The device forming the relay control signals rotating angle of roll rocket

 

(57) Abstract:

The invention relates to the field of development of missile guidance systems and can be used in the complexes of anti-tank missiles and missiles. The technical result is an increase in guidance accuracy by rotating the roll angle of the missile with relay actuators steering bodies. The device according to the invention contains shapers control signals in the vertical and horizontal planes, the outputs of which are connected respectively to the first inputs of the first and second modulators, summing amplifier, the first and second inputs which are connected respectively to the outputs of the first and second modulators. The device also includes a gyroscopic sensor roll angle of the missile, the first output of which is connected with the second input of the first modulator and the second output connected to the second input of the second modulator, and the signals from the first and second outputs of the gyroscopic sensor roll angle are three-position relay, shifted relative to each other at angle /2. In the device entered the shaper signal linearization, the inlet of which is connected with the second output of the gyroscopic sensor roll angle, a logical device, an input connected with the second you are the user signal linearization, the second input is connected to the output of the logical device, and the output is connected to the third input of the summing amplifier, and a two-position relay element (comparator), an input connected to the output of the summing amplifier. 4 Il.

The invention relates to the field of development of missile guidance systems and can be used in the complexes of anti-tank missiles and missiles.

One of the problems to be solved when designing control systems rotating angle of roll of the missile is increased operation reliability by simplifying the mechanical elements of the rocket without compromising the accuracy of the guidance. A device for controlling a rotating missile (/1/, S. 237-238, Fig. 7.16), in which the axis of the outer frame gyro roll angle, directed along the longitudinal axis of the missile, contact the rotors of the two sine-cosine rotary transformers (synchro). As the gyro roll is free static gyro, the angle of rotation of the stator relative to the rotor of the synchro equal to the angle of roll of the rocket, measured from the vertical direction. Axis single-phase windings, arranged on the rotor, perpendicular. On the contrary, the respective windings of the stators in parallel. The rotors of synchro summed voltage is Noah hy(information source h2) and horizontal (hz(information source h1) planes. Thus, the modulation signals of the linear misalignments harmonic signals, the rotational speed of the missile roll, shifted relative to each other at angle /2:

Uy=hycos,

Uz=hzsin.

This modulation converts the control signals from the measuring coordinate system oriented relative to the earth, in a rotating associated with the missile coordinate system. The received signals are sent to the control winding of the steering actuator (RP).

In single-channel rockets (/1/, S. 260-261), with one pair of the Executive bodies (steering wheel), single channel control signal on the RP is formed in accordance with the relationship:

V = k(hycos+hzsin),

where k is the transfer coefficient.

The disadvantage of this device is the relative complexity of its Electromechanical elements - synchro, ensuring implementation of the harmonic signals.

Closest to the present invention is a device in which the synchro to simplify equipment replaced stabilized gyro roll to the contact with isolated relative to each other by conductive strips, so on the input rotating together with the rocket RP receives the amplitude-modulated square wave. View modulating functions c(),s() is shown in Fig.1.

Single-channel control signal in this device is formed in accordance with the relationship:

V = k(hyc (s)+hzs()).

Thus, the known device forming control signals rotating single missile includes shapers control commands in vertical and horizontal planes, the outputs of which are connected respectively to the first inputs of the first and second modulators, summing amplifier, the first and second inputs which are connected respectively to the outputs of the first and second modulators, gyroscopic sensor roll angle of the missile, the first output of which is connected with the second input of the first modulator and the second output connected to the second input of the second modulator, and the signals from the first and second outputs of the gyroscopic sensor roll angle are three-position relay, shifted relative to each other at angle /2. Further, the control signal from the summing amplifier is fed to a single-channel steering rockets.

The disadvantage of this device, Rabochaya RP, where the rudder deflection is proportional to the control signal. Because proportional RP is quite complex Electromechanical device, widespread relay dip SPM, which is the most simple. To control the rocket with relay RP is not possible without loss of precision guidance the application of the considered devices that form the amplitude-modulated control signal, due to the large errors of testing such a signal relay RP.

The task of the invention is to provide a high guidance accuracy when used in single-channel rotary rocket relay dip SPM.

To achieve this task you must:

to ensure the proportionality of the magnitude of the control commands and variance of the control channel of the relay RP in each of the planes of the source control commands in the measuring coordinate system;

- to provide in a vertical plane coverage of the maximum possible range of control commands up and limiting teams down.

The tasks solved by means of summation of the control signal with the period and, which gives you the best possible team up and limited the team down. It is necessary to control the rockets deficit disposable overload, as in the vertical plane, the missile must develop acceleration compensating for kinematic acceleration from gravity. Under disposable overload rocket is the largest overload (acceleration) missiles, which it can develop when the maximum deviation of the surface (/3/, S. 126).

This object is achieved due to the fact that in the known device are input elements or the shape of the original signal linearization, a logical device, the third modulator) for the formation of the adjusted signal linearization UC1is in phase with the modulating signals c(),s () supplied to the third input of the summing amplifier, and a two-position relay element (comparator), an input connected to the output of the summing amplifier. The driver of the original signal linearization implements at each period of rotation of the missile angle of roll of the sawtooth signal Ultype:

< / BR>
where althe amplitude of the signal Ul.

To ensure maximum teams up log the value of:

< / BR>
In the result of multiplying the third modulator of the original signal linearization and output logical unit adjusted signal linearization UC1=i Ulwith an output of the third modulator will be:

< / BR>
Kind of signals c(),s(), Ul, i, UC1shown in Fig.1.

After summing the adjusted signal linearization with modulated signals linear mismatches hyhzthe resulting sum is fed to a bistable relay element (comparator) that carry out the function of determining the sign of the signal, i.e.

V = sign(hyc (s)+hzs()+UC1). (4)

Thus, the resulting single-channel control signal received on a single channel relay steering rockets, is a two-position relay, providing management based on pulse-width modulation (PWM), in which information about the size of the teams is in the ratio of the durations of the upper and lower signal levels corresponding to the surface position of the rocket on one or the other stops. The gain in such a device is inversely proportional to the amplitude of the Ad signal linearization.

Structure predvigatelnoj 2 planes, the outputs are connected respectively to the first inputs of the first 3 and second 4 modulators, summing amplifier 5, the first and second inputs which are connected respectively to the outputs of the first 3 and second 4 modulators, gyroscopic sensor roll angle 6 missiles, the first output of which is connected with the second input of the first modulator 3, and a second output connected to the second input of the second modulator 4, and the signals from the first and second outputs of the gyroscopic sensor roll angle 6 are three-position relay, shifted relative to each other at angle /2, shaper signal linearization 7, an input connected to the second output of the gyroscopic sensor roll angle 6, logical device 8, an input connected to the second output of the gyroscopic sensor roll angle 6, the third modulator 9, a first input connected to the output of the shaper signal linearization 7, a second input connected to the output of logical device 8, and the output is connected to the third input of the summing amplifier 5, and a two-position relay element (comparator) 10, an input connected to the output of the summing amplifier.

The device operates as follows.

Signals linear rassol is lossoth are multiplied by the modulators 3 and 4, respectively with the signals c(),s() from outputs of the gyroscopic sensor roll angle 6, which is the three-position relay, shifted relative to each other at angle /2.

On the basis of information from the gyro sensor roll angle 6 shaper signal linearization 7 produces the original periodic signal Ulbased on (1).

Logical device 8 in accordance with the dependence (2) performs the correction, namely the inversion of the original signal linearization ula quarter of the turnover of rotation of the missile angle of roll, the resulting adjusted signal linearization UC1with an output of the third modulator 9 is a view according to (3).

After summing the modulated mismatches with the adjusted signal linearization at the summing amplifier 5 and determine the amount sign-off relay 10 output relay signal has the form according to (4).

As shapers of control signals can be used the device, including radar station and the receiver missiles presented in /1/ S. 221.

As a summing amplifier, modulator driver signal linearization, logical unit, and the comparator can be ispolzovaniya can be used the device, presented in /1/ S. 269.

To assess the effectiveness of the proposed device will consider the principle of formation of the output signal depending on the signal values of the control commands.

The complex amplitude of the first harmonic decomposition in the Fourier series generated by the dependence (4) of the output signal V is determined by the expression:

< / BR>
where

V1y,zprojection of the complex amplitude on the axis of a Cartesian coordinate system.

The modulus of the complex amplitude is defined as:

< / BR>
In accordance with the decomposition in Fourier series of the magnitude V1y,zhave a look:

< / BR>
(7)

where

< / BR>
Dependency analysis (5)-(8) shows that the projection of V1y,z(the resulting control commands in vertical and horizontal planes) is proportional to the sine of the linear misalignments hy,zin the range of its argument /4, where a sinusoidal law does not differ greatly from linear. Additional increment upward vertical team

< / BR>
arising due to the implementation of the proposed device, the specified signal linearization UC1namely , the correction logic device source signal linearization is Elisheva offered by the field device control commands is an area of possible values of the vector of the complex amplitude of the first harmonic. The boundaries of this area is shown in Fig.4 as a solid line. The maximum value of the modulus of the complex amplitude of the first harmonic of the output signal shown in Fig.4 the outer dashed circle. The upper boundary of the field management teams in Fig.4 corresponds to the value of the vertical team ky= 1 when changing the values of the horizontal command |kz|1 and coincides with this circle, i.e. up provides the highest possible team. The lower boundary in Fig.4 corresponds to the value of the vertical team ky=-1 when changing the values of the horizontal command |kz|1.. Lateral border of the field in Fig.4 correspond to horizontal teams kz= -1 and kz=1 when changing the values of the vertical command |ky|1. The inner dashed arc in Fig.4 corresponds to the value of the vertical team ky= 0 when changing the values of the horizontal command |kz|1 and is entirely determined by the increment V1Y. Field control commands is curved. It is a set of arcs corresponding to fixed values of the vertical team kywhen changing the values of the horizontal command |kz|1. The results of the analysis of the dynamics of Pravlenie sensitivity of a closed loop control to rafailova, deposited by the elements of the control equipment (for example, when caring outer frame gyro roll during flight), is reduced.

Formed of the proposed device, the signal V is fed to a single-channel relay RP engaged in the practice of this signal, i.e., relaying control surfaces in accordance with a change in its sign. Rotating angle of roll rocket demodulates the deflection of control surfaces, resulting in each of the planes corresponding control point corresponding to the original control commands in the measuring coordinate system (linear misalignments hyhz). Ensuring maximum teams up at the expense of the maximum possible duration of steering the focus corresponding to the half period of rotation of the missile angle of roll (see Fig.3).

Advantages of the proposed device are:

- ensuring high precision formation due to the proportionality of the average for the period of the rotation angle of roll of the magnitude of the command and the deviation of the control channel of the relay RP in each of the planes of the source control commands in the measuring coordinate system;

- maximizing teams centuries which allows to provide the greatest possible range missile;

- limit commands down, which reduces the probability of collision of a rocket with the underlying surface in the event of its immediate vicinity (1.0-1.5 m) to the line of sight;

- reduced sensitivity of a closed loop control to rafailova deposited by the elements of the control equipment.

Thus, the application of the proposed device allows to increase the pointing accuracy of the rotating angle of roll single missile with relay actuators steering bodies.

A comparison of the proposed technical solutions to the prototype allowed us to establish compliance with a criterion of "novelty". The study of other known technical solutions in this area the features distinguishing the claimed invention from the prototype, were not identified and therefore they provide the claimed technical solution according to the criterion of "significant differences".

Sources of information

1. Kuzovkov N. T. System stabilization aerial vehicles (ballistic and anti-aircraft missiles). M.: Higher school, 1976, S. 221, 237, 238, 260, 261, 269.

2. Teitelbaum I. M., Schneider Y. R. 400 schemes for AVM. - M.: Energy, 1978, S. 24, 53, 95, 112, 114.

3. Demetrius A. A. External ballistics. - M.: Mashinostroenie, was shapers control signals in the vertical and horizontal planes, the outputs are connected respectively to the first inputs of the first and second modulators, summing amplifier, the first and second inputs which are connected respectively to the outputs of the first and second modulators, gyroscopic sensor roll angle of the missile, the first output of which is connected with the second input of the first modulator and the second output connected to the second input of the second modulator, and the signals from the first and second outputs of the gyroscopic sensor roll angle are three-position relay, shifted relative to each other at angle /2, characterized in that it introduced the shaper signal linearization, an input connected to the second output of the gyroscopic sensor roll angle, a logical device, an input connected to the second output of the gyroscopic sensor roll angle, the third modulator first input connected to the output of the shaper signal linearization, a second input connected to the output of the logical device, and the output is connected to the third input of the summing amplifier, and a two-position relay element, an input connected to the output of the summing amplifier.

 

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FIELD: military equipment, applicable in the constructions of short-range anti-aircraft mountings having small-arms-gun and rocket armament.

SUBSTANCE: the fighting vehicle has a tower mounting with gun and rocket armament, target detection radar, target tracking radar with an antenna and an antenna laying and stabilization drive, optical laying channel with an optical sight, command transducer and an optical sight laying and stabilization drive, fighting vehicle control panel and a digital computer system of the fighting vehicle coupled to the target tracking radar. The fighting vehicle has a correction unit of the antenna laying and stabilization drive, control signal conditioning unit, computer unit of target co-ordinate angular rate and tracking signal generation, "Unload" command formation device and an adder, the output of the tracking radar is connected to the input of the computer unit of target co-ordinate angular rate and tracking signal generation, whose first output is connected to the first input of the adder, and the second one-to the first input of the "Unload" command formation device, whose second and third inputs are connected to the outputs of the fighting vehicle control panel. The output of the "Unload" command formation device is connected to the input of the correction unit output is connected to the input of the antenna laying and stabilization drive, the output of the "Unload" command formation device is also connected to the first input of the control signal conditioning unit, whose second input is connected to the output of the command transducer, and the output- to the second input of the adder, whose output is connected to the input of the optical sight laying and stabilization drive.

EFFECT: enhanced accuracy of optical sight laying to the target and enhanced efficiency of the fighting vehicle as a whole.

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