Method of linearised signal shaping on missile rotating by bank angle signal lineariser switchable signal lineariser integration method for linearised signal shaping and digital integrator for its implementation

FIELD: aviation.

SUBSTANCE: in the method of linearised signal shaping, the rotation period of missile is divided into time intervals on the missile rotating by bank angle, their durations are measured and stored in a certain way. Signal lineariser comprises digital integrator, calculator, tilt signal shaper, step-signal shaper, register and clock-pulse driver. Switchable signal lineariser comprises digital integrator, two calculators, tilt signal shaper, step-signal shaper, tilt sensor, register, control unit, switchboard, clock-pulse driver. In the process of integration, the amplitude of clock pulses is integrated on the missile rotating by bank angle in order to shape the linearised signal, bit-by-bit summing of bitwise binary parallel numbers for each rising edge of clock pulses is carried out. Duration of integration interval is set of corresponding duration of angular spacing of 90 degrees. Then, the integration process is repeated, by changing the discrete quantity in a certain way before starting. Digital integrator comprises series-connected single-bit digital cells. Cell contains D-flip-flop and adder connected in a certain way.

EFFECT: high precision of control command shaping by missile.

11 cl, 7 dwg

 

The invention relates to a method and control systems aircraft, a rotating angle of roll, and can be used in missile guidance systems, forming a Board of control commands, for example televidenie in the beam.

The known method of forming the linearized signal to the rotating angle of roll of the rocket and the signal linearizer based on it [the patent of Russia №2282129 from 20.08.06 G., MCI7F41G 7/00], selected as a prototype. The known method of forming the linearized signal to the rotating angle of roll of the rocket, including the formation mounted on the missile sensor roll angle pulses, which divide the period of rotation of the missile angle of roll at time intervals corresponding to one-quarter kranovogo period, measure and remember the duration of the current time interval.

Known linearizer signal contains a tilt sensor, the transmitter, the series-connected integrator and shaper kranovogo signal and the generator speed signal, wherein the first and second outputs of the sensor roll are connected respectively with the first and second inputs of the former (kranovogo signal.

As described above, the magnitude of the amplitude, i.e. the amplitude of the peak-to-peak, Linearisation of the signal at the output of linearizer for each�first quarter kranovogo period equal to

where τ is the time constant of integration,

T - the duration of the time interval.

As a discrete value of the amplitude A=Ai-1=Ai=const in each quarter of krenova period, when the summation of a value of A from expression (1) with the value minus A/2 when the value (e.g. A=2B and ti=Ti-1the value of the amplitude of the linearized signal will change from minus to 1B +1B. Thus, at a constant value of the angular velocity of rotation of the missile angle of roll of the linearized signal is symmetric with respect to zero, and the value of its magnitude is equal to a predetermined, i.e. 2B. However, when acceleration or deceleration of rotation of the missile angle of roll, for example, the decrease in tirelative Ti-110% according to expression (1) subject to the summation signal Linearisation will vary from minus 1B to +0.8 B, i.e. asymmetric with respect to zero, and the size of its wingspan of 1.8 B will not be equal, i.e. 2B.

Rocket since the start and till the moment of getting it, for example, in the beam (in televidenie) is controlled independently. When this pulse-width modulated (PWM) control command generated at the rocket, for example, pitch, zero when they are accelerated or decelerated motion of a rocket, is distorted. In this case, instead of the zero team is formed of 0.1 units. Coman�s, according to the example above.

Thus, in the known technical solution involved in formation of the linearized signal value of the duration of the previous kranovogo pulse, with a variable duration Kreinovich pulse error occurs, the value of which is greater than more or less (negative sign) the acceleration of the rocket on its flight trajectory.

Therefore, the disadvantage of this method of forming the linearized signal to the rotating angle of roll of the rocket and the known signal linearizer based on it, is not sufficiently high accuracy of forming a linear signal when changing flight speed (acceleration) of the rocket.

Known integration method for the formation of the linearized signal [L. Falkenberry "operational amplifiers and linear ICS", M.: Mir, pp. 126-132, Fig.6.2, 6.4, prototype], which integrates the amplitude of the linearized signal in the time interval equal to the duration of the angular interval. The known method includes setting a zero logic level in the initial state of the integrator outputs of D flip-flops and the input K-bit parallel binary number on the inputs of the adders.

A known shift register with parallel input [U. Titze, K. Schenk "Semiconductor� circuitry", Moscow, Mir, 1983, p. 356 Fig.20.18 prototype] employing the method and apparatus of increasing (integrating, for example, in time) in a parallel binary number. A device for performing a method of integrating, contains "n" series-connected one-bit cells, each of which includes D-flip-flop, adder.

In the known technical solution, the maximum value of the binary number is determined by the number "n" of cells. In this case, the magnitude of the output binary number in the initial state, put equal to zero (0000). And then the first clock pulse (front) records in D-flip-flops parallel binary number, such as 0001, exercising its input. Subsequent clock pulses increases (shift right), respectively, in two (21), four (22), eight (23) and etc. times (with the proper number of cells). Thus, the change of the output signal is nonlinear, except for the first three values: 0, 20and 21that degrades the accuracy of formation of the linearized signal values of the roll angle.

Therefore, the disadvantage of this method of integration the binary number in parallel form and a device implementing it, is a small linear area of the output signal that you want to adjust, for example, using programmable W�commemorating the device. This imposes a limitation on the application of known technical solutions.

The objective of the proposed group of inventions is to improve the accuracy of formation of the linearized signal to the rotating angle of roll of the rocket, by eliminating or reducing the variation of the amplitude of the linearized signal when acceleration or deceleration of the missile, as well as improving the linearity of the linearized signal, which increases the overall accuracy of formation of the control commands to the missile.

The task is achieved in that in the method of forming the linearized signal to the rotating angle of roll of the rocket, including the formation mounted on the missile sensor roll angle pulses, which divide the period of rotation of the missile angle of roll at time intervals corresponding to one-quarter kranovogo period, measuring and storing the duration of the current time interval Ti-1, what is new is that, until you remember the magnitude of the duration of the current time interval we remember the previous value of the duration Ti-2and calculate the value of1Tias1Ti=2T i-1-1Ti-2where Ti- follow-up the duration of the time interval, i=0, 1, 2, etc., while the value of1Timultiplied by A=const is a given discrete value of the amplitude of the linearized signal, and for changing the time interval from 0 to ticorresponding to the angular interval equal to a quarter kranovogo period of rotation of the missile, the value ofA1Tiintegrate, then the process is repeated again.

The linearizer signal containing an integrator, a transmitter, connected in series shaper kranovogo signal and the generator speed signal, the sensor roll, the first and second outputs of which are connected to respective inputs of the driver kranovogo signal, what is new is that it introduced the register and the shaper of clock pulses, and the completed digital integrator, wherein the input of the shaper of clock pulses is connected to the third output of generator speed signal and the output with the clock input of the integrator, login register entry is connected with the fourth output of generator speed signal, data output register connected to the second data input of the transmitter, and the information input of the register together with the first information input of the transmitter is connected to the second output of generator speed signal, and data output of the transmitter is connected to the information input of the integrator, the reset input of which is connected to the first which is the control output of generator speed signal. The shaper of clock pulses is made as a digital frequency divider. The generator speed signal is in the form of synchronizer, register driver logic circuit And a pulse counter connected in series, first and second pulse shapers, "RS"flip-flop, inverted output RS-flip-flop and the register output of the shaper are respectively the first and second outputs of the generator speed signal, the output of the synchronizer and the first input of the logic circuit And a third output of generator speed signal, the fourth output of which is the first input of the RS flip-flop and the first output of the first pulse shaper.

Switchable linearizer signal containing the integrator, the transmitter sequentially with�United driver kranovogo signal and the generator speed signal, tilt sensor, the first and second outputs of which are connected to respective inputs of the driver kranovogo signal, what is new is that it introduced the register, the control unit, the switch, the second evaluator and shaper of clock pulses, and the completed digital integrator, wherein the input of the shaper of clock pulses is connected to the third output of generator speed signal and the output with the clock input of the integrator, implemented as a digital, with the first information input of the second transmitter and an information input of the register together with the information input of the first transmitter connected to the second output of generator speed signal, data output register connected to the second information input of the second transmitter, the information output of which is connected with the second information input of the switch, the first information input of which is connected with the information output of the first transmitter data output of the switch is connected to the information input of the integrator, and the control input of the switch - output of the control unit whose input is connected to the first output of the sensor roll angle, the input of the register entry is connected with the fourth output of generator speed signal, the first output of which is connected to the input of the reset integrator. Shaper bars�x pulses is implemented as a digital frequency divider. The generator speed signal is in the form of synchronizer, register driver logic circuit And a pulse counter connected in series, first and second pulse shapers, "RS"flip-flop, inverted output RS-flip-flop and the register output of the shaper are respectively the first and second outputs of the generator speed signal, the output of the synchronizer and the first input of the logic circuit And a third output of generator speed signal, the fourth output of which is the first input of the RS flip-flop and the first output of the first pulse shaper. The control unit is configured as RS-trigger, R-input coupled to the first output of the sensor roll angle, and S is the input directly to the output side of the power source. The switch is designed as two identical electronic key.

The technical result is also achieved by the fact that, integration method for the formation of the linearized signal to the rotating angle of roll of the rocket, including the integration in the time interval equal to the duration of the angular interval, the amplitude of the clock pulses, a zero logic level in the initial state at the outputs of D flip-flops and the input K-bit parallel binary number on the inputs of the adders, what is new is that on first inputs aisummat�ditch serves the appropriate value of each bit of the input K-bit parallel binary number, which bitwise summed in each subsequent corresponding adder in the second inputs bi+1with the values of bits of parallel binary number from the outputs of the transfer of Ci+1from each of the previous adder, remember the value of the total parallel binary number output of the sum Sicorresponding to each adder at the time of formation of the first rising edge of clock pulses, and after further summarize the memorized values of each bit parallel binary number received at the inputs of the transfer of cithese adders, with the values of the first inputs aiwith the second biwhere i=1, 2, ...K - the number of bits of parallel binary number (from Junior to senior), after which this cycle of summing repeated many times in moments of formation of the second and subsequent fronts slew of clock pulses, and the duration of the interval of integration is put the appropriate duration of the angular interval of 90° at the end of which is mounted on the outputs of the D flip-flops a zero logic level, and then repeat again the process of integration, and that with each cycle of the summation of the current value of the output parallel binary number, the bits of which form the outputs of D flip-flops increase on a constant di�particular amplitude, the number of discrete values which is limited to a predetermined value corresponding to the duration of the angular interval, changing a discrete value before beginning the process of integration in which the update of the input K-bit parallel binary number.

Digital integrator containing "n" series-connected one-bit digital cells, each of which includes D-flip-flop, adder, what is new is that, the adder is made of a two-input, the output of which is connected with the information input of D-flip-flop, a data output from which the subsequent cell is connected with the information input from the previous cell, the output of D-flip-flop is connected to the carry-in input of the adder, which from every previous digital one-bit cell is connected with second input of the adder of each subsequent one-bit digital cell and the first inputs of the adders of all digital one-bit cells are connected together and constitute the information input of the digital integrator, the second input of the adder of the first digital one-bit cell and the first input of the adder of the last one-bit cell is not borrowed and is connected to the housing, and the outputs of the D flip-flops of the respective cells are combined and the output of the digital integrator.

The inventive method of forming the linearized si�Nala on a rotating angle of roll of the rocket is implemented as follows. Since the start of the rocket starts to rotate by the angle of roll, for example, through the rotation of the blades stabilizers. In this case, the sensor roll angle, mounted on the rocket, generates pulses. These pulses represent two logic signal unit and zero, the logic level which is equal to the angular intervals of 180°, and the repetition period of each of them corresponds to 360°. Moreover, these two logical signal phase-shifted relative to each other by 90°. Using these two logical signal, break creevy period (the angular range of 0°...360°) at time intervals corresponding to one-quarter kranovogo period i.e. 0°...90°, 90°...180°, 180°...270°, 270°...360°.

Flight of a rocket is a helical movement, the term of rectilinear translational motion with velocity υ and rotation around its axis with angular speed ω, for example, stabilizers, creating rotational motion. ["Physical encyclopedic dictionary". CH. editor A. M. Prokhorov, Moscow, "Sov. Encyclopedia" 1984, p. 77],

where p is the parameter of the screw.

When evenly or uniformly accelerated-decelerated motion of a rocket on a plot of speed change from υ0to υtmedium (intermediate) speed υCPdefined as

Where

Therefore, measuring the magnitude of υ0and υWed,you can define the expected value of the velocity υt.

Thus, when uniformly-accelerated or uniformly-slow motion flight of the rocket, i.e. linear or close to linear change in the speed of flight, knowing the two values of the angular velocity (speed of rotation of the missile angle of roll): ωi-2- previous (corresponding to the initial speed υ0) and ωi-1- current (corresponding to the average velocity υcp.), taking into account the expression (4) can be uniquely calculate the value of a subsequent (future) the angular velocity ωi- follow-up (corresponding finite υtnot take into account the constant value of the coefficient p (setting screw).

where i=0...n every previous (i-2), current (i-1) and subsequent (future - (i) a quarter of the periods of rotation of the missile angle of roll, each of which corresponds to the angular interval of 90°, and determines the values of the corresponding angular velocities.

Given that

Substituting them into the expression (4) will receive for each quarter kranovogo period

Thus, measure and remember the duration of the current time interval Ti-1. And until you remember the magnitude of duration t�current time interval, overwrite its previous value of Ti-2that is also remember, and then calculate the value of1Tiusing the expression (7), where Ti- subsequent (future) the duration of the time interval, i=0, 1, 2, etc., when calculating further multiply the value of1Tion Ai=A=const according to expression (1).

Because remember values of Ti-1and Ti-2then memorized and calculated the value ofA1Tidetermining the value of the variable roll angle of the missile (in each quarter 0°-90°, 90°-180°, 180°-270° and 270°-360°) during time interval ti. This calculated valueA1Tiintegrate over the time interval from 0 to tiequal to Ti. Then the process is repeated again.

Thus, the linearized form of the signal of the rotating angle of roll of the rocket, with a small change in the magnitude of the acceleration of the rocket for 3/ kranovogo period virtually eliminates the change in the magnitude (amplitude) of the signal, leading to its symmetry with respect to zero.

The present invention is illustrated by drawings:

Fig.1 and 2 shows a structural electrical diagram, respectively, of the linearizer signal and the switched signal linearizer based on this method, where: 1 - tilt sensor (FCS), 2 - driver kranovogo signal (FCC), 3 - a generator speed signal (FSS), 4 - RS-trigger (PC), 5 - logic "And" (And), 6A, 6b and 6b - first, second and third pulse shaper, respectively (PHI1, PHI2 and PHI), 7 - synchronizer (C), 8 - pulse counter (C), 9 - a generator of clock pulses (PTI), 10 - register driver (FMT), 11 - digital integrator (CIN), 12 the calculator (C) Fig.1 and 12A, 12B of the first and second computers, respectively (B1 and B2) of Fig.2, 13 - the register (RG), 14 - control unit (CU), 15 - switch (K).

Fig.3 shows the waveforms of the signals, where: plots "a" and "b" signals on the first and second outputs of the sensor roll 1, curve "b" - signal at the output of the shaper kranovogo signal 2, plot "g", "d" and "e" signals at the outputs, respectively, of the first 6A, 6b of the second and third 6V shapers pulses, curve "f" signal is not inverted first output RS-flip-flop 4, plot "h" - signal at the output register of the generator 10, plot "and" - signal at the output �of egistra 13, plot "to" signal at the output of the transmitter 12, the plot of "l" - signal (simplified in analog form at the output of the digital integrator 11. On plots "W" and "and" conditionally shows the change in the magnitude of the signals U.

Fig.4 and 5 shows the block and circuit diagrams, respectively, of a digital integrator for generating a signal the magnitude of roll angle for rotating the roll of the rocket and its cells, where presented: 16A, 16B, 16n ...first, second, ... n-th digital cell (level) of the integrator, respectively (ja, JA2, ...YAP); 17 - the two-input adder (CMi) and 18 - D-trigger (TTicontained in each digital cell, where i=1, 2, ...n; (in this case, n=4).

Fig.6 shows the waveforms of the signals, as an example, to input the four-digit parallel binary number 0011 (in decimal form 21+20=3), where: plot "a" is the third signal at the digital inputs of the cells 16, i.e., clock inputs (C) D flip-flops 18 of the cells 16A ...16n (n=); plot "b1a ", "b2a ", "b3and b4"signals at the first inputs respectively of the first and1second and2third and3and fourth and4adders 17A, 17B, 17g and 17D, i.e. from Junior (first) senior (fourth) digits; plot "b" - signal at the second input b1adder 17A of the first digital cell 16A; plot "g1", "g2", "g3and g 4"signals of sum of the outputs of the first S1the second S2third S3and fourth S4adders respectively 18a, 18b, 18g and d; plot d1", "d2", "d3and d4"signals the migration at the inputs of the first C1the second C2third with3and fourth with4adders respectively 17A, 17B, 17g and 17D; plot (e1", "e2", "e3and e4"the signals at the outputs of the first transfer With2the second C3third With4and fourth With5adders respectively 17A, 17B, 17g and 17D; plot g - signal at the outputs respectively of the first 18a and second 18b, 18V third and fourth 18g D-flip-flops (outputs 6 digital 16 cells), forming a four-digit binary number;

Fig.7 shows the waveforms of signals when changing the angular velocity of rotation of the rocket, where: "h" - signal at the reset input (R) of the digital integrator 11, and the signal at the information input (inputs aiadders) digital integrator 11, "K" signal on clock input (input C) digital integrator 11, l - linearized signal at the output of the digital integrator 11.

In linearization signal (Fig.1) the first (exit 1) and second (output 2) outputs of the sensor roll 1 is connected with the corresponding inputs of the driver kranovogo signal 2 connected in series with formirovanie�eat speed signal 3, the second output (output 2) connected to the first data input (input 1) transmitter 12. The integrator 11 is digital, the input to the reset (R) which is connected to the control output of the inverting RS-flip-flop 4 which is the first exit (exit 1) generator speed signal. In the linearizer signal entered the shaper of clock pulses 9, the output of which is connected with a clock input (C input) of the integrator and the input it is connected to the output of the synchronizer 7, which is the third exit (exit 3) generator speed signal, the register 13 and the transmitter 12. The information input of the register connected to the second output of generator speed signal, and data output register connected to the second information (input 2) input of the transmitter 12, the information output of which is connected with the information input of the digital integrator. The fourth exit (exit 4) generator speed signal is connected to the input register entry 13. Thus the fourth output of generator speed signal is output 6A of the first pulse shaper, the input of which is connected to the output of the shaper kranovogo signal 2.

In the switchable signal linearizer (Fig.2) the first and second outputs of the sensor roll 1 is connected with the corresponding inputs of the driver kranovogo signal 2, serial�tively connected to the generator speed signal 3. The integrator 11 is digital, the input to the reset (R) is connected to the inverting output of the RS flip-flop 4, who is managing the first exit (exit 1) generator speed signal. In the switchable signal linearizer entered: shaper of clock pulses 9, two computer first 12A and second 12B, the switch 15, the register 13 and the control unit 14. Wherein the second output (output 2) generator speed signal is connected to the information input of the transmitter 12A, with the first information input (input 1) of the second transmitter 12B and the information input of the register 13.

The third exit (exit 3) generator speed signal is the output of the synchronizer 7, is connected to the input of the shaper of clock pulses 9, the output of which is connected with a clock input (entrance) of the digital integrator. The fourth exit (exit 4) generator speed signal is connected to the input of the write register, the information output of which is connected with the second information input (input 2) second evaluator. Data output of the transmitter connected to the second data input (input 2) switch 15, the first information input (input 1) of which is connected with the information output of the first calculator. Data output of the switch is connected to the information input of the digital integrator. Control input com�of otatara is connected to the output of the control unit 14, input coupled to the first output of the sensor roll 1. The fourth output of generator speed signal is output 6A of the first pulse shaper (not shown) whose input is connected to the output of the shaper kranovogo signal 2.

The generator speed signal is in the form of synchronizer 7, the register of the generator 10, the logical framework And 5, the pulse counter 8, consistently included the first 6A, 6b of the second and third 6V pulse shapers and RS-flip-flop 4, the inverting output of which the output register of the generator 10 are respectively a first (output 1) and second (output 2) outputs speed signal 3. The output of the synchronizer 7 and the first input logic circuit "And" 5 are the third exit (exit 3) generator speed signal, the fourth exit (exit 4) which is the first input of the RS flip-flop and the first output of the first pulse shaper.

The tilt angle sensor 1 can be formed as a positional gyroscope ("basics of radio control" under the editorship of Varela V. A. and Tippin V. N., Moscow, Soviet radio, 1973, pp. 49-52, Fig.1.29), wherein the axis of XGand YGchanging places, and instead of a mechanical potentiometer with a current collector used optoelectronic with two pairs of led-photodiode, share opaque cylindrical surface with slots, preach�m the center of the cylinder, forming this surface, connected to the axle frame, and two pairs of led-photodiode mounted on the housing of the gyroscope.

The former kranovogo signal 2, which is a logic "exclusive OR" and the logic "And" 5 can be applied, for example, chips respectively LA and TM. RS-flip-flop 4, for example, series-connected RS-flip-flop and an inverter.

Pulse shapers 6A, 6b and 6C is waiting multivibrators, the first of them is triggered by fronts rise and fall times input pulse signal, and the second and third are on the frontlines of the recession.

The synchronizer 7 may be performed as, for example, kwarciany oscillator pulses. Pulse counter 8, the registers 10 and 13 can be performed on chips respectively A and IR. The transmitter 12 and the computers 12A and 12B can be performed on the ROM, for example, on a chip RT. The shaper of clock pulses 9 is a digital frequency divider.

The control unit 14 is designed as RS-flip-flop, the input "S" coupled to an output device that generates a one-time impulse in the moment of the on-Board power source (not shown) on the operating mode. On the R-input of the control unit connected to the first output of the sensor roll 1, which signal is shown in plot "a" of Fig.3, pulses from the front narastajacego signal. Thus, the output of the control unit generates a pulse that occurs before the start of rotation of the missile angle of roll, i.e., respectively, ωt=0° and ending at a time corresponding to ωt=180°.

The switch 15 may be formed as two identical electronic key. The pulse signal output from the control unit 14 is supplied directly to the control input of the first and through the inverter, the second electronic key.

The adder 17 is a two-input adder, where 1 and 2 are the inputs of summing respectively the first aiand the second bithe number (one digit), (ci- the carry-in input, Ci+1the carry output, Si- the amount. D-flip-flop 18, for example, chip TM.

The signal linearizer of Fig.1, works as follows. During rotation of the missile angle of roll tilt sensor 1 generates two signals out of phase relative to each other by 90° (plot "a" and "b" in Fig.3). These two signals are received respectively on the first and second inputs of the former (kranovogo signal 2, the output of which is formed the signal (plot "b" in Fig.3). Upon receipt of this pulse signal to the input of the shaper speed signal 3, namely: the input of the series-connected pulse shapers 6A, 6b and 6C at their outputs will form the pulses, delayed in time relative to each other,respectively, plot "g", "d" and "e" (Fig.3).

At the time, for example t-1the output pulse of the first pulse shaper 6A (curve g of Fig.3) is supplied to the first (input 1) RS-flip-flop 4 and sets at its inverted output (output 2) single logic level (Fig.1). This output is a control output (output 1) generator speed signal 3 from which a single logic level is input to the reset (R) digital integrator 11 and sets at its output a null value.

On not inverted output (output 1) RS-flip-flop 4 is set to a zero logic level (curve "f" in Fig.3). This level is fed to the second (input 2) input logic circuit "And" 5 and prohibits the passage of the signal from the synchronizer 7 (received at its first input 1) on the output of the logic circuit And 5. While no pulses arrive at the counting input (input) pulse counter 8 and he's counting the number of pulses goes into storage mode this counted number of pulses (binary number) corresponding to the magnitude of the time interval T-1.

Simultaneously, this same pulse at time t-1with record outputs (output 4) generator speed signal 3 is input to the write register 13 and writes the information (in parallel binary code, information second you�ode (2) generator speed signal 3, i.e. from the register output of the generator 10 (plot and Fig.3) corresponding to the length of the interval T-2that was previously recorded in the register of the pulse generator 10 t-2(curve "d" in Fig.3). At timet-1'the pulse output from the second pulse shaper 6b (curve "d" in Fig.3) is input to the register entry generator 10 and writes the value number corresponding to the value of T-1(curve "h" in Fig.3) from the output of the pulse counter 8.

At timet-1"the output pulse of the third pulse shaper 6b (curve "e" in Fig.3) is input to the installation in the zero state (R) of the pulse counter 8 and sets at its output a logical zero.

Similarly, this same pulse (curve "e" in Fig.3) to the input (input 2) RS-flip-flop 4 and sets on him not inverted (output 1) the output is a logical unit, which allow the passage through the first input of the logic circuit And 5 at its output pulses from the synchronizer 7 at the counting input (input) pulse counter 8.

Numbers in a binary parallel code with information output (output 2) shaper speed�wow signal 3 (register of the generator 10) and the output of the register 13 receives, accordingly, on the first (input 1) and second (input 2) information inputs of the transmitter 12, which performs the calculations (for example, when A0=1).

where Tand- the repetition period of pulses at the output of the synchronizer 7, n is the number of these pulses is in the range of T0.

The binary number1nTand(curve "K" in Fig.3 in analog form) is supplied to the information input of the digital integrator 11. On a clocked input (input C) digital integrator serves clock pulses from the output of the shaper of clock pulses 9 which reduces (divides) the repetition frequency of the pulses from the output of the synchronizer 7 driver speed signal (output 3) k times, i.e. increases their repetition period. Therefore, during the integration time variable from 0 to t0equal to the interval T0the number of clock pulses (the number of discrete unit) N in the linearized signal at the output of the digital integrator 11 will be equal to

Thus, since k=const, and n is directly proportional to the duration T0the number of discrete N also directly proportional to the duration T0, the amplitude of the linearized signal A (curve l in Fig.3) is equal to

i.e. the amplitude of the linearized signal A does not depend on the duration of the interval T0.

To exclude the formation of a false signal at the output of the digital integrator 11 at the time of formation of the initial data for the calculation of1T0, pulse (with a single logic level) inverted (output 2) output RS-flip-flop 4 (inverted curve "f" in Fig.3) input reset digital integrator 11, reset it fort-1-t-1"(curve l in Fig.3, which shows the analog waveform).

As described above, the delay introduced by the second 6b and 6b third formers pulses, shown respectively in plots "d" and "e" in Fig.3 in fact extremely small. Consequently, small pulse duration with zero logic level (curve "f" in Fig.3).

Then the process of integration is repeated again. Thus similarly, time t0in the second register 13 write the information about the value of the duration T-1and in the register of the generator 10-T0and the calculator 12 calculates maths num="14"> 1T1=1nTand. In this discretely over time 0 to t1=T1digital integrator 11 will build again the linearized signal with amplitude A, etc.

As described above, in the initial moment of time, for example from 0° to 180° (curve "and" Fig.3) there is no information about values of durations of previous Kreinovich pulses at the transmitter 12, and hence the Linearisation of the signal that is depicted by a dotted line (plot "C", "I", "K" and "l" of Fig.3). Therefore, to exclude errors in the generation of pulse width modulated commands to the missile, the rotating angle of roll, in this period of time, for example, impose a delay on the disclosure rudders or lock in the middle position (if valid delay control), etc.

Switchable signal linearizer of Fig.2 (no delay), works similarly shown in Fig.1 since the time corresponding to ω·t=180°.

At this time, the control unit 14 connects via analog switch 15 to the information input of the digital integrator 11, the second transmitter 12B. And up to this point of time works like that shown in Fi�.1, in the absence of the register 13, i.e., only one previous value of the interval Ti-1. This uses only the first transmitter 12A, the signal of which is supplied through the first data input (input 1) analog switch 15 to the information input of the digital integrator 11.

The claimed method of integration for the formation of the linearized signal rocket is implemented as follows. In the initial state, the output of the digital integrator is set to zero logic level, i.e. parallel output binary number equal to zero. In addition, form heartbeats.

Information to the digital input of the integrator 11 is carried out input input K-bit parallel binary number, such as1nTand(curve "K" in Fig.3 in analog form). To do this, first inputs aicorresponding two-input adders of the digital integrator serves the values of each bit (logic level one or zero) of the input K-bit parallel binary number. These values summarize the bitwise in each subsequent adder according to the second inputs bi+1with the values of bits of parallel binary number from the outputs of the transfer of Ci+1�W each of the previous adder. For example, aithe input of the second (i=2) received a second adder (most significant) bit of the parallel input binary numbers that summarize (on the second input bi+1with a value of discharge transfer output from the first Ci+1(i=1) adder, i.e. adder, a first input of which is supplied Jr. (first) category aiinput parallel binary number.

Each i-th D-flip-flop stores the value of the category (logical level) Sitotal parallel binary number output of each i-th two-input adder in the moments of formation of fronts slew of clock pulses. After passing each rising edge of clock pulses stored value of each bit parallel binary number additionally summarize the inputs of the transfer of ciwith the corresponding bits from the previous total parallel binary number.

Put the duration of the demand interval corresponding to the duration of the angular interval of 90° (in each quarter kranovogo period), after which the set output of the integrator is zero logic level, and then repeat again the process of integration. Thus with each cycle summation is increased by a constant discrete value the current value of the output binary pairs�lennogo number, the bits which form the output of the integrator. The number of discrete limit values specified value corresponding to the duration of the angular interval of 90°, changing a discrete value before beginning the process of integration in which the update of the input K-bit parallel binary number.

The second input of the b1Mladshego (first) discharge (i=1) of a first two-input adder (first cell) connect with the body, because it is untapped because of the lack of previous two-input adder. First inputsai_,,which are the inputs of the adders forming the bits of the input parallel binary largest to-connect with the body, since they are unused because of the lack of data bits in the input K-bit parallel binary number.

Digital integrator 11 (Fig.4) that implements the claimed method of integration for the formation of the linearized signal rocket, contains "n" series-connected one-bit digital cells 16A, 16B, ...16n, each of which includes D-flip-flop 18 and a two-input adder 17. The inputs installed in the zero (R inputs) D-flip-flops of all one-bit digital Yach�EC 16A...n are connected together and are the input of setting the initial state of the integrator. Inputs clock (inputs) D-triggers of all one-bit cells are connected together and are a clock input of the integrator.

In each of the digital one-bit cell (Fig.5) output the sum of Siadder 17 is connected to data input (D input) D-flip-flop 18, the output of which is connected to the input of the transfer ciadder 17. The carry output of Ci+1adder 17 from each previous digital one-bit cells 16A, 16B, 16n ...connected to the second input bi+1adder 17 of each subsequent one-bit digital cell.

The second input b1adder from the first digital one-bit cell 16A and the first unused inputs of the adders of the last digital one-bit cells C, ...16n is connected to the housing.

Digital integrator 11 for generating a signal the magnitude of roll angle for rotating the roll of the rocket, shown in Fig.4, operates as follows.

Information about the magnitude of roll angle of the missile, presented in the form of parallel binary number is supplied to first inputs of respective digital cells 16A, 16B, ...16K, i.e. first inputs aiadders respectively 17A, 17B, ...17K.

Moreover, the low-order parallel binary number is supplied to a first input of the first digital cell 16A, followed by second digit is supplied to a first input of a second one-bit� digital cell 16B, etc. until older to discharge, which is fed to a first input of a digital one-bit cell 16K.

Thus, for example, in the case of subsequent digital one-bit cells C, ...16n (unused at this entrance) their first inputs connected to the housing. It should be noted that unused on the first input digital cell high-order digits are required, if necessary, to increase the interval of integration, corresponding to the increase of the range (change the values) of the signal of the roll angle of the missile, which eliminates the limitation of the linearized digital signal.

The second inputs b1adders 17B 17n...receives pulse signals from the carry output of the adder of the previous digital one-bit cell. Wherein the second input of the adder 17 of the first digital one-bit cell 16A is connected to the case, because there is no previous cell, and hence the carry signal from its output. Third inputs clock inputs C of Fig.4) all digital cells 16 are United together at their entrances served clock pulses of constant frequency from the output of the shaper of clock pulses 9 (curve "a" in Fig.6).

Previously, for example, at the outlet side of the power source to the operating mode (if required), and moments of the end of the interval of integration form the impulses that post�up on the fourth inputs reset inputs (R) of all digital cells 16, combined together, and establish on their outputs, namely the outputs of D-flip-flops 18 (exit 6) a zero logic level.

As an example, the input signal of the digital integrator presented two-digit parallel binary number 0011 into a parallel form (decimal code 3) for which the corresponding values of logic levels (ai(plot "B1", "B2", "B3" and "B4" in Fig.6). The arrangement of bits of parallel binary four-digit numbers in Fig.4 from left to right, i.e. from Junior (MP) to senior (CP), coincides with the bits belonging respectively to the first 16A and second 16B, the third 16 and fourth 16g digital one-bit cells.

After zeroing the adder 17A of the first cell 16A sums the two signals at the input of a1- logical unit and input b1- a logical zero (plot "b1"and "b" in Fig.6, respectively). At the output of S1adder 17A is formed of a single logic level (curve "g1"Fig.6). In the time of arrival of the leading edge (rise) of the first clock pulse (plot "a" of Fig.6) a single logical level of the c of S1adder 17A through D input of D-flip-flop 18a is written on its output, which is input to the migration of c1adder 17A (curve "d1"Fig.6). The output S1the adder will form 17A�I zero logic level, since S1=1+1=0 when transferring 1 at the output of C2. A zero logic level c output S1is supplied to the D input of D-flip-flop 18a and rising edge of the second clock pulse (plot "a" of Fig.6) written on its output, c which is input to the migration of c1adder 17A. Then the process repeats.

Thus, first digital cell 16A output S1adder 17A is formed a signal changing logic levels of which are given on the plot "g1"Fig.6. Similarly in excess of S1(the amount) is greater than unity, when the output S1formed a zero logic level, the carry output C2appears single logic level (curve "d1"Fig.6). As can be seen from this plot, the logic levels of zero and one correspond to the value of the binary number to the first (LSB), which determines the quantity of the linearized signal.

A carry signal (output 5) the first digital cell 16A (signal C2c the output of the adder 17A) is supplied to the second input of the b2adder 17B of the second digital cell 16B, a first input of a2which comes second (after the first LSB) bit binary input number (curve "b2"Fig.6), which is a single logic level. In the initial moment of time the output S2 adder 17B of the second digital cell 16B is formed of a single logical level, because zero are summed and a single logic level, while the input of the transfer c2a zero logic level.

In the time of arrival of the leading edge of the first clock pulse (plot "a" in Fig.6) a single logical level of the c of S2adder 17B on the D input of D-flip-flop 18b prescribed at its output and is input to the transfer c2adder 17B. In this case, the carry signal C2c the output of the adder 17A of the first digital cell 16A (curve "e1"Fig.6) supplied to the second input b2adder 17B of the second digital cell 16B with a little delay due to the propagation time of a signal through a two-input adder of the first digital cell. The carry signal C2changes its logic level of zero in a unit on the second input b2adder (curve "e1"Fig.6). Therefore, the output S2will remain isolated logic level, and the carry output (C3will change the logic level of zero in the unit of transfer units (curve "d2"Fig.6).

The rising edge of the second clock pulse (plot "a" in Fig.6) is supplied to the D input of D-flip-flop 18b and registers at the output of a single logic level from the output of the adder S2, i.e.�provide a single logic level, input transfer c2adder 17B (curve "d2"Fig.6). The carry signal C2supplied to the second input b2adder 17B (curve "d1"Fig.6) is similar with a little delay, at the output of S2adder 17B is formed of a zero logic level, and the carry output (C3will remain isolated logic level (curve "d2"Fig.6).

The rising edge of the third clock pulse (plot "a" in Fig.6) is supplied to the D input of D-flip-flop 17B and prescribes at its output a zero logic level c output S2that is input to the migration of c2adder 17B. Thus similarly to the second input b2adder 17B receives the carry signal C2(curve "d1"Fig.6), which changes the logic level zero on the unit and at the output of the S2adder is formed of a zero logic level, and the carry output (C3will remain isolated logic level (curve "d2"Fig.6).

Further, when the flow front of the fronts of the fourth and subsequent clock pulses (curve "a" in Fig.6) the whole process for the second digital cell 16B is repeated.

A carry signal (output 5) second digital cell 16B is supplied to the second input b3adder 17B of the third digital cell 16B. A first input of a3adder 17B �will occupait third binary digit of the input number (curve "in 3"Fig.6), which is a logical zero level. In the initial moment of time the output S3adder 17B of the third digital cell 16B is formed of a zero logic level, as summarized two zero logic level.

In the time of arrival of the leading edge of the first clock pulse (plot "a" in Fig.6) the zero logic level at output S3adder 17 to the D input of D-flip-flop 18b is written on the output, and then is input to the migration of c3adder 17B. In this case similar to that presented above, a carry signal C3(single logic level at a second input of the b3adder 17B (curve "d2"Fig.6) will come with a little delay. At the output of S3to change a zero logic level on the unit (plot "g3"Fig.6), and the carry output (C4will remain zero logic level (curve "d3"Fig.6).

The rising edge of the second clock pulse (plot "a" in Fig.6) coming to the D input of D-flip-flop 18b (curve "d3"Fig.6) registers on the output of a single logic level c output S3adder 17B, which is input to the migration of c3adder.

With a single logic level signal at the second input b3adder (curve "d2"Fig.6) will not change, and the outputs S and C4the adder will form respectively the zero and unit logic levels (plot "g3"and d3"Fig.6, respectively).

The rising edge of the third clock pulse (plot "a" in Fig.6) is supplied to the D input of D-flip-flop 18V in this case is prescribed c S3adder 17V at the output of D-flip-flop 18b zero logic level, which then goes to the input of the transfer of c3adder 17B. To the second input b3adder 17B receives the signal from the carry output of C3adder 17B, which changes the logical level of the c a zero on the unit (curve "d2"Fig.6). The output S3adder 17 is formed of a single logic level, and the carry output (C4a zero logic level (curve "d3"Fig.6).

Similarly, the fore-fronts of the fourth and fifth clock pulses form the output S3and the carry output (C4adder 17B corresponding to the logic levels shown in Fig.6.

The carry signal C4c output 5 of the third digital cell 16B is supplied to the second input b4adder 17g from the fourth digital cell 16g. A first input of a4adder 17g enters the fourth (most significant) bit of the binary input number (curve "in4"Fig.6), which is a logical zero level. During the initial �belts outlet S 4adder 17g from the fourth digital cell 17g is formed of a zero logic level (summarized two zero logic level).

In the time of arrival of the leading edge of the first clock pulse (plot "a" in Fig.6) the zero logic level c output S4adder 17g on the D input of D-flip-flop 18g written on its output and is input to the transfer c4adder 17. In this case, the carry signal (logical zero) level on the second input b4adder 17g (curve "d3"Fig.6) will remain unchanged. Output signals S4and the carry output (C5will also remain unchanged, i.e. zero logic levels (plot "g4"and d4"Fig.6).

In the time of arrival of the leading edge of the second clock pulse (plot "a" in Fig.6) at the inputs of the adder 17g contains zero logic levels of the signals a4and c4and a single b4forming at its output S4a single logic level (curve "g4"Fig.4). The rising edge of the second clock pulse supplied to the D input of D-flip-flop 18g registers on the output of a single logic level, which is input to the migration of c4adder 17g.

With a single logic level signal at the second input b4adder 17g (curve "d3"Fig.6) will change its logic level of flameproof integrity�ü zero on the unit and the outputs S 4and C5adder 17g formed respectively zero and a single logic levels (plot "g4"and d4"Fig.6, respectively).

The rising edge of the third clock pulse (plot "a" in Fig.6) is supplied to the D input of D-flip-flop 18g and registers with the S4adder 17g at the output of D-flip-flop single logic level (previous saves), which is input to the migration of c4adder 17g.

Thus at the second input b4adder 17g will change the logic level c unit on zero (curve "d3"Fig.6) and the output S4adder 17g is formed of a single logic level, and the carry output (C5will remain a zero logic level (curve "d4"Fig.6).

The rising edge of the fourth clock pulse is supplied to the D input of D-flip-flop 18g and registers with the S4adder 17g at the output of D-flip-flop single logical level, which is input to the migration of c4adder 17g (saves previous logic levels at the outputs S4adder and a D-flip-flop).

Thus at the second input b4adder 17g changes the logical level of the c a zero on the unit (curve "d3"Fig.6), and the outputs S4and transfer C5adder 17g persists previous a single logical levels (plot "b4"and� 4"Fig.6, respectively).

The rising edge of the fifth clock pulse is supplied to the D input of D-flip-flop 18g and registers with the S4adder 17g at the output of D-flip-flop single logical level, which is input to the migration of c4adder 17g (retains the previous logic level). Thus at the second input b4adder 17g will remain isolated logic level (curve "d3"Fig.6), the output S4adder 17g changes the logic level from a single to zero, and the carry output (C5will continue previous single logic level (plot "b4"and d4"Fig.6, respectively).

At the moment of arrival, for example the leading edge of the sixth pulse, form a reset pulse which is supplied to the R inputs of digital cells and sets at their outputs a zero logic level. Then the process of integration is repeated again.

Thus, in the process of integration when changing the number of clock pulses from zero to five binary number at the outputs of the transfer of the adders of each digital cell increases. This generates a binary number in parallel form, increasing with each clock pulse by the value of the input number, in this case by the value 11 in binary code. Referring to Fig 6, the initial state�tion integrator 0000, in the time of arrival of the first clock pulse - 1100, second - 0110, third - 1001, the fourth - 0011 eve is the time of arrival of the fifth clocked pulse with regard to the carry signal c4in the fourth cell 1G - 1111.

Therefore, the maximum value of the signal at the output of the four digit integrator in this case is equal to 1111 (15=3·5 in decimal code) that corresponds to the plot of "W" in Fig.6. As described above, the input signal (in parallel binary code) is a two unit logic level received at the second inputs (a1,a1and a2accordingly, the first and second digital one-bit cells, and the inputs a3and a4,and the second input b1connected to the housing, whereby the output signal (of its discharge) will be withdrawn from sixth outputs of all four digital one-bit cells.

In some cases, for example, if it is impossible to reduce the frequency of the clock pulses when a parallel binary number has too many digits, the younger output signals are not used, that shown in Fig.4.

In the General case, as described above, the input K-bit parallel binary number, such as1nTandcorresponds to discre�and ΔA 0in the interval T0while lower angular speed of rotation of the missile angle of roll, i.e., T1>T0in the next interval of integration T1corresponds to the value of ΔA1<ΔA0(plot and Fig.7 in analog form). While zeroing the digital integrator 11 is carried out by the pulses shown on the plot "z" of Fig.7 (pulses from the second output of the RS flip-flop 4). Each rising edge of clock pulse (plot "a" in Fig.7) c the output of the shaper of clock pulses 9 increases the magnitude of the integrated signal value discrete respectively ΔA0or ΔA1(curve l in Fig.7).

Thus, each clock pulse (rising edge of) performs summation (adders) binary numbers ΔA0in parallel code with the number stored in cells (D triggers): beginning with zero, then ΔA0, 2ΔA0, 3ΔA0etc. to reset the digital integrator 11. Then the process repeats again for ΔA1(curve l in Fig.7), etc. As follows from the above, the magnitude of the discrete ΔAiinversely proportional to the value of Tiand the number of discrete unit is directly proportional to Ti. The minimum number of discrete unit corresponds to the maximum flight speed of the rocket. This should be considered to avoid reducing the accuracy, �Bukovina decrease in the number of discrete unit in the linearized signal, that eliminates a corresponding increase in the frequency of the clocked signal, and thus the number of cells.

In the description in order to simplify and facilitate the understanding of the work of the technical solution some diagrams of signals are shown in analog form.

Consequently, the proposed group of inventions is a method of forming the linearized signal to the rotating angle of roll of the rocket, the linearizer signal, the switchable signal linearizer, integration method for the formation of the linearized signal rocket and a digital integrator for its implementation allows to improve the accuracy of formation of the linearized signal to the rotating angle of roll of the rocket, by eliminating or reducing the change of the magnitude (amplitude) of the linearized signal when acceleration or deceleration of the missile.

1. A method of forming the linearized signal to the rotating angle of roll of the rocket, including the formation mounted on the missile sensor roll angle pulses, which divide the period of rotation of the missile angle of roll at time intervals corresponding to one-quarter kranovogo period, measuring and storing the duration of the current time interval Ti-1, characterized in that prior to the moment of storing the values of the duration of the current time interval� overwrite its previous value of T i-2that also remember, calculate the value of1Tiin which use the expression1Ti=2Ti-1-1Ti-2where Ti- follow-up the duration of the time interval, i=0, 1, 2, etc., when calculating the value of1Tiadditionally multiplied by A=const is the set value of the amplitude of the linearized signal, and for changing the time interval from 0 to ticorresponding to the angular interval equal to a quarter kranovogo period of rotation of the missile, the value ofA1Tiintegrate, then the process is repeated again.

2. The linearizer signal containing an integrator, a transmitter, connected in series shaper kranovogo signal and the generator speed signal, a roll sensor, first and second in�passages which are connected to respective inputs of the driver kranovogo signal, characterized in that it introduced the register and the shaper of clock pulses, and the completed digital integrator, wherein the input of the shaper of clock pulses is connected to the third output of generator speed signal and the output with the clock input of the integrator, the input of the register entry is connected with the fourth output of generator speed signal, data output register connected to the second data input of the transmitter, and the information input together with the first information input of the transmitter connected to the second output of generator speed signal, the data output of the transmitter is connected to the information input of the integrator, the reset input of which is connected to the first which is the control output of generator speed signal.

3. The signal linearizer according to claim 2, characterized in that, the shaper of clock pulses is made as a digital frequency divider.

4. The linearizer signal, according to claim 2, characterized in that the generator speed signal is in the form of synchronizer, register driver logic circuit And a pulse counter connected in series, first and second pulse shapers, "RS"flip-flop, inverted output RS-flip-flop and the register output of the shaper are respectively the first and second o�DAMI generator speed signal, the output of the synchronizer and the first input of the logic circuit And a third output of generator speed signal, the fourth output of which is the first input of the RS flip-flop and the first output of the first pulse shaper.

5. Switchable linearizer signal containing an integrator, a transmitter, connected in series shaper kranovogo signal and the generator speed signal, the sensor roll, the first and second outputs of which are connected to respective inputs of the driver kranovogo signal, characterized in that it introduced the register, the control unit, the switch, the second evaluator and shaper of clock pulses, and the completed digital integrator, wherein the input of the shaper of clock pulses is connected to the third output of generator speed signal and the output with the clock input of the integrator, the first information input of the second transmitter and an information input of the register together with the information input of the first transmitter is connected with the second output of generator speed signal, data output register connected to the second information input of the second transmitter, the information output of which is connected with the second information input of the switch, the first information input of which is connected with the information output of the first will calculate�La, data output of the switch is connected to the information input of the integrator, and the control input of the switch - output of the control unit whose input is connected to the first output of the sensor roll angle, the input of the register entry is connected with the fourth output of generator speed signal, the first output of which is connected to the input of the reset integrator.

6. Switchable signal linearizer according to claim 5, characterized in that the shaper of clock pulses is made as a digital frequency divider.

7. Switchable signal linearizer according to claim 5, characterized in that the generator speed signal is in the form of synchronizer, register driver logic circuit And a pulse counter connected in series, first and second pulse shapers, "RS"flip-flop, inverted output RS-flip-flop and the register output of the shaper are respectively the first and second outputs of the generator speed signal, the output of the synchronizer and the first input of the logic circuit And a third output of generator speed signal, the fourth output of which is the first input of the RS flip-flop and the first output of the first pulse shaper.

8. Switchable linearizer according to claim 5, characterized in that the control unit is configured as RS-trigger, R-input of which compounds� with the first output of the sensor roll, and S-input - output on-Board power source.

9. Switchable linearizer according to claim 5, characterized in that the switch is designed as two identical electronic key.

10. Integration method for the formation of the linearized signal to the rotating angle of roll of the rocket, consisting in the fact that integrating in the time interval equal to the duration of the angular interval, the amplitude of the clock pulses, establish a zero logic level in the initial state at the outputs of D flip-flops and administered the K-bit parallel binary number on the inputs of the adders, characterized in that the first inputs aiadders are served the appropriate value of each bit of the input K-bit parallel binary number that is the bitwise sum in each subsequent corresponding adder in the second inputs bi+1with the values of bits of parallel binary number from the outputs of the transfer of Ci+1from each of the previous adder, remember the value of the total parallel binary number output of the sum Sicorresponding to each adder at the time of formation of the first rising edge of clock pulses, and after further summarize the memorized values of each bit parallel binary number received at the inputs of the transfer of cithese adders, with K�aczeniami amounts first inputs a iwith the second biwhere i=1, 2, ...K - the number of bits of parallel binary number (from Junior to senior), after which this cycle of summing repeated many times in moments of formation of the second and subsequent fronts slew of clock pulses, and the duration of the interval of integration is put the appropriate duration of the angular interval of 90°, after which set on the outputs of the D flip-flops a zero logic level, and then repeat again the process of integration, and with each cycle of the summation of the current value of the output parallel binary number, the bits of which form the outputs of D flip-flops increase at constant discrete value of the amplitude, the number of discrete values which is limited to a predetermined value corresponding to the duration of the angular interval, changing a discrete value before beginning the process of integration in which the update of the input K-bit parallel binary number.

11. Digital integrator containing "n" series-connected one-bit digital cells, each of which includes D-flip-flop, adder, wherein the adder is made of a two-input, the output of which is connected with the information input of D-flip-flop, a data output from which subsequent cell connection� with the information input from the previous cell, the output of D-flip-flop is connected to the carry-in input of the adder, which from every previous digital one-bit cells connected to the second input of the adder of each subsequent digital one-bit cell, and the first inputs of the adders of all digital one-bit cells are connected together and constitute the information input of the digital integrator, the second input of the adder of the first digital one-bit cell and the first input of the adder of the last one-bit cell is not borrowed and is connected to the housing, and the outputs of the D flip-flops of the respective cells are combined and the output of the digital integrator.



 

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2 cl, 1 dwg

FIELD: weapons and ammunition.

SUBSTANCE: performed is topographic control of target indicator and launching facility to the terrain by ground satellite receiver, determined are coordinates of launching facility and location and ephemeris for each space vehicle of satellite positioning system, detected and measured are target coordinates, the coordinates are transmitted to artillery position control station, set is universal computer time in reconnaissanceman's console and artillery position control station, calculated and transmitted are shooting settings to launching facility automatic control unit, performed is missile launching procedure, the missile is launched from transporter-launcher container along the preset ballistic course, the missile is oriented by on-board navigation satellite receiver, when the missile approaches the target it is oriented by laser emitter.

EFFECT: providing higher probability of guided missile hitting the target.

Guided shell // 2537357

FIELD: weapons and ammunition.

SUBSTANCE: shell is made based on the canard configuration. The shell comprises an air-dynamic steering gear in the front section of the shell housing and aerodynamic control elements - steering wheels with pylons mounted in front of them. The air-intake devices of the air-dynamic steering gear are incorporated in the pylons and made in the form of bi-plane U-shaped plates with converting into the monoplane along the rear edge. In the front edge of the pylon the U-shaped hole is made and the hole in the shell housing is made.

EFFECT: increase in efficiency of the shell operation.

2 cl, 6 dwg

FIELD: transport.

SUBSTANCE: proposed set of inventions relates to military equipment, namely to method and means for parachute and fastened to it container packing. Method for packing parachute and fastened to it container with useful equipment into grenade body head includes packing of parachute canopy, shroud lines and metal extension (if present) into grenade body head. When parachute canopy is packed it is used to form dome in the grenade body head by means of special appliance. The major portion of canopy material is placed at side wall of dome. Portion of shroud lines of parachute adjacent to its canopy is wound as spiral onto the rod placed in concavity of dome. Appliance for packing parachute and fastened to it container with useful equipment into grenade body head is formed by body which consists of two coaxial and installed one inside the other bushings and by rod freely accommodated in the channel of inner bushing. On the outer bushing, at its front butt end on the outside fascia is made which centres it in grenade body head. On the inner bushing, at the side of its front butt end, outer diametrical lowering is made on which radial-longitudinal grooves are made which are symmetric to end slots of outer bushing and spaced from front butt end of inner bushing by minimum distance.

EFFECT: higher reliability of parachute deployment.

3 cl, 4 dwg

Guided missile // 2244897

FIELD: armament, in particular, guided missiles.

SUBSTANCE: the guided missile has a body with on-board systems, frame with drive shafts made with journals, with air vanes hinge-installed in their end face grooves for folding in the body and fixation in the unfolded position. The guided missile is provided with control-surface deflection transducers and a printed circuit board secured through an insulator on the front end face of the frame and connected by means of a bundled conductor to the on-board systems of the guided missile.

EFFECT: reduced spread in the value of the sweep angle of the air vanes in the process of manufacture.

2 dwg

FIELD: guided missiles, in particular, their control actuators.

SUBSTANCE: the control surfaces are connected by means of a half-axle, in which a central hole is made along the missile longitudinal axis, alkane holes are made perpendicularly to the longitudinal axis for installation of the axles of the control surfaces. The half-axle has components for coupling to the actuation cylinders.

EFFECT: enhanced efficiency of armor-piercing capacity of the missile.

4 cl, 2 dwg

FIELD: defense engineering; production of guided missiles and projectiles.

SUBSTANCE: the invention is pertinent to the field of defense engineering, in particular, to production of guided missiles and projectiles. The technical result of the invention is simplification of testing, increased accuracy, decreased labor input and cost of the testing. The method of testing of a developed torque of an electro-pneumatic steering gear of guided missiles and projectiles is based on a torque measurement of the steering gear with the help of a reference load and an easily removable balance lever put on a rudder. Then the steering gear with a detector of the rudders motion are installed on a customizing table. The detector of the rudders motion is made in the form of a separate contact or non-contact sensor or for the purpose they use an available in the steering gear as a feedback gauge - the gauge of a piston linear motion or a gauge of angular motion of rudders. The rudders turning at a maximum angle in one side is made using application of a torque of the corresponding sign by a reference load with the weight on a definite length of an arm of a placement of the load on the lever in respect to the axis of rotation of the rudders equal to a developed torque of the steering gear at the given pressure of the feeding. Switch on the power of the gauge, measure the voltage on the gauge output by a voltmeter, remove a torque by removal of the reference load, turn the rudders at a maximum angle in other side using application of a torque of an opposite sign equal to a maximum torque of a hinged load on the rudders in respect to the rudders turning angle and an angle of attack of a missile or a projectile. Switch on power supply of the booster of the steering gear and feed onto an input of the steering gear compressed air under pressure of P =1.5Pgvn., feed onto the input of the steering gear a maximum control signal of management corresponding to the motion of the rudders at a maximum angle, measure the voltage on the output of the gauge, which should meet the first given ratio. By a smooth reduction of pressure of the feeding in the pneumo-circuit) of the steering gear and according to reduction of voltage on the output of the gauge determine pressureP

+1
at which the voltage will meet the second given ratio. At that the pressure P+1
should be no more than Pgvn ,remove a pneumatic feeding and the power supply of the booster of the steering gear and switch off the control signal and the power of the gauge. After that using an analogous method they measure voltages and determine the pressure at application of the corresponding torques and a control signal of an opposite sign and determine a developed torque of the steering gear according to the mathematical formula.

EFFECT: the invention ensures simplification of testing, increased accuracy, decreased labor input and cost of the testing.

5 cl, 1 dwg

FIELD: methods for missile radar guidance on air targets in radar guidance systems.

SUBSTANCE: guidance of missiles on an air target moving in the direction to the protected object, including the detection of the air target, evaluation of the parameters of its trajectory, missile launching, missile-to-target approach to the distance of actuation of the missile warhead blasting device, correction of the missile heading in the process of approach, blasting of the charge of the missile warhead at a distance from the protected object not less than the preset one, is accomplished in the trajectory coinciding, in the terminal leg with the predicted missile trajectory. In the terminal leg the speed of the missile is set lower than that of the air target. The result is also attained by the fact that the guidance of the missile on the air target moving in the direction to the protected object, including the detection of the air target, evaluation of the parameters of its trajectory, missile launching, missile-to-target approach to the distance of actuation of the missile warhead blasting device, correction of the missile heading in the process of approach, blasting of the charge of the missile warhead at a distance from the protected object not less than the preset one, is accomplished in the trajectory of the missile displaced in the direction to the protected object. In the terminal leg the speed of the missile is set higher than that of the air target. The result is also attained by the fact that the radar set for guidance of the missile on the air target has a missile control point and an on-board radar equipment. The missile control point includes a detection radar, a guidance radar, a computer, a servo drive, a transmitting device and an antenna device, the missile on-board equipment has a missile antenna, radio-receiving device of the missile guidance channel, actuating device, selector switch, transmitting device, radio-receiving device of the detection channel, computer.

EFFECT: reduced dynamic errors of missile guidance on an air target, and enhanced time of radio contact of the missile warhead fuse: with the air target.

5 cl, 6 dwg

Control actuator // 2254267

FIELD: flying vehicle control systems, mainly small-sized guided projectiles.

SUBSTANCE: proposed control actuator includes adder whose first input is used as actuator input and correcting filter connected to adder output. Actuator includes also relay element, power amplifier and servo unit connected in series. Servo unit output is used as actuator output and is connected with second input of adder through feedback element. Circuit is additionally provided with harmonic signal generator and second adder. First input of adder is connected with correcting filter output and second input is connected with output of harmonic signal generator and output is connected with relay element input. Such arrangement makes it possible to change and to select parameters of correcting filter and gain factor of circuit.

EFFECT: enhanced operational accuracy and noise immunity.

1 dwg

FIELD: aeronautical engineering; control systems of unmanned flying vehicles provided with target coordinator and passive homing system.

SUBSTANCE: proposed method consists in selection of tracking point inside target loop and measurement of parameters of motion of flying vehicle relative to this point. During autonomous flight of flying vehicle, its selective guidance is ensured by forming limited tracking zone around selected tracking point with many threshold magnitudes and respective time intervals. When tracking point gets beyond these thresholds, its position is restored by forced correction. In case tracking within this zone is unstable after several correction cycles, guidance in target loop is performed instead of selective guidance by making several correction cycles of tracking point. In case tracking is unstable again, target is considered to be lost. Homing is replaced by forced motion of flying vehicle in way of reference tracking point over rectilinear trajectory and fixing the axis of target coordinator in direction towards selected tracking point. Attempts are made for locking-on new tracking point inside target loop. In case of successful attempt, homing of flying vehicle to new tracking point is performed. In case of unstable tracking, target lock-on is considered to absent and fixed position of target coordinator axis is restored positively. As target range reduces, approximate linear deviation of tracking point is maintained constant inside target loop.

EFFECT: enhanced efficiency of flying vehicle due to selective guidance and retaining controllability in case of loss of target.

6 cl, 6 dwg

FIELD: defense equipment, in particular, projectiles and missiles.

SUBSTANCE: the preliminarily cooled to the maximum preset negative temperature of the control drive is checked in a thermal vacuum chamber, when it is fed with air of a raised humidity. After the check a technical inspection of the drive (assemblies and parts) is carried out and the quality of coatings and insulation of the current-conducting circuits, strength, stability and serviceability are estimated. According to the results of the comparative estimate of the obtained values of the measured parameters with the preset ones in the selected conditions and technical inspection, a decision is taken on the quality of functioning of the air-dynamic control actuator cooled to the negative temperature at a compressed aid of a raised humidity. The stand for quality control of functioning of the air-dynamic control actuator of guided missile is provided with a thermal vacuum chamber with a vacuum pump, humidity chamber and a pneumatic cock with a connecting hose. The outlet of the humidity chamber is connected to the pneumatic cock and connecting hose to the inlet of the receiver. The base with the unit fastened on it and the receiver with the measuring pressure gauge and the relief valve are installed in the thermal vacuum chamber.

EFFECT: expanded potentialities of use of the stand and enhanced quality of control of functioning of air-dynamic control actuators and autopilots of guided projectiles and missiles.

2 cl, 1 dwg

FIELD: armament, in particularly, rocketry, applicable in development of missile-weapon complexes with beam-rider guidance systems, in which the missile flight trajectory, for example, close to and parallel with the ground surface, or water surface.

SUBSTANCE: from the moment of start a program-changed pitch command is formed on the missile, and at an entry of the missile in the beam area control is effected by the TV guidance system. In the horizontal plane the directions of the missile start line and beam are matched with the zero value of command messages. In the vertical plane the direction of the missile start line is adjusted in angle above the beam direction with the zero values of the command messages, and the beam-rider guidance system is controlled by the guidance system from the moment of getting of the missile to the beam area with zero values of command messages in the vertical plane, the missile is twisted in bank angle. Described are two modifications of the complex of the missile telecontrolled in beam. The first modification has a missile that includes components of missile electromechanical joining, autopilot, and a series-connected receiver and a coordinate separation unit, as well as a control station that includes a sight-guidance instrument and a start control device, which is connected via the device of the electromechanical joining of the launcher to the components of the missile electromechanical joining, the receiver is coupled by electromagnetic radiation to the sight-guidance instrument; installed on the missile are a delay unit and series-connected starting pulse shaper, variable command shaper and an adder, the heading and pitch outputs of the coordinates separation unit are connected, respectively, to the first and second inputs of the delay unit, the heading output of the delay unit is connected to the first input of the autopilot, the pitch output of the delay unit is connected to the second input of the adder, the adder output is connected to the second input of the autopilot, and the third input of the delay unit is connected to the output of the starting pulse shape, whose input is connected to the components of the missile electromechanical joining. The second modification differs from the first one by the fact, that the receiver output is connected to the first input of the delay unit, whose output is connected to the input of the coordinates separation unit, the pitch output of the coordinates separation unit is connected to the output of the starting pulse shaper, whose input is connected to the components of the missile electromechanical joining.

EFFECT: enhanced efficiency.

4 cl, 6 dwg

FIELD: armament, in particular, rocketry spinning in bank angle, applicable in missile guidance systems, in which beam-rider guidance systems are used, for example.

SUBSTANCE: the electromagnetic radiation from the control station is converted on the missile into the components of the command signal, corrected and a command signal is formed from the corrected values. A bank signal is generated on the missile in the form of electric pulses, whose durations are formed to be equal in value to angular intervals, formed at missile bank spinning, the duration of each pulse is transformed into a binary number, whose value corrects the values of the components of the command signal. Introduction in the missile guidance system of a connected-in-series roll-angle pick-off and a "duration-code" converter has enhanced the reliability due to the use of the missile of roll rate for correction of the value of the command signal on the missile.

EFFECT: enhanced reliability due to the use of the missile roll rate as a regulating value, that corrects the command signal on the rolling missile.

5 cl

FIELD: armament, in particular, rocketry.

SUBSTANCE: at this method a spatial structure of electromagnetic field is produced at the control station, in which the field parameter is functionally coupled with the coordinates of the respective points of the space. A beam with zero values of the command messages is laid on the target or above the target, and the parameter of the electromagnetic field is measured on the missile, the value of coordinates is determined and the heading and pitch control commands are formed; N devices are positioned in the area of beam propagation, each of the devices transforms the field parameter to the pitch and heading coordinate signals, and then are registered from the missile start, and the position of the missile relative to the target is fixed in the flight trajectory. The process of registration and fixation in time is synchronized according to the value of the registered coordinate signals and fixed missile deviation from the target in heading and pitch, and a conclusion is made on the condition of the beam telecontrol system and its components. The method is realized by the beam telecontrol monitoring system, having a control station, coupled with the missile by electromagnetic radiation, and a telemetering system, use is made of a device for fixation of the missile flight trajectory, and the telemetering system is made in the form of N chains, in each of which connected in series are a receiver and a coordinate separation unit, the heading and pitch outputs of the coordinate separation units from the N chains are connected to a registering device, the receiver from each chain is coupled by an electromagnetic radiation to the control station, and the device fixing the missile flight trajectory is optically coupled with the missile.

EFFECT: a spatial structure of the electromagnetic field is produced at the control station, in which the parameter of the field is functionally coupled with the coordinates of the respective points of the space.

3 cl, 1 dwg

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