cl, 6 dwg

 

The invention relates to the design of control systems, unmanned aerial vehicles and can be used in the complexes managed artillery weapons and other weapons systems, in which the final part of the trajectory is homing by the method of proportional navigation.

There is a method of generating control signals artillery managed projectile by the method of proportional navigation [Weebie, Web, Avignon, Arilou. "Fundamentals of the structure and function of the artillery and guided missiles", Moscow, publishing house of the University, 2003, s-111)adopted for the prototype, including the definition of witness gyroscopic homing head (GOS) at the time of signal reception target illumination amplitude-modulated signal proportional to the angular velocity of the line of sight goals coming in the correction winding gyroscopic GOS, converting the amplitude-modulated signal GOS in pulse modulated signal, the controlling relay steering gear shell.

A distinctive feature of artillery guided projectiles, due to the limitation of the size of the tail of the glider shell if you need to create the required disposable overload glider is a small decrement to own is ebony airframe, which leads to an increase in the amplitude of the projectile in the angles of attack and sideslip. The increase in the amplitude of the projectile may cause the loss of stability of the glider, as well as to the impact of a gyroscopic rotor of the homing head with the body of the projectile due to the structural limitation of the angle of pumping the last, which leads to the necessary limitations of proportional navigation and reduce the likelihood of penetration of the projectile into the target.

The task of the invention is to develop a control method artillery rotating angle of roll homing projectile, allowing the reduction of the oscillation amplitude of the projectile in the angles of attack and slip.

The solution of this problem is achieved in that in the method of generating signals to control the rotating angle of roll of the projectile, including the definition of witness gyroscopic homing head at the time of signal reception target illumination amplitude-modulated signal proportional to the angular velocity of the line of sight goals, converting the amplitude-modulated signal into a pulse modulated signal, the controlling the steering actuator of the projectile entered the convert pulse modulated signal at the time of signal reception target illumination and at a time equal to half the period of podeswa is a goal, the sum of the amplitude-modulated signal and filtered by filters noise and constant component of the signal of the angular velocity of the projectile.

The increase of the damping rate of the projectile is provided at the expense of coverage of the projectile feedbacks on the angular velocity of the projectile. With the introduction of the signals of the angular velocity of the projectile equivalent damping ratio of the projectile ξEQincreases in accordance with addictions

where κa, κRP, κPL- transfer coefficients of the equipment, steering gear, airframe projectile;

KBDthe factor that determines the magnitude of the signal of the angular velocity of the projectile in the control signal projectile;

ξPL, TPLτPL- decrement and time constants airframe projectile.

The signal of the angular velocity of the projectile is measured by sensors of angular velocity of the projectile located in the Equatorial plane of the projectile (Dusu, z). Transfer ratio DOS κBDselected in such a way as to provide the desired damping decrement of oscillations of the airframe.

The duration of the pulse modulated signals when the control by the method of proportional navigation is determined in accordance with addictions

,

where τy,z- the duration of the control signal in is provided with a projectile rotating roll coordinate system;

τmax- the maximum duration of the control signals determined by the frequency of the illumination purpose;

- the angular velocity of the line of sight goals associated with the shell, the rotating angle of the roll coordinate system;

- linear area on the control signal of the angular velocity of the line of sight targets, in which is formed a control signal of maximum length.

Linear area on the control signal determines the direction-finding characteristic GOS - dependence coefficient commands GOS from the angular velocity of the line of sight targets. Under the factor of the team will understand the normalized magnitude determined in accordance with addictions

where Kk(t) - factor command in the non-rotating roll coordinate system;

Y(t) is the signal in the non-rotating roll coordinate system equal to

Y(t)=Uy(t)·cosγ+Uz(t)·sinγ;

Uy(t), Uz(t) is the signal at the input of SPM in the rotating roll coordinate system;

T is the period of rotation of the projectile roll; t - current time;

γ is the angle of roll of the projectile is equal to γ=ωBP·t, where ωBP- the speed of the projectile roll equal to ωBP=2π/T.

The duration of the control signal according to the angular velocity signal VCS is determined in accordance with hung is shown

,

where ωy,z- the angular velocity of the projectile associated with the projectile rotating the roll angle coordinate system, measured by the sensors of angular velocity of the projectile (Dusu, z).

The signals of the angular velocity of the line of sight goals and angular velocity of the projectile algebraically summed at the input of the PWM.

As sensors of angular velocity of oscillation of the projectile in the associated coordinate system is used micromechanical sensor (MMG) ADXRS300, ADXRS453 Analog Devices. The transfer function MMG signal of the angular velocity is determined in accordance with addictions

where TBD- time constant DOS, defined the required bandwidth VCS. The delay introduced by the VCS when measuring the angular velocity of the projectile, is compensated by the phase reversal of the VCS in relation to the plane surface of the shell.

For filtering, the signals Dusu, z constant component, arising from the inaccuracy install VCS in the longitudinal plane filtering signals VCS filter of constant component. The transfer function of the filter of constant component is determined in accordance with addictions

where Tf- the time constant of the filter is determined by the required performance of the filter.

DL the exception lag filter constant component, arising in the transition process, due to the zero initial values for the filter, the control signal VCS is performed after completion of the transition process in the filter of constant component.

Frequency generating control signals GOS is determined by the frequency of illumination of target. At the time of arrival of the pulse illumination targets formed of amplitude-modulated signals proportional to the angular velocity of the line of sight targets, which are then converted into pulse width modulated signals that control the steering actuator of the projectile. Signals VCS are summed with the amplitude-modulated signals GOS at the time of arrival of the pulse illumination purpose and through pollperiod target illumination. Frequency summation signal VCS with signals GOS is defined by allowable distortion in the spectrum of the signal VCS with the discretization of the pickup signals.

A distinctive feature of MMG is the dependence of the MMG signals from the acceleration acting on MMG caused by mechanical "thud" moving parts electromagnets RP, causing noise and interference pulses in the MMG signals. The magnitude of disturbances pulses is comparable, and in some cases exceeds the useful signal of the angular velocity of the projectile.

Filtering the signals VCS disturbances pulses is carried out by the filters of disturbances impulses.

Sal is the rhythm filtering based on memorizing signal VCS, prior abrupt change of the signal. The frequency of the signal VCS entering the filter disturbances pulses were chosen so that the change of the useful signal in a single step filter does not exceed the threshold level of the filter in the absence of disturbances pulses exceed the threshold level upon the occurrence of disturbances pulses. The length of time memorizing signal VCS was determined by the duration of the interfering pulse. The filter algorithm disturbances pulses is determined by the following dependency:

in the first step

Q1=0; F1=Y1;

starting from the second step

;

where k is the step number of the selected frequency;

Y - the MMG signal at the input of the filter disturbances pulses;

F - signal at the output of the filter disturbances pulses;

Δ is the absolute value of the slew rate of the signal;

Δthen- threshold value signal filter noise and interference pulses;

S - a sign of the presence of interfering pulse;

Q - feature "clipping" of interfering pulse;

Qmax- count the duration of the memory signal in the presence of interfering pulse.

According to the results of mathematical modeling applies the specified filter disturbances impulsively to increase the likelihood of getting the ball into the goal in the presence of impulse noise.

The proposed method for the generation of control signals explain graphic materials, is shown in figure 1-6.

Figure 1 shows the dynamical characteristics of the GOS on the control signal, figure 2 - dynamical characteristics of the GOS on the signal of the angular velocity of the projectile.

In figure 1, 2 is indicated:

1 - dynamical characteristics of the angular velocity of the line of sight;

2 - linearized dynamical characteristics of the angular velocity of the line of sight, determined in accordance with the relationship:;

3 - dynamical characteristics of the GOS on the angular velocity of the projectile, measured DOS;

Kk- factor team gyroscopic GOS, measured in units of the command (unit K.);

- the angular velocity of the line of sight targets, °/s

From figure 1 it is seen that when the angular velocity of the line of sight targets equal to 1°/c ratio command GOS is 0.7 EDC, the transmission coefficient CLO is equal to 0.8 EDC/(°/s). Dynamical characteristics of the GOS is shifted in the x-axis, due to their own care GOS. Dynamical characteristics of the GPS signal VCS shown in figure 2, it is determined if the transmission coefficient CLO equal to 0.8 EDC/(°/s), the transfer coefficient Dusu, z, is equal to 0.012 (°/sec)/(°/s).

Figure 3 presents the signal VCS containing the interfering pulse is one, due to the "knock" moving parts electromagnets RP, and signal VCS, filtered by filter noise and interference pulses.

4 shows the method of generating control signals presented in the prototype, figure 5 - proposed method. Figs.4, 5 indicated:

1 - photodetector (PSD);

2 - amplitude pulse width modulator (aim);

3 - winding correction (OK) gyroscopic head homing;

4 - hyrocordone (G);

5 is a pulse-width modulator (PWM);

6 - steering linkage (RP);

7, the sensor of angular velocity of the axis of the shell (DOS);

8 - filter noise and interference pulses (DRF) signals VCS;

9 - filter of constant component (FAC) in the signal VCS;

10 - adder (Sum.) signals GOS and the REMOTE control.

Figure 6 presents the algorithm for filtering noise and interference pulses.

Figure 6 indicated:

1 - sensor noise and interference pulses (DP);

2 - driver signals (f);

The criminal code, S, Q a, F signals filter noise and interference pulses.

The formation method described in the prototype (figure 4), is implemented as follows. The signal GOS formed FPU (1) and is proportional to the misalignment of the GOS-goal comes in amplitude and pulse modulator (2)where it is converted to pulses of a certain duration, the amplitude of which is proportional to the signal FPU. The amplitude-modulated signal post the AET in the correction winding (3). The signal in the winding correction expands hyrocordone (4) toward the goal, providing tracking GOS for the purpose. The amplitude-modulated signal is converted into pulse-width modulator (5) in pulses of constant amplitude, the duration of which is proportional to the amplitude of the PAM signal. The signal from the PWM output is fed to the input of the ER.

The proposed method of generating control signals (figure 5) characterized in that the pulse-modulated signal to convert the sum of the amplitude-modulated signal at the first input of the adder (10) and filtered by filter noise and interference pulses (8) and the filter of constant component (9) of the sensor signal of the angular velocity of the projectile (7)supplied to the second input of the adder (10). Converting the amplitude-modulated signal into a pulse-modulated signal is produced at the time of reception of the pulse illumination of target and through pollperiod target illumination.

The proposed method allows to reduce the amplitude of the projectile in the angles of attack and slip 10-15° to not more than 2°, which reduces the probability of collision of the rotor of the gyroscope GOS with the body of the projectile. The decrease in amplitude of the projectile in the angle of attack also increases the proportional navigation and consequently increase the likelihood of getting the projectile to the target.

The formation method is Ignatov control rotating angle of roll of the projectile, including the definition of witness gyroscopic homing head of the amplitude-modulated signal proportional to the angular velocity of the line of sight goals, converting the signal to a pulse-modulated signal at the input of steering of the projectile, characterized in that the pulse modulated signal to convert the sum of the amplitude-modulated signal and filtered by filter noise and interference components and the filter of constant component of the sensor signal of the angular velocity of the projectile.



 

Same patents:

FIELD: weapons and ammunition.

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2 dwg

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2 cl, 1 dwg

FIELD: physics.

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1 dwg

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2 dwg

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4 cl, 3 dwg

Self-homing device // 2392575

FIELD: physics, navigation.

SUBSTANCE: invention relates to navigation equipment and is primarily meant for solving the problem of self-homing through constant-bearing approach of short-term interacting small aircraft. The device has an antenna, a radar set, a timer and a control device. There are two evaluators, an electronic switch, two memory units, a logic device and a control device. The antenna is connected to the first input of the radar set whose output is connected to the first inputs of the first evaluator and the first memory unit. The output of the first evaluator is connected to the first input of the second evaluator and to series-connected electronic switch and second memory unit, the output of which is connected to the second input of the first evaluator, whose output is connected through the first input of the logic device to the input of the control device. A standard one signal is transmitted to the second input of the logic device. The output of the control device is the output of the entire device. The radar set, whose second input is connected to the output of the timer, can be a range finder of a Doppler frequency measuring device.

EFFECT: simple design and broadening options for controlling kinematic motion through constant-bearing approach.

6 dwg

FIELD: defense technology.

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EFFECT: increased accuracy of movable targets accompanying.

2 cl, 2 dwg

FIELD: weapon and ammunition.

SUBSTANCE: table stimulator contains signal generator (target simulator), target seeker, analogue computer (AC). Target seeker (TS), containing "БЦВМ" is mounted on fixed base. Signal generator is mounted on fixed base so that its longitudinal axis is aligned with TS longitudinal axis. AC contains assembled aircraft (A) dynamic and motion models, target motion models, TS gyrostabilised platform motion model, TS gyrostabilised platform control models, aircraft-target unit vector calculation model. The table allows for real-time semi-scale simulation of aircraft homing system within the whole range of angular velocity of aircraft-target aiming line without system contour dynamic distortion.

EFFECT: higher accuracy of simulation.

1 dwg

FIELD: armament, in particular, artillery guided missiles with a laser semi-active homing head locking on n illuminated target in the terminal trajectory leg; the invention is designed for control of fire of mortars and barrel artillery of calibers, types 120, 122, 152, 155 mm, at firing of guided ammunition, as well as of guided missiles with a homing head.

SUBSTANCE: the method consists in the following: the target is detected by a target indicator, then the distances between the target indicator and the target and the firing position and the target are measured with a topographical survey of the target, target indicator and the firing position, computation and realization of the firing settings according to the target and firing position coordinates. Then, missile guidance to the target is performed, it includes a successive gun setting and turn of the missile on target illuminated after the shot by laser radiation of the target indicator, the topographical target survey and conversion of its coordinates to a sequence of binary codes is accomplished with the aid of a reconnaissance panel, and the computation of gun settings is performed with the id of a gun control panel. A common computer time is organized in the reconnaissance panel and in the gun control panel, and after the shot up to the actuation of the target indicator transmission of the value of the time of switching of target indicator laser radiation is performed from the gun control panel to the reconnaissance panel by means of digital radio communication, and the signal of switching of target illuminance is automatically transmitted from the reconnaissance panel to the target indicator at achievement of the time of switching.

EFFECT: enhanced accuracy of fire by a guided missile at a target illuminated by a laser beam due to reduced quantity of "hand" operations and enhanced accuracy of synchronization of the moment of target illumination with the time of the shot; the last property is especially important for destruction of moving targets.

1 dwg

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