Method for approaching of moving object at self-guidance as per information on fact of target localisation

FIELD: measurement equipment.

SUBSTANCE: method is based on use of information on fact of target localisation with a locator, the sensitivity axis of which coincides with direction of speed vector of the object. Trajectory of the object is formed in the form of cycles that begin and end by the fact of target localisation. Inside each cycle an arc-like movement is performed at maximum possible angular speed that is constant in the cycle, the sign of which is changed after achievement of the value of the average angle of advance of the object trajectory relative to a line of sighting, which is calculated for the current cycles as a product of difference of the value of this angle in the previous cycle and increase rate of the inclination angle of the object trajectory in the current cycle relative to the previous one multiplied by a coefficient depending on approach conditions, and a fraction, in the numerator of which there is difference of values of the average angle of advance in the previous cycle and rate of increase of the inclination angle of the object trajectory in the current cycle relative to the previous one, and in the denominator there is a sum of the specified values.

EFFECT: possible approach at opposite self-guidance when linear speed of the target exceeds speed of the object.

5 dwg

 

The invention relates to the field of automatic control during the approach of a moving object (hereinafter "facility") with another moving object (hereinafter "purpose") in the case of homing using minimal information about the purpose, namely: the fact of coincidence of the linear velocity vector of the object with the line of sight of the target.

A method of homing object using the specified information is the "chase method, which allows control of when homing, using the information from the permanent sight of the goal, i.e. the velocity vector of the object when it is closer to the goal aimed at the target at (V. A. Revkin, "radio-Electronic control systems of rockets and shells", Goskomstat, 1996, p. 1, section 2.3, page 27).

When homing on the "chase method", depending on the conditions of convergence may exist areas on the trajectory of convergence of objects, especially with a head homing, where there are invalid values of misses. Fig.1 shows an example of the oncoming convergence of the object and purpose of the method of the chase, when the speed exceeds the target speed of the object: the target's speed - 35 conventional units (I.(e.), the speed of an object compared with 26.4 in.e.

The target trajectory is the line 1, the trajectory of the object is line 2. Mistake in "chase" in this case greatly exceeds the allowable value, as m�minimum radius of the object in the example is $ 15.e., a slip - 65.e.

The objective of the proposed method is the implementation of a homing object using information about the purpose of the method of the chase, even with a possibly smaller than the target, the linear velocity at the opposite homing.

To solve this problem is proposed to move the object along the trajectory, consisting of arcuate segments for which the object is moving with the greatest possible constant angular velocity ω0. Two arcuate cut together in a loop that begins and ends upon sighting the target, Fig. 2 where:

OA1BCDEF ... - the trajectory of the object when homing;

O1NM - the trajectory of the target;

OO1, DN, FM line-of-sight targets at the moments of "i-1", "i", "i+1", respectively, which are parallel to the lines: OO1|| DD1|| E1E2DN || MM2;

the axis of x0- the reference axis angles of the inertial coordinate system;

the x axis is the sensitive axis of the locator target, it same axis associated with the object coordinate system;

V - linear velocity of the object coincident with the axis of sensitivity of the locator;

V1- the linear velocity of the target;

O2O=O2A1=R,

where R is the radius of the object

∠O1Ox0=∠E2E1x0, ∠NE1x0=∠N1NE1- the angles of inclination of the trajectory volun�the axis relative to the inertial system of coordinates x 0in moments of sight goals;,the values of these angles at the moments of "i-1", "i", respectively;

∠E2E1N=|∠NE1x0-∠E2E1x0|=∠N1NE1wherethe value of ∠M2MF:since DN is parallel to M2M;

,- quantitative increment of the values of the angles of inclination of the trajectory relative to the axis of the inertial system of coordinates x0in current relative to previous cycles at the moment of sighting the target.

The sign of the valuefrom point D, or E1has a positive value iffixed counter-clockwise relative to the line of sight DN (x direction in the associated coordinate system), negative if clockwise. Relative to N - on the contrary.

∠x0B1B, ∠x0E1E - given the angles of inclination of the trajectory of the object relative to the axis of the inertial system of coordinates x0determining the change of sign of the reversal of the object;,- the values of these angular values in cycles and "i";

∠O1OB=∠OO2A1, ∠EDN - average angles of pre-emption, defined�represent the change of sign of the reversal of the object, that is, the average angles of inclination of the trajectory of the object relative to the line of sight after the "i-1"th and "i"-th time instant, respectively, qi-1, qi- -the values of these angles;

- the value of the angle ∠CC1D;since ∠CC1D=∠N1NE1;is positive if C1C the fixed angle clockwise if clockwise - negative value. It should be noted that;

φ is the angle of the velocity vector of the target relative to the line of sight.

The process of controlling the movement of the object when the homing is as follows.

After viewing the target at a point On the object impart motion through an arc segment S with an angular velocity ωo. To achieve the object given value of qi-1at the point In the sign of ωo.change to the opposite, and the object moving in an arc BD, again replaced by a sign reversal after sight of the goal at point D.

Each time, at the moment of sighting targets (for example in "i"-th, the D point of the trajectory of the object) make measurements of the current value of the anglethe slope of the trajectory of the object relative to the inertial coordinate system and compare it with the previous value of in "i-1"-the point of sight:

and taking into account the obtained values ofset computed by the control law of the "i"oe the average lead angles qi.

The essence of the invention consists in the fact that it is proposed to form the current value of the average lead angles q in the cycle according to the control law in the form of rational functions:

where k=1, 0 ... depending on the conditions of convergence.

Thus, the process of approximation of the object aimed by the proposed method homing procedure is as follows, Fig. 1:

1. The object is located at point O, endorses the goal (point O1), the time point "i-1"; at the same time remember the value of.

2. The object moves during the time T1before reaching the setpointthe magnitude of the angle of inclination of the trajectory of the object relative to the axis of the inertial system of coordinates x0with angular velocity ωo, while the average lead angles will be the value of qi-1up to the point In where changing the sign of the reversal of the object. remember.

3. After change of sign of ωothe object is moved until the "i" fact-of-sight targets at point D of the trajectory of an object that ends with "i-1"-you� cycle convergence and begins a new, "i"-th cycle.

At this point:

a/ fix;

b/ are compared,and define its name: in this case the value ofpositive, as in the related coordinate system (x axis) direction of the angle ∠(E2E1x0recorded counterclockwise;

in/ calculate the average lead angles qiin "i"-th cycle, using the control law (3);

g/ produces a change of sign reversal on the opposite;

4. Implement the movement of an object along a trajectory DE with the specified in claim 3 in average lead angles qiby:

a/ move the object within a given value of T1that in the "i"that cycle is equal to:

true, as, Fig. 2, or:

b/ reaches the setpoint on the trajectory of the object sizethat in the "i"that cycle is equal to:

true, since ∠EE1x0=∠EE1N+∠NE1x0the value of ∠EE1N = 2qithe value of ∠NE1x0is equal to;

5. After change of sign of ωoat point E the trajectory of the object peremeshayte point "i+1" - fact sight of the goal at point F of the trajectory, which ends with "i"-th cycle of convergence and a new "i+1"-St cycle.

Further, the homing process is carried out in a similar method according to the paragraphs 3, 4, 5 to approach the minimum distance h, the value of which is in the range from 0 to values:

Fig. 1, 3 and 4 show specific examples of the convergence of the object and purpose of the law (3) for k=1, when V<V1Fig. 1, V1<V for k=1 in Fig. 3 and for k=0 in Fig. 4.

Management of the facility when the hardware implementation of the proposed method is carried out using the functional diagram shown in Fig. 5, where the following notation is used:

4 - the Object with its own stabilization system;

5 - management System object carries a homing;

6 - Steering - implements the control action on the object;

7 Unit performs control with steering wheel commands CBM;

8 - Specialized computing machine SVM - manages the process of guidance based algorithms.

9 - sharing Device of EE - translates incoming information into language CBM;

10 - Meter values of angular velocity ω;

11 - Command unit - implements the inertial coordinate system, the axes of which are the origin of ug�s tilt of the trajectory of the object. As command and control device can be applied gyro-, Astro -, or other devices;

12 Locator goals - record the sighting target, when the velocity vector of the object is directed at the target;

13 - Goal.

After receiving the signal Δ of the fact sight of goal 13, the fixed locator 12, which is perceived CBM 8 after conversion of EE 9, RAS recorded by the program organizes the oscillatory motion of the object 4 by issuing commands via the Converter device 7 on the steering actuator 6, which, in turn, produces a control action δ to rotate the object 1 with a given angular velocity ω0- registered by the device 10. Simultaneously, the signal Δ RAS remembers the current value ofreceived from the command device 8, of course, after the transformation of EE.

After time T1or when the object value of the angleRAS will return the pivot of an object with angular velocity-ω0that ends the sight of the goal (getting the signal Δ from the locator). Then SVM reads through EE from the command device 8, the value of the current angle, compares it with the value in the previous cycle, receiving the value of(positive or�negative), and using this value and the value of the average value of the angle of lead of the previous cycle generates the new control law current values of lead angles and time T1or angle of trajectory, Θ1.

This method of homing can be used when approaching objects in outer space and in other cases, for example, in combination with the method of the chase or in other ways homing.

Explanation of the drawings given in the description.

Shows graphical plots are reduced copies of drawings, executed on graph paper A3. The misses h was defined as the minimum distance between the trajectories of the object and purpose when you split them in the critical region into small segments of time.

Fig. 1

The drawing shows the counter-example of the convergence objective, which moves with velocity V1than the speed of the object V, sweep 1, and:

- homing of the object by the method of chase (trajectory 2);

- homing on this method (trajectory 3, calculated according to the algorithm (3) with K=1).

Graphically determined the misses h: for trajectory 2 is "AB", for trajectory 3 is "SV".

Fig. 2

The drawing outlines the parameters of the object and purpose for consideration of the angular correlations and the formation of a trajectory of convergence; p�the following analysis the control law selected object as a trend of decreasing values in the preliminary areas of convergence.

Fig. 3

The drawing shows an arbitrary example of the convergence of the object and purpose when homing in accordance with the algorithm (3) with K=1.

Fig. 4

The drawing shows an arbitrary example of the convergence of the object and purpose when homing in accordance with the algorithm (3) with K=0.

Fig. 5

The drawing shows a functional diagram of the hardware implementation of this method.

Method of convergence of a moving object when homing on information about the sighting target locator, the sensitive axis of which coincides with the direction of the velocity vector of the object, characterized in that the trajectory of the object shape in the form of a cyclically repeating arcuate segments, each two segments are combined in a loop that starts and ends with a fact-of-sight of the goal, and the end point of sight of the previous cycle is the starting point of the current, and inside each loop arcuate movement is produced with the best possible constant in a loop angular velocity, the sign of which is changed according to the value of the average lead angle of the trajectory of the object relative to the line of sight, calculated according to the control law for the current cycle as the product of the difference of the values of this angle in the previous cycle and increment, positive Il� negative, the angle of inclination of the trajectory of the object in the current cycle relative to the previous one multiplied by a coefficient that depends on the circumstances of convergence, and a fraction, the numerator of which is the difference between the average values of lead angles in the previous cycle and increment, positive or negative, the angle of inclination of the trajectory of the object in the current cycle relative to the previous one, and the denominator the sum of the specified values.



 

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