# 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., MCI^{7}F41G 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=A_{i-1}=A_{i}=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 t_{i}=T_{i-1}the 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 t_{i}relative T_{i-1}10% 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 (2^{1}), four (2^{2}), eight (2^{3}) 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, 2^{0}and 2^{1}that 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 T_{i-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 T_{i-2}and calculate the value of