The way to test remote-controlled missiles

 

(57) Abstract:

The invention relates to rocket technology and can be used in weapons systems remote-controlled missiles. The technical result - the reduction of complexity, the cost and increase the level of automation of the testing process. Hover missiles form the alternating periodic management team rocket, as the reference trajectory-guided missiles use a fixed line guidance. Provide guidance missiles with regard to the alternating periodic control commands. Discrete remember linear misalignment between the rocket and the reference trajectory guidance, the speed of the missile and the management team rocket relative to the reference trajectory guidance. Determine the normal acceleration of the rocket relative to the reference trajectory guidance, and the size of the available overload rocket is defined as the coefficient of linear regression of the normal acceleration of the rocket on the management team rocket. 2 Il.

The invention relates to rocket technology and is intended for use in weapons systems remote-controlled missiles.

There is a method of testing the rocket to determine its repolarization control commands, measurement on a rocket of its linear acceleration and angular deflection of the steering body, the transmission of measured signals of the acceleration of the rocket and the angular deviation of the steering body to the side of the rocket on the ground measuring system with their subsequent remembering and determination have overload missiles by proportional mapping develop linear acceleration with angular deviation of the steering body (/1/, S. 347-350, /2/, S. 267-272).

In this way the definition of disposable overload based on radio measurements, and the ratio of

< / BR>
where n is the disposable overload missiles;

Jp- measured linear acceleration of the rocket;

max- the maximum deflection angle of the steering body of the missile;

- measured average angular deviation of the steering body;

g - acceleration of gravity, g9,81 m/s2.

A known method of testing the inherent disadvantages:

higher cost and greater complexity of testing, because it requires the production of special sets of missiles with onboard sensors (e.g. accelerometers to measure linear acceleration and induction sensors for measuring angular QCD is slightly components;

- low accuracy of the measurement of the acceleration of the center of mass of the rocket due to the presence of oscillations in the rocket and elastic vibrations of the location on the rocket side of the acceleration sensor, and the presence in the measured signal component of the acceleration from gravity;

- low efficiency of obtaining information overload missiles.

There is a method of testing the rocket to determine disposable overload, including the formation of a piecewise constant control commands rocket, the rocket flight under the influence of team management, measurement on Board the missile angular deviation of its steering body, the transmission of the measured angular deflection of the steering body to the side of the rocket on the ground measuring complex with its subsequent memorization, vneshnetorgovoe tracking missile, measurement and subsequent storing the coordinates of the rocket, the determination processing of the coordinates of the rocket develop normal acceleration of the rocket and the definition of disposable overload missiles by proportional mapping develop normal acceleration with angular deviation of the steering body of the rocket (/2/, S. 267-272, C. 407-416).

The essence of this method of testing is that normalette on Board the rocket, it is determined by the processing of the coordinates of the trajectory of movement, received unessecarily (optical, radio) measurements in the coordinate system of the measuring point remote from the rocket. Have overload of the rocket when it is determined in accordance with a ratio of

< / BR>
where Vp- rocket velocity is determined by vneshneftekhim measurements of its coordinates;

- the angle of the velocity vector of the missile and its rate of change is determined by vneshneftekhim measurements of coordinates.

This method of testing allows us to simplify the rocket due to the exclusion of the acceleration sensor, to improve the accuracy overload, however, has disadvantages, which are as follows:

higher cost and greater complexity of testing determined by the use of a complex vneshneyekonomich. measurements;

required equipment missiles onboard sensor angle its steering body and using radiotelemetric measurement system, including onboard and ground-based components;

- low accuracy of the missile due to synchronization error of measurement and binding metering the rhenium coordinate high-speed and maneuverable missiles;

the dependence of the accuracy of determining the overload from weather conditions (optical vneshnetorgovye measurements and noise measurements of coordinates (radio vneshnetorgovye measurement);

- low efficiency.

These drawbacks determine the high complexity and cost of testing missiles, and also reduce the accuracy and efficiency determine the operational overload.

There is a method of testing remote-controlled missiles, including the measurement of coordinates of the target and the missile, the formation of the reference trajectory-guided missiles, the dimension of the linear mismatch between the rocket and the reference trajectory guidance, the formation of management team rocket, linear proportional to the misalignment between the rocket and the reference trajectory guidance, and guidance of missiles at the target (/3/, S. 327-329).

This method of test is intended to assess the accuracy of targeting and check the combat effectiveness of the missile on the target and is carried out by own means of complex weapons (without additional measuring equipment on Board the rocket and ground control point), functioning as a rule, on the basis of the management of digital computing machines (computers), and not p which is not so much the absence of specific measurements, but mainly the fact that when you hover missile control signals are random in nature, determined by the variability of the reference trajectory and the measured evolution of the movements of the target and missile, which, together with the deterministic components are also rapidly changing (high frequency) random components. Therefore, the definition of the normal acceleration of the rocket by measuring the coordinates as it moves through the dynamic trajectory guidance and mapping it to a variable and fluctuating in the process guidance management team to assess with reasonable accuracy disposable overload missiles is not possible. At the same time, the expansion of operations of the computational nature and functions of the management system allows you to get quality information overload missiles during normal measuring its angular coordinates and velocity.

The present invention is to improve the accuracy and efficiency of determining disposable overload missiles, reduce complexity, cost and the increased automation of the testing process remote-controlled missiles.

This object is achieved in that in the method of testing remote-controlled missiles, vklyuchennoi missiles and the reference trajectory guidance, the formation of the team management, linear proportional to the misalignment between the angular coordinate of the missile and the reference trajectory targeting, targeting missiles and measure the velocity of the rocket flight, form alternating periodic management team rocket, as the reference trajectory using a fixed line guidance, provide guidance missiles with regard to the alternating periodic control commands, discrete remember linear misalignment between the angular coordinate of the missile and the reference trajectory guidance, the speed of the missile and the management team rocket relative to the reference trajectory guidance, determine the normal acceleration of the rocket relative to the reference trajectory guidance, and the size of the available overload rocket is defined as the coefficient of linear regression of the normal acceleration of the rocket on the management team rocket.

Introduction to the method of test missiles new operations allows comparison with the known increase the accuracy and efficiency of determining disposable overload remote-controlled missiles, to reduce the complexity and cost of tests. The essence of the invention lies in the combination of operations telenovela coordinate implemented a staff management system. When this disposable overload is determined by direct measurements and taking into account the actual missile guidance and dynamic characteristics of the system that determines the accuracy, reliability, efficiency and ease of testing. It is also important that to determine disposable overload uses precision measuring and computing means of the examinee weapons system and does not require additional measuring and recording equipment on Board of the rocket and the ground point.

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

Functional diagram of the telecontrol system that implements the proposed method is tested missiles, shown in Fig.1, a plot illustrating the process of determining disposable overload missiles in Fig.2. In Fig.2 carts is normalized management team rocket relative to the reference trajectory guidance;

h - linear misalignment between the rocket and the reference trajectory;

Jpnormal acceleration of the rocket relative to the reference trajectory guidance;

n - have normal overload missiles.

Standardization of the control commands is relative to the maximum possible command corresponding to the maximum allowable deviation of the steering body of the missile, i.e.

u = U/Umax[e.K.]; (3)

where U is the management team;

Umax=max, |u| 1[e.K.], Umax=[e.K.];

E. K. - unit management team.

The control system of the missile contains a direction finder objective 1, the shaping unit team compensation weight 2 and the control circuit missile, including each of the channels of the pitch and of course connected in series direction finder rocket 3, block the formation of linear mismatch between the rocket and the reference trajectory-guided missiles 4, the second input is connected to the output of the direction finder objective 1, the set of control commands, linear proportional to the misalignment between the rocket and the reference trajectory guidance 5, an adder 6, the second input is connected to the output of the shaping unit team compensation weight 2, the transmission device the output of which is connected to the third input of the adder 6, operational storage device 10, first, second and third inputs of which are connected respectively to the second output signal, rocket 3, the output processing unit linear mismatch between the rocket and the reference path 4, the output of the adder 6, connected in series the differentiation block 11, the first and second inputs which are connected respectively to the first and second outputs of the operational storage device 10, the block smoothing 12, second and third inputs of which are connected respectively to the second and third outputs of the differentiation block 11, the processing unit normal acceleration of the missile 13, the second and third inputs of which are connected respectively to the second and third outputs of the block smoothing 12, and the fourth input to the second output of the operational storage device 10, and the processing unit have overload rockets 14, the second input is connected to the third output of the operational storage device 10.

Elements of control systems - signal, objective 1, signal rockets 2, the transmission device control commands 7 represent a known standard elements of missile guidance systems (/3/, S. 366-372).

Element and the reference trajectory-guided missiles 4, the set of control commands, linear proportional to the misalignment between the rocket and the reference trajectory-guided missiles 5, the adder 6 are also known devices targeting systems remote-controlled missiles (/3/, S. 371, 394) and can be performed on a computing digital or analog elements /4/. In control systems of missiles, built on modern element base functions of these blocks implements countable as a crucial instrument in the form of control DCS, a member of the staff of the complex remote-controlled missiles /5/.

Elements - operational storage device 10, the differentiation block 11, block smoothing 12, the processing unit normal acceleration of the missile 13, the processing unit have overload rockets 14, block the formation of alternating periodic commands 9 are implemented in computers or can be made, for example, on the basis of digital items /4/.

The control system of the rocket works in the following way (considered one of the guidance channel, for example, in the elevation plane). The reference trajectory-guided missiles in the General case is constructed in accordance with the method of guidance on the measured coordinates is possible, the angular coordinate of the specified direction finder objective 1 (pointing in a fixed simulated point"), i.e.

o=C=o= const. (4)

After launching the rocket, signal rocket 3 carries out its monitoring and measurement of the angular coordinatespand velocity Vpflight of the rocket. The measured angular coordinate missilespand the coordinate of the reference trajectoryocome respectively into the first and second inputs of the processing unit of the linear mismatch between the rocket and the reference trajectory of the rocket 4, where a signal is generated linear mismatch between the rocket and the reference trajectory (/3/, S. 370)

h = Rp(o-p), (5)

here RPsoftware time function-range missiles, which is then fed to the input of the processing unit of the management team, linear proportional to the misalignment between the rocket and the reference path 5. Management team rocket, which is formed in proportion to the linear misalignment between the rocket and the reference trajectory in the block 5, is determined, for example, the ratio (/3/, S. 370):

Uh=Kabout(h+Th), (6)

where h is the rate of change of linear mismatch;

The t - factor, determined from the rocket Uhfrom the output unit 5 is supplied to the first input of the adder 6, which is summed with the team compensate for the weight of the rocket UINreceived at its second input from the output of block 2, and disturbing alternating periodic command Ufcoming to the third input of the adder 6 from the output of block 9

U=Uh+UIN+Uf, (7)

and further transmission device control commands 7 is transmitted to the missile 8. Rocket 8 under the action of total team control U performs periodic alternating motion relative to a fixed reference trajectory guidance.

Disturbing alternating periodic command is in the form of orthogonal functions of time, for example, functions, changing according to the harmonic law

Uf= Afsin(2fft), (8)

where Afthe amplitude of the team;

ffthe frequency of the disturbing changes of command, Tf=1/ff- the time period;

t - time.

The amplitude Afdisturbing team Ufset this value to the total team control U does not exceed the absolute value of the maximum possible control command Umax. Frequency ffalternating command is set in the image information and the accuracy of overload amplitude and frequency of the perturbation of the team must maximize within the marked limits.

In the process of homing missiles in operational storage device 10 discretely with a period of Taboutremember the rocket's velocity Vp[iTo], linear misalignment between the rocket and the reference trajectory guidance h[iTo] and management team rocket U[iTo] , where i is the number of memory measurements, i=0,1,2,..., which are received respectively from the second output signal, rocket 3, from the output of the shaping unit linear mismatch between the rocket and the reference path 4 and the output of the adder 6. The sampling period Tomust correspond to the period of formation of teams in the guidance system with digital control rocket or determined based on known requirements for discretization of continuous processes for missile guidance. The signal line of the error h[iTo] the first operational storage device 10 is supplied to the first input of the differentiation block 11, which defines the first and second derivatives (velocity and acceleration) linear deviation h[iTo]. A speed signal rockets Vp[iT] is supplied to the second input unit 11 from the second output of the operational storage device 10, is determined by the first derivative scoresthe differentiation (/6/, C. 253-265), in which derivatives are calculated for the midpoint of the selected interval {(s-j)To, (s+j)To}, where s is the reference point which is the middle of the interval length (2j+l)To, j is the number of samples in the interval. To reduce the effects of random measurement errors on the accuracy of determination of the derivatives used multiple definition of derivative at j=1,2,...,q, which is their average value taking into account weights of individual calculations:

< / BR>
< / BR>
< / BR>
where

< / BR>
< / BR>
Next, signals of the velocity and acceleration lateral acceleration of the missile and its longitudinal acceleration respectively with first, second and third outputs of the differentiation block 11 are received respectively in the first, second and third inputs of the block smoothing 12 where it is smoothing, for example, by the method of moving average at the midpoint of the selected interval length (2P+1)Towhere p is the number of samples in the interval /6/:

< / BR>
< / BR>
< / BR>
Then the smoothed velocity linear acceleration deviation and longitudinal acceleration of the rocket from the corresponding block smoothing 12 are received respectively in the first, second and third inputs of the processing unit normal acceleration 13 on the B>p[sTo], where the normal acceleration of the rocket at vozmuschennoi movement relative to the reference trajectory under the influence of the management team U. Normal acceleration JH[sTo] is determined by the ratio (/3/, S. 353):

< / BR>
The generated signal normal acceleration JH[sTo] the output unit 13 is supplied to the first input of the processing unit have overload 14, to the second input of which is supplied with the third output of the operational storage device 10 management team rocket U[sT0] where is defined as follows disposable overload missiles.

For missiles known functional relationship between its normal overload nHand control command U, under the action of which it develops

nH=f(U). (12)

The dependence of (12) is the average linear (/1/, S. 532) and therefore the sequence of measurements, one can write the equation of the linear regression (/6/, S. 24-26) for the normal load factor nHat the command of the control U:

nH[iT0]=(a + bU[iT0])/q, (13)

where a, b are coefficients of the linear regression, which is expressed directly through the results of measurements of the control command U[iTo] and grassii (13) are known correlations (/6/, S. 26). Turning to the normalized control command u[iTo] and choosing a sliding interval of length Tabout=(2m+1)Toequal to the period Tfdisturbing alternating periodic control commands Ufsave for the moving average of the points i selected interval {(i-k)To(i+k)To}, where k=1,...,m, the expression for determining the regression coefficients:

< / BR>
< / BR>
as due to Snamprogetti periodic control commands U and developing acceleration of the rocket (Jnat the processing period Taboutand their temporal averaging are equal

< / BR>
Taking into account (14) equation (13) to determine the normal overload missiles will be written in the form

< / BR>
As disposable overload means a normal overload, develop a missile with a maximum deviation of the steering body control, i.e. at the maximum possible control command Um=1, the value of the available overloads n will be determined as the coefficient of linear regression of the normal acceleration of the rocket on the management team rocket

< / BR>
This ensures that the test remote-controlled missiles, and the definition of its main dynamic characteristics of the th examinee armament and without additional measuring and recording equipment. The error in the determination of the overload can be assessed according to the methods described in /6/ taking into account measurement errors in a particular system for missile guidance. Assessment overload anti-aircraft missiles, involving modeling on computers showed that the error in determining disposable overload does not exceed 3-5%.

So, the proposed method is tested remote-controlled missiles improves the accuracy, reliability and efficiency definitions have overload missiles and to reduce the complexity and cost of testing, which distinguishes it from known.

Sources of information

1. A. A. Lebedev, H. P. Chernobrovkin. Flight dynamics. - M.: Mashinostroenie, 1973.

2. A. A. Dmitriev, V. P. Kazakovtsev. The movement of the missiles. - M.: Voenizdat, 1968.

3. A. A. Lebedev, V. A. Karabanov. Dynamics control systems of unmanned aerial vehicles. - M.: Mashinostroenie, 1965.

4. C. C. Jakubowski and other Analog and digital integrated circuits. - M.: Radio and communication, 1985.

5. A. Shipunov and other "Tunguska" is becoming more effective // a Military parade. 1999. - Vol. 3(33).

6. The Baltic Fleet, Zdaniuk. Fundamentals of statistical processing of trajectory measurements. - M.: Owls. radio, 1978.

the linear expansion mismatch between the angular coordinate of the missile and the reference trajectory guidance, the formation of the team management, linear proportional to the misalignment between the angular coordinate of the missile and the reference trajectory targeting, targeting missiles and measure the velocity of the missile, wherein forming the alternating periodic management team rocket, as the reference trajectory using a fixed line guidance, provide guidance missiles using alternating periodic control commands, discrete remember linear misalignment between the angular coordinate of the missile and the reference trajectory guidance, the speed of the missile and the management team rocket relative to the reference trajectory guidance, determine the normal acceleration of the rocket relative to the reference trajectory guidance, and the size of the available overload rocket is defined as the coefficient of linear regression of the normal acceleration of the rocket on the management team rocket.

 

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