The method of controlling the trajectory of the object, the control system of the trajectory of the object (options), the method of determining the phase of communication channels and the transmission factor of the object in the control system the motion trajectory of the object and the device for its realization (options)

 

The invention relates to automatic control systems. The technical result is to increase the accuracy of the control system when the phase of communication channels and the change gear ratio of the object under the influence of disturbing factors, interference and maneuvering object tracking and is solved by determining the spatial position vector commands relative to the coordinate vector by using Fourier transforms. The method of controlling the trajectory lies in the fact that the control commands add software signals, determine a phase shift between the vector and the vector of coordinates compensate the phase shift of the reversal of the vector commands on this angle, determine the ratio of the modules of vector commands and coordinate vector and compensate for the change gear ratio of the object by changing the value of the command object. To implement this method in the management system introduced two amplifiers with adjustable gain, phase rotator and the device calculate the ratio and phase. 6 S. p. f-crystals, 4 Il.

The invention relates to automatic control systems and can be used in specimens for scientific research.

There is a method of control of the moving object [1], namely, that distinguish the coordinates of the object, determine the magnitude of the error is proportional to the difference between the input coordinate and the coordinate of the object form of the command control object in accordance with the magnitude of the error.

Control system for implementing this method includes sequentially connected receiving device input signal and the output signal, the device generation control commands, device control, system control normal overloads.

Method definitions for the implementation of this method of control is that in order to reduce the phase connection of the channels of the control object is the initial spread of the gyroscope.

A device for implementing this method allows the initial reversal of part of the gyro to a predetermined angular value.

The disadvantage of these technical solutions is the low accuracy of the control system due to the phase connection channel object, caused by changing the inertia of steering actuators, and inaccurate operation of the gyroscope, and the change gear ratio of the object.

Most of the object [2], namely, that at the input of the system management software serves the signals measured signals at the input and at the output of the control system, the received signals are compared among themselves and through integrating the links are served in the main control system to modify its settings.

The control system of the aircraft [2] to implement the above method contains vertical and horizontal channels. Each control channel has first and second adders, connected in series, the unit signals the device to specify disturbing settings), the first (second for another control channel) block the formation of the errors, the first (second for another control channel control unit, the control object (aircraft), the first (second for another control channel) the output of which is connected to a second input of the first (second for another control channel) processing unit errors, and consistently connected the device to control the characteristics of a closed system, the inputs of which are connected with the output of the generator signals and the output of the control object, and a device for correction of system parameters, the output of which soy is the input of the first (second for another control channel) of the control unit.

Method for determination of the phase communication channels [3], which consists in the measurement control commands and output coordinates of the steering actuator in horizontal and vertical planes of the management, determination using Fourier phase shifts introduced by steering actuators on the speed of the rocket, and rotating the input signal by an angle opposite to be measured.

The device [3] to implement the above method contains two transducer Fourier (four smoothing filter, four trigger and integrator), three adder, integrator. The opposite orthogonal components of the vector commands and the vector of coordinates of the steering actuators are multiplied together, the two works are compared, and the difference is fed to the integrator, the output of which produces a signal proportional to the magnitude of the phase shift introduced by steering actuators on the speed of the rocket.

The disadvantage of these technical solutions is the low accuracy (possible even failure in managing) the operation of the control system due to the phase connection of the channels of the object caused by the inaccuracy of the operation of the gyroscope (his departure) and the KTA tracking.

The objective of the invention is to improve the accuracy of operation of the control system when the phase of communication channels and the change gear ratio of the object under the influence of disturbing factors, interference and maneuvering object tracking. The problem is solved by determining the spatial position vector commands relative to the coordinate vector by using Fourier transforms.

The solution of this problem is achieved in that the control method comprising vertical and horizontal channels determine the current input coordinates and the coordinates of the object, calculating the difference between the input coordinate and the coordinate of the object of reference signals and control commands forming the object on a difference between the input coordinate and the coordinate of the object, set the start time and end time of the filing of the signals, since the start time until the end time add in team management software signals, determine a phase shift between the vector and the vector of coordinates compensate the phase shift of the reversal of the vector commands on this corner determine the ratio of the modules of vector commands and coordinate vector and the offset value of this method in the control system of the trajectory of the object, containing a control object, the first and second adders, the unit signals, the first and second outputs of which are connected respectively to the first inputs of the first and second adders, connected in series, the first shaping unit error, a second input connected to the first output of the control object, the first corrective filter, connected in series, the second block formation errors, a second input connected to the second output of the control object, the second corrective filter, to the first inputs of the first and second blocks forming the error signal input in the vertical and horizontal channels, introduced the first amplifier with adjustable gain, an input connected to the output of the first correction filter, a second amplifier with an adjustable gain, an input connected to the output of the second correction filter, phase rotator, the first and second outputs of which are connected with the second inputs respectively of the first and second adders, the unit of calculation of the coefficient and phase, the first and second inputs connected to the outputs respectively of the first and second blocks forming errors, and the first is controlled by the gain, the control inputs of which are connected respectively with the first and second outputs of the device computing the ratio and phase, the first and second inputs of the control object connected to the outputs respectively of the first and second adders and respectively to third and fourth inputs of the device computing the ratio and phase, and the third and fourth outputs of the generator signals are connected respectively to the fifth and sixth inputs of the device computing the ratio and phase, the third output of which is connected to the third input of the phase rotator.

To implement this method in the control system of the trajectory of the object that contains the control object, the first and second adders, the unit signals, the first and second outputs of which are connected respectively to the first inputs of the first and second adders, connected in series, the first shaping unit error, a second input connected to the first output of the control object, the first corrective filter, connected in series, the second block formation errors, a second input connected to the second output of the control object, the second corrective filter, and the first, second and third blocks panel is m and horizontal channels, put the device calculate the ratio and phase, the first and second inputs connected to the outputs respectively of the first and second blocks forming errors, the first amplifier with an adjustable gain, an input connected to the output of the first adder and the third input of the calculation of the ratio and phase, a second amplifier with an adjustable gain, an input connected to the output of the second adder and the fourth input of the calculation coefficient and the phase of the phase rotator, the first and second outputs of which are connected respectively with the first and second inputs of the control object, moreover, the first and the second input of the phase rotator is connected to the outputs respectively of the first and second amplifiers with adjustable gain control inputs which are connected respectively through the first and the second control unit with the first and second outputs of the device computing the ratio and phase, the output of the first corrective filter is connected with the second input of the first adder, the output of the second correction filter connected to the second input of the second adder and the third and fourth outputs of the generator signals are connected, respectively, is carried to the control unit with the third input of the phase rotator.

The solution of this problem is achieved in that in the method of determining the phase of communication channels and transmission coefficient, including the measurement control commands and coordinates of the object in horizontal and vertical planes control is carried out in each measured team and coordinate with Fourier transform computation of orthogonal components, calculated orthogonal components define the module and turn corners vector commands and coordinate vector, the computed values of the module of the vector commands and module of the vector of coordinates define the transmission coefficient of the object, and the computed values of the angles of spread of vector commands and vector coordinates define the phase relationship of the channel object.

To implement this method in a computing device ratio and phase containing the first and second converters Fourier, the first, second and third adders, introduced the third and fourth transducers Fourier, the first device calculating module, a second input connected to the output of the first adder, the first device angle calculation, the first input connected to the output of the second adder and the first input of the first computing device module, posredovanega, the unit of calculation of the coefficient, a second input connected to the output of the first computing device module, connected in series, the fourth adder, a first input connected to the second output of the fourth inverter Fourier, the second device angle calculation, the first input connected to the first input of the second device of the computing module, the device computation phase, a second input connected to the output of the first device angle calculation, and the first output of the first inverter Fourier connected to the second input of the second adder, a first input connected to the second output of the second inverter Fourier, the second output of the first inverter Fourier connected with the second input of the first adder, first input connected to the first output of the second inverter Fourier, the first output of the third inverter Fourier connected to a second input of the fourth adder, the second output of the third inverter Fourier connected to a second input of the third adder, a first input connected to the first output of the fourth inverter Fourier, the first input of the first inverter Fourier connected with the first inputs of the second, third and fourth preobrazovannogo converters Fourier, the output of the first adder is connected to a second input of the first device angle calculation, and the output of the third adder connected to the second input of the second device to calculate the angle, the third inputs of the first, second, third and fourth transducers Fourier are respectively the first, second, third and fourth inputs of the device computing the ratio and phase, the first inputs of the first, second, third and fourth transducers Fourier correspond to the fifth input of the calculation of the ratio and phase, the second inputs of the first, second, third and fourth transducers Fourier correspond to the sixth input of the calculation of the ratio and phase, the output of the coefficient calculation is the first and the second outputs of the device computing the ratio and phase, and the output of the calculation phase is the third output of the device computing the ratio and angle.

To implement this method in a computing device ratio and phase containing the first and second converters Fourier, the first, second and third adders, introduced the third and fourth transducers Fourier, the first device of calculation of the coefficient, the second input is connected with the adder, the second unit of calculation of the coefficient, a second input connected to the output of the second adder, connected in series, the fourth adder, a first input connected to the second output of the fourth inverter Fourier, the second device angle calculation, the first input connected to the first input of the second device coefficient calculation device calculating the phase, a second input connected to the output of the first device angle calculation, and the first output of the first inverter Fourier connected to the second input of the second adder, a first input connected to the second output of the second inverter Fourier, the second output of the first inverter Fourier connected with the second input of the first adder, first input connected to the first output of the second inverter Fourier, the first output of the third inverter Fourier connected to a second input of the fourth adder, the second output of the third inverter Fourier connected to a second input of the third adder, a first input connected to the first output of the fourth inverter Fourier, the first input of the first inverter Fourier connected with the first inputs of the second, third and fourth preobrazovatelei converters Fourier, the output of the first adder is connected to a second input of the first device angle calculation, and the output of the third adder connected to the second of the second input device angle calculation and the first input of the first unit of calculation of the coefficient, while the third inputs of the first, second, third and fourth transducers Fourier are respectively the first, second, third and fourth inputs of the device computing the ratio and phase, the first inputs of the first, second, third and fourth transducers Fourier correspond to the fifth input of the calculation of the ratio and phase, the second inputs of the first, second, the third and fourth transducers Fourier correspond to the sixth input of the calculation of the ratio and phase, the output of the first device coefficient calculation is the first output of the coefficient calculation and phase, the output of the second device to calculate a second output of the coefficient calculation and phase, and the output of the calculation phase is the third output of the device computing the ratio and angle.

In the proposed technical solutions to improve the accuracy of the control system when the phase of communication channels and isoprenaline module and the turn angle of the vector of coordinates and vector commands by using the Fourier transform, determining magnitude and phase of communication channels and the magnitude of the change gear ratio of the object and the formation of appropriate compensation phase communication channels and changing the transmission factor of the object.

The proposed solution is illustrated in Fig. 1, 2, 3 and 4, where Fig.1 depicts a first embodiment of the control system, Fig.2 depicts a second embodiment of the control system, Fig.3 depicts a first embodiment of the device computing the ratio and phase, Fig.4 depicts a second embodiment of the device computing the ratio and phase.

The first implementation of the system management object explains Fig.1, showing: 1, 2, the first and second blocks forming errors; 3, 4, the first and second adders; 5 - control object; 6, 7, the first and second amplifiers with adjustable gain; 8 - phase rotator; 9 - device computing the ratio and angle; 10 - unit program signals; 11, 12, the first and second corrective filters.

The second implementation of the system management object explains Fig.2, showing: 1, 2, the first and second blocks forming errors; 3, 4, the first and second adders; 5 - control object; 6, 7 - the first the x signals; 11, 12, the first and second corrective filters; 13, 14 and 15 of the first, second and third control units.

The first embodiment of the device computing the ratio and phase explains Fig.3, showing: 21, 22, 23 and 24 of the first, second, third and fourth transducers Fourier; 25, 26, 27 and 28 of the first, second, third and fourth adders; 29, 30 - the first and the second computing device module; 31, 32, the first and second device angle calculation, 33 - device computing phase; 34 - unit factor calculation.

The second implementation of the device computing the ratio and phase explains Fig. 4, showing: 21, 22, 23 and 24 of the first, second, third and fourth transducers Fourier; 25, 26, 27 and 28 of the first, second, third and fourth adders; 31, 32, the first and second device angle calculation, 33 - device computing phase; 34, 35 to the first and second device coefficient calculation.

Devices 1, 2, 26, 28, and 33 represent the adder analog signals with two inputs (inverting and not inverting), implemented on the basis of the OS OD (see [4] page 75...77, Fig.3.2).

Devices 3, 4, 25 and 27 of the adder analog signals (see [4] page 75.. .77, Fig. 3.1), based on OUD.

The control object 5, vkljuchajuwih.388 404..., [1] page 372...379).

Devices 6, 7 are amplifier with adjustable amplification factor (see [4] page 57...62, Fig. 2.5) and the analog memory unit (see [4] page 178...190, Fig. 7.9) input factor adjustment based on the OS OD.

On the control input of the analog memory unit signal output device generates the pulse with the leading edge of the beginning and the rear front end of the memory representing serially connected analog integrator, implemented on the basis of the OS OD (see [4] page 77...82, Fig. 3.3, 3.4), the comparator representing the coding comparison circuit implemented on the basis of the operational amplifier U (see [4], page 167. . . 172, PL.7.2), and the adder analog signals with two inputs (inverting and not inverting), implemented on the basis of the OS OD (see [4] page 75. ..77, Fig. 3.2), the inverting input of which is connected through an adjustable delay line pulse (see [4] page 204...205) with the output of the analog integrator.

The device 8 provides on the basis of the analog multiplier products (see [4] page 91...100, Fig. 3.15), adders analog signals (see [4] page 75... 77, Fig. 3.1) and trigonometric analog converters (see [6] page 33...38, Fig.2.1-2.3) re>img src="https://img.russianpatents.com/chr/8226.gif">sin(UWH); UOUT2=UWHcos(UWH)-UWHsin(UWH); (1) wherethe signal from the i-th output (input) of the j-th device, w is the signal frequency, U3is the output signal from the analog memory unit (see [4] page 178...190, Fig. 7.9), the entrance of which is the third input device 8. On the control input of the analog memory unit signal output device generates the pulse with the leading edge of the beginning and the rear front end of the memory representing serially connected analog integrator, implemented on the basis of the OS OD (see [4] page 77. . . 82, Fig. 3.3, 3.4), the comparator representing a single threshold comparison circuit implemented on the basis of the operational amplifier U (see [4] , page 167... 172, PL.7.2), and the adder analog signals with two inputs (inverting and not inverting), implemented on the basis of the OS OD (see [4] page 75...77, Fig. 3.2), the inverting input of which is connected through an adjustable delay line pulse (see [4] page 204...205) with the output of the analog integrator.

The device 10 is a generator of sinusoidal oscillations implemented on the database is new.

Devices 11 and 12 represent a corrective filter is implemented on the basis of the OS OD (see [1] page 366...371, Fig. 7.15).

Devices 13 and 14 are connected in series adder analog signals with two inputs (inverting and not inverting), implemented on the basis of the OS OD (see [4] page 75...77, Fig. 3.2), and an analog integrator, implemented on the basis of the OS OD (see [4] page 77...82, Fig. 3.3). Inverting input of the adder is input devices 13, 14, and not inverting the input signal equal to one.

The device 15 is an analog integrator, implemented on the basis of the OS OD (see [4] page 77...82, Fig. 3.3).

Devices 21, 22, 23 and 24 provide on the basis of the analog multiplier products (see [4] page 91...100, Fig. 3.15), adders analog signals (see [4] page 75...77, Fig. 3.1) the implementation of the functions of the Fourier transform (see [7] page 41...59):where UWH=cos(wt), Ux2=sin(wt),t - time sample rate; TP, Tk - time of the beginning and end of the processing of the input signal.

Devices 29, 30 provide an implementation based on analog multiplier products (see [4] page 91...100, Fig. 3.15), adder analog signals (see [4] page 75...77, Fig. 3.1) and the computing unit root (see [6] page 33.ub>WHUosignals on the first and second inputs and output devices 29, 30.

Devices 31, 32 provide an implementation based on analog divider (see [4] page 100...101, Fig. 3.22) and the unit for computing the arctangent (see [6] page 33. . . 38, Fig. 2.1-2.3), based on OUD, the following function: Uo= arctan(UWH/UWH), (4) where UWHUWHUosignals on the first and second inputs and output devices 31, 32.

Devices 34, 35 are analog divider (see [4] page 100... 101, Fig. 3.22) based on OUD.

Newly blocks are implemented on the basis of elements that are standard and commercially available with a standard accuracy.

The first version of the system control device calculating a coefficient and phase of implementing the proposed methods for detecting and facility management, works as follows.

Consider the operation of the control system. The input signal is supplied in the vertical and horizontal channels on the first inputs, respectively, of the first shaping unit error 1, to the second input of which receives the signal from the first output of the control object 5, and the second processing unit error 2, to the second input of which receives the signal from wereonly the deviation of the output coordinates of the object F(t) from the input signal F(t) in the vertical plane controls:Fy(t)= Fxy(t)-F(t), and the output of the second processing unit error 2 produces a signal proportional to the deviation of the output coordinates of the object Fxz(t) from the input signal Fxz(t) in the horizontal plane controls:Fz(t)= Fxz(t)-Fz(t). The output signal from the first processing unit error 1 is converted first corrective filter 11, the input signal is applied to the first input of the calculation of the ratio and angle 9, and the first amplifier 6, a control input which is applied a signal proportional to the magnitude of the coefficient of transmission of the object 5 from the first output device to calculate the ratio and angle 9, and is supplied to the first input of the phase rotator 8. The output signal from the second processing unit error 2 converts the second correction filter 12, the input signal which is applied to a second input of the calculation of the ratio and angle 9 and the second amplifier 7, a control input which is applied a signal proportional to the magnitude of the coefficient of transmission of the object 5, the second output device calculate the ratio and angle 9, and is supplied to the second input of the phase rotator 8. The signals from the third and fourth outputs of referencing software shego the output of which is fed the signal, proportional to the magnitude of the phase communication channels, to the third input of the phase rotator 8. The signal from the first output of the phase rotator 8 via the first adder 3, at the first input of which receives the signal from the first output unit signals 10, is fed to the first input of the control object 5. The signal from the second output of the phase rotator 8 through the second adder 4, at the first input of which receives the signal from the second output unit signals 10, is applied to a second input of the control object 5. The gyroscope 16 decomposes the input signals of the control object 5, and supplies them to the first and second steering actuators 17, 18. Changing the position of the rudder actuators 17, 18 lead to a change in the space position of the glider 19 and the coordinates of the control object 5 at its first and second outputs through the kinematic relations 20. Converted so the error signals in the vertical and horizontal planesFy(t) andFz(t) in the control signals Uy(t) and Uz(t) from the output of the first and second adders 3 and 4 affect the control object 5. The direction of the object 5 in the vertical and horizontal planes F(t) and Fz(t) is shifted in space, and the initial angular Rassegna Fxz(t) and the object 5 F(t) and Fz(t) decrease.

The first version of the device computing the ratio and angle works well.

The first and second inputs of the first, second, third and fourth transducers Fourier 21, 22, 23, 24 do software signals respectively from the first and second outputs of the generator 10. The signals on the first, second, third and fourth inputs of the device 9, are given correspondingly to the third input of the first, second, third and fourth transducers Fourier 21, 22, 23 and 24. The signal from the first output of the first inverter Fourier 21 is applied to a second input of the second adder 26, at the first input of which the signal from the second output of the second inverter Fourier 22. The signal from the first output of the second inverter Fourier 22 is fed to the first input of the first adder 25, the second input of which the signal from the second output of the first inverter Fourier 21. The output signal of the first adder 25 is supplied to second input device 29 and 31, to the first input of which receives the signal from the output of the second adder 26. The signal from the first output of the third inverter Fourier 23 is supplied to the second input of the fourth adder 28, at the first input of which the signal from the second output of the third inverter Fourier 23. The signal PE which is applied the signal from the second output of the third inverter Fourier 23. The output signal of the third adder 27 is supplied to second input devices 30 and 32, the input of which receives the signal from the output of the fourth adder 28. The signal is proportional to the turn angle of the vector of the coordinates output device 31 is supplied to the second input of the calculation phase 33, to the first input of which receives a signal proportional to the angle of spread of vector commands, the output device 32. The signal is proportional to the module of the vector of the coordinates output device 29 is supplied to the second input of the coefficient calculation 34, to the first input of which receives a signal proportional to the value of the module of vector commands, output device 30. The output device 34 corresponds to the signal from the first and second outputs of the device 9, and the output device 33 corresponds to the signal from the third output device 9.

The second variant of the device computing the ratio and angle works well.

The first and second inputs of the first, second, third and fourth transducers Fourier 21, 22, 23, 24 do software signals respectively from the first and second outputs of the generator 10. The signals on the first, second, third and fourth inputs of the device is 22, 23 and 24. The signal from the first output of the first inverter Fourier 21 is applied to a second input of the second adder 26, at the first input of which the signal from the second output of the second inverter Fourier 22. The signal from the first output of the second inverter Fourier 22 is fed to the first input of the first adder 25, the second input of which the signal from the second output of the first inverter Fourier 21. The output signal of the first adder 25 is supplied to the second input device 31, to the first input of which receives the signal from the output of the second adder 26. The signal from the first output of the third inverter Fourier 23 is supplied to the second input of the fourth adder 28, at the first input of which the signal from the second output of the third inverter Fourier 23. The signal from the first output of the fourth inverter Fourier 24 is supplied to the first input of the third adder 27, the second input of which the signal from the second output of the third inverter Fourier 23. The output signal of the third adder 27 is supplied to the second input device 32, to the first input of which receives the signal from the output of the fourth adder 28. The signal is proportional to the turn angle of the vector of the coordinates output device 31 is supplied to the second input from the PTA vector commands, output device 32. The signal proportional to the value of the orthogonal component of the module of the vector of the coordinates output device 25 is supplied to the second input of the first device coefficient calculation 34, to the first input of which receives a signal proportional to the value of the orthogonal component of the module of the vector commands, output device 27. The signal proportional to the value of the orthogonal component of the module of the vector of the coordinates output device 26 is supplied to the second input of the second device coefficient calculation 35, to the first input of which receives a signal proportional to the value of the orthogonal component of the module of the vector commands, the output device 28. The signals from the outputs of the devices 34, 35 are signals respectively from the first and second outputs of the device 9, and the output device 33 corresponds to the signal from the third output device 9.

Sequence diagram of the first variant of the control system with the first variant of the device computing the ratio and angle as follows.

T0 is the time of the beginning of the operation of the control system.

T1 - time of the beginning of the signal output device 10.

T2 - time of the beginning of determining the amount of phase due Kahn the ranks of the phase connection of the channels of the object 5 and the change gear ratio of the object 5, feed compensating signals to the devices 6, 7, 8 and cessation of the output signal of the device 10.

Sequence diagram of the first variant of the control system with a second embodiment of the device computing the ratio and angle as follows.

T0 is the time of the beginning of the operation of the control system.

T1 - time of the beginning of the signal output device 10.

T2 - time of the beginning of determining the amount of phase channels of the object 5.

T3 - time of the end determine the magnitude of the phase connection of the channels of the object 5, the filing of the compensating signal to the device 8 and the beginning of the determination of the coefficients of transmission channels of the object 5.

T4 - time completion of determining the amount of change of the coefficients of the object transfer channels 5, feed compensating signals to the devices 6, 7 and cessation of the output signal of the device 10.

In the first variant of implementation of the management system increased reliability is achieved by
- determining module and the turn angle of the vector of coordinates using Fourier transformation on the elements 21, 22, 25, 26,29, 31;
- determine the modulus and angle of spread of vector commands using Fourier transformation on the elements 23, 24, 27, 28, 30, 32;istva 9 at the time of filing of the signals at the output of the device 10 by means of the elements 33, 34 and 35;
- compensation phase communication channels of the object 5 through the device 8;
- compensation for the change of the transmission factor of the object 5 by means of the devices 6 and 7;
- a specific sequence of connection of the newly introduced elements 6-9, 23, 24, 28-35 and perform certain parametric correlations.

To justify the work of the first variant of the control system with the first variant of the device computing the ratio and angle as follows.

In the time range t0...T1 is the beginning of the control object 5.

Because of the presence of phase communication channels and changing the transmission factor of the object 5 can be observed in the time range of the flow control commands from one channel to another, which leads to razbaltyvaniya object 5 with respect to its trajectory.

In the time range T1...T2 in the vertical and horizontal channels of the control system is supplied with signals from the first and second outputs of the device 10:

wherethe signals from the first, second, third and fourth outputs of the device 10; A1, A2, A3, A4 - amplitude signal, w is the frequency of the signal. The values Al, A2, w set of conditions ensuring Fy(t) andFz(t) and the control signals Uy(t) and Uz(t).

The time interval T1. ..T2 is selected from the conditions for steady-state optimization process control system software signals (5). In this time interval the object 5 moves along the programmed line relative to the nominal trajectory.

In the time range T2...T3 determines the magnitude of the phase communication channels and changing the transmission factor of the object 5 in the following sequence.

1. The outputs of the first, second, third and fourth transducers Fourier 21, 22, 23 and 24 are formed of vertical and horizontal orthogonal components of the coordinate vector and vector commands:
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
The use of Fourier transforms (6)-(13) allows you to create vertical and horizontal orthogonal components of the coordinate vector and vector commands in the presence of noise in the measured signals.

2. The outputs of the first, second, third and tp://img.russianpatents.com/img_data/61/610336.gif">



3. The outputs of the devices 29 and 31 calculates the module and the turn angle of the vector of coordinates:

Uwyh= arctan(Uwyh/Uwyh), (19)
where UwyhUwyh- the amplitude and phase spectrum of the coordinate vector X (see [8] page 512 ):
4. The outputs of the devices 30 and 32 calculates the modulus and the angle of spread of vector commands:

Uwyh= arctan(Uwyh/Uwyh), (21)
where UwyhUwyh- the amplitude and phase spectrum of the coordinate vector U (see [8] page 512):
5. The output device 33 calculates the amount of phase connection channel object 5:
Uwyh=Uwyh-Uwyh. (22)
6. The output device 34 calculates the amount of change of the transmission factor of the object 5:

where g=9,81 m/s; np- disposable overload object 5.

The time interval T2...T3 is selected from the conditions for determining the amount of phase communication channels and changes the coefficient of the object 5 and is set not less than 1-1,5 periods programmeranalyst trajectory.

When time management more T3 is fed the output signal of the device 10 and the third input device 8 and the control inputs of the devices 6, 7 are served memorized compensating signal according to the phase relation of the channels (22) and the change gear ratio (23) of the object 5. In this time interval the object 5 moves along its trajectory without hesitation, caused by the presence in the object 5 phase communication channels and the change gear ratio.

To justify the work of the first variant of the control system with a second embodiment of the device computing the ratio and angle as follows.

In the time range t0...T1 is the beginning of the control object 5.

Because of the presence of phase communication channels and changing the transmission factor of the object 5 can be observed in the time range of the flow control commands from one channel to another, which leads to razbaltyvaniya object 5 with respect to its trajectory.

In the time range T1...T2 in the vertical and horizontal channels of the control system is supplied with signals from the first and second outputs of the device 10 in accordance with the formula (5).

The time interval T1. ..T2 is selected from the conditions provided with the object 5 moves along the programmed line relative to the nominal trajectory.

In the time range T2...T3 determines the magnitude of the phase connection of the channels of the object 5 in the following sequence.

1. The outputs of the first, second, third and fourth transducers Fourier 21, 22, 23 and 24 are formed of vertical and horizontal orthogonal components of the coordinate vector and vector commands in accordance with formulas (6)-(13).

The use of Fourier transforms (6)-(13) allows you to create vertical and horizontal orthogonal components of the coordinate vector and vector commands in the presence of noise in the measured signals.

2. The outputs of the first, second, third and fourth adders 25, 26, 27 and 28 are formed orthogonal components of the coordinate vector and vector commands in accordance with formulas (14)-(17).

3. Output device 31 calculates the angle of spread of the vector of coordinates in accordance with the formula (19).

4. The output device 32 calculates the angle of spread of vector commands in accordance with the formula (21).

5. The output device 33 calculates the amount of phase channels of the object 5 in accordance with the formula (22)
The time interval T2...T3 is selected from the conditions for determining the value of the phase connection of the channels of the object 5 and is defined at least 1-1 .5 PE and relative to the nominal trajectory.

When time management more T3 to the third input device 8 serves memorized compensating signal according to the phase relation of the channels of the object 5.

In the time range T3...T4 is determined by the magnitude of the change ratio of the transmission channels of the object 5 in the following sequence.

1. The outputs of the first, second, third and fourth transducers Fourier 21, 22, 23 and 24 are formed of vertical and horizontal orthogonal components of the coordinate vector and vector commands in accordance with formulas (6)-(13).

The use of Fourier transforms (6)-(13) allows you to create vertical and horizontal orthogonal components of the coordinate vector and vector commands in the presence of noise in the measured signals.

2. The outputs of the first, second, third and fourth adders 25, 26, 27 and 28 are formed orthogonal components of the coordinate vector and vector commands in accordance with formulas (14)-(17).

3. The output device 34 calculates the magnitude of the change gear ratio in the vertical channel of the object 5:

4. The output device 34 calculates the magnitude of the change gear ratio in the horizontal channel of the object 5:

The analysis shows that improved the accuracy of the control system when the phase of communication channels and the change gear ratio of the object is provided in the conditions of influence of disturbing factors, interference and tracking maneuvers.

The second version of the system control device calculating a coefficient and phase of implementing the proposed methods for detecting and facility management, works as follows.

Consider the operation of the control system. The input signal is supplied in the vertical and horizontal channels on the first inputs, respectively, of the first shaping unit error 1, to the second input of which receives the signal from the first output of the control object 5, and the second processing unit error 2, to the second input of which receives the signal from the second output of the control object 5. The output of the first processing unit error 1 produces a signal proportional to Velich is of:Fy(t)=Fxy(t)-F(t), and the output of the second processing unit error 2 produces a signal proportional to the deviation of the output coordinates of the object Fz(t) from the input signal Fxz(t) in the horizontal plane controls:Fz(t)=Fxz(t)-Fz(t). The output signal from the first processing unit error 1 is converted first corrective filter 11, the input signal is applied to the first input of the calculation of the ratio and angle 9, the first adder 3, at the first input of which the signal from the first output device 10, and the first amplifier 6, to the control input of which is supplied through the first control unit 13, the signal proportional to the magnitude of the coefficient of transmission of the object 5, the first output device to calculate the ratio and angle 9, and is supplied to the first input of the phase rotator 8. The output signal from the second processing unit error 2 converts the second correction filter 12, the input signal which is applied to a second input of the calculation of the ratio and angle 9, the second adder 4, at the first input of which the signal from the second output device 10, and the second amplifier 7, to the control input of which is supplied through the second control unit noethiriene and angle 9, and is supplied to the second input of the phase rotator 8. The signals from the third and fourth outputs of the generator signals 10 are received respectively in the fifth and sixth inputs of the device computing the ratio and angle 9 with the third output of which is applied a signal proportional to the magnitude of the phase communication channels through the third control unit 15 to the third input of the phase rotator 8. The signal from the first output of the phase rotator 8 is fed to the first input of the control object 5. The signal from the second output of the phase rotator 8 - to the second input of the control object 5. The gyroscope 16 decomposes the input signals of the control object 5, and supplies them to the first and second steering actuators 17, 18. Changing the position of the rudder actuators 17, 18 lead to a change in the space position of the glider 19 and the coordinates of the control object 5 at its first and second outputs through the kinematic relations 20. Converted so the error signals in the vertical and horizontal planesFy(t) andFz(t) in the control signals Uy(t) and Uz(t) with the first and second outputs of the phase rotator 8 affect the control object 5. The direction of the object 5 in the vertical and horizontal planes F(t) and F.gif">Fz(t) between the directions on the object tracking Fxy(t) and Fxz(t) and the object 5 Ruiju(1) and Fz(t) decrease.

The first version of the device computing the ratio and angle works well.

The first and second inputs of the first, second, third and fourth transducers Fourier 21, 22, 23, 24 do software signals respectively from the first and second outputs of the generator 10. The signals on the first, second, third and fourth inputs of the device 9, are given correspondingly to the third input of the first, second, third and fourth transducers Fourier 21, 22, 23 and 24. The signal from the first output of the first inverter Fourier 21 is applied to a second input of the second adder 26, at the first input of which the signal from the second output of the second inverter Fourier 22. The signal from the first output of the second inverter Fourier 22 is fed to the first input of the first adder 25, the second input of which the signal from the second output of the first inverter Fourier 21. The output signal of the first adder 25 is supplied to second input device 29 and 31, to the first input of which receives the signal from the output of the second adder 26. The signal from the first output of the third inverter Fourier 23 is supplied to the second input of the fourth adder 28, at the turn of the fourth inverter Fourier 24 is supplied to the first input of the third adder 27, to the second input of which the signal from the second output of the third inverter Fourier 23. The output signal of the third adder 27 is supplied to second input devices 30 and 32, the input of which receives the signal from the output of the fourth adder 28. The signal is proportional to the turn angle of the vector of the coordinates output device 31 is supplied to the second input of the calculation phase 33, to the first input of which receives a signal proportional to the angle of spread of vector commands, the output device 32. The signal is proportional to the module of the vector of the coordinates output device 29 is supplied to the second input of the coefficient calculation 34, to the first input of which receives a signal proportional to the value of the module of vector commands, output device 30. The output device 34 corresponds to the signal from the first and second outputs of the device 9, and the output device 33 corresponds to the signal from the third output device 9. The second variant of the device computing the ratio and angle works well.

The first and second inputs of the first, second, third and fourth transducers Fourier 21, 22, 23, 24 do software signals respectively from the first and second vyhoda the public on the third input of the first, second, third and fourth transducers Fourier 21, 22, 23 and 24. The signal from the first output of the first inverter Fourier 21 is applied to a second input of the second adder 26, at the first input of which the signal from the second output of the second inverter Fourier 22. The signal from the first output of the second inverter Fourier 22 is fed to the first input of the first adder 25, the second input of which the signal from the second output of the first inverter Fourier 21. The output signal of the first adder 25 is supplied to the second input device 31, to the first input of which receives the signal from the output of the second adder 26. The signal from the first output of the third inverter Fourier 23 is supplied to the second input of the fourth adder 28, at the first input of which the signal from the second output of the third inverter Fourier 23. The signal from the first output of the fourth inverter Fourier 24 is supplied to the first input of the third adder 27, the second input of which the signal from the second output of the third inverter Fourier 23. The output signal of the third adder 27 is supplied to the second input device 32, to the first input of which receives the signal from the output of the fourth adder 28. The signal is proportional to the turn angle of the vector of the th signal, proportional to the angle of spread of vector commands, the output device 32. The signal proportional to the value of the orthogonal component of the module of the vector of the coordinates output device 25 is supplied to the second input of the first device coefficient calculation 34, to the first input of which receives a signal proportional to the value of the orthogonal component of the module of the vector commands, output device 27. The signal proportional to the value of the orthogonal component of the module of the vector of the coordinates output device 26 is supplied to the second input of the second device coefficient calculation 35, to the first input of which receives a signal proportional to the value of the orthogonal component of the module of the vector commands, the output device 28. The signals from the outputs of the devices 34, 35 are signals respectively from the first and second outputs of the device 9, and the output device 33 corresponds to the signal from the third output device 9.

The program of work of the second variant of the control system with the first variant of the device computing the ratio and angle as follows.

T0 is the time of the beginning of the operation of the control system.

T1 - time of the beginning of the signal output device 10.

T2 - IOM is the target 5.

T3 - time of the beginning of the filing of the compensating signals to control inputs of the devices 6, 7 and the third input device 8, respectively, by the control units 13, 14 and 15.

T4 is the time of the end determine the magnitude of the phase connection of the channels of the object 5 and the change gear ratio of the object 5, the feed stored compensating signals from outputs of the first, second and third control units 13, 14, 15, respectively to control inputs of the device 6, 7 and the third input device 8 and cessation of the output signal of the device 10.

The program of work of the second variant of the control system with a second embodiment of the device computing the ratio and angle as follows.

T0 is the time of the beginning of the operation of the control system.

T1 - time of the beginning of the signal output device 10.

T2 - time of the beginning of determining the amount of phase channels of the object 5.

T3 - time of the beginning of the filing of the compensating signal to the third input device 8 via the control unit 15.

T4 is the time of the end determine the magnitude of the phase connection of the channels of the object 5, the feed stored compensating signal output from the third control unit 15 to the third input device 8 and the beginning of the filing of the compensating signals on the control inputs of the device 6, 7, respectively, by the control units 13, 14.

T6 - time completion of determination of the coefficients of the object transfer channels 5, feed the stored compensating signals from the outputs of the first and second control units 13, 14 respectively to control inputs of the devices 6, 7 and cessation of the output signal of the device 10.

In the first variant of implementation of the management system increased reliability is achieved by
- determining module and the turn angle of the vector of coordinates using Fourier transformation on the elements 21, 22, 25, 26, 29, 31;
- determine the modulus and angle of spread of vector commands using Fourier transformation on the elements 23, 24, 27, 28, 30, 32;
- determine the magnitude and phase of communication channels and the change gear ratio of the object 5 on the output device 9 at the time of filing of the signals at the output of the device 10 by means of the elements 33, 34 and 35;
- compensation phase communication channels of the object 5 through 8, 15;
- compensation for the change of the transmission factor of the object 5 by means of the devices 6, 7, 13 and 14;
- a specific sequence of connection of the newly introduced elements 6-9, 23, 24, 28-35 and perform certain parametric correlations.

the a and angle can be as follows.

In the time range t0...T1 is the beginning of the control object 5.

Because of the presence of phase communication channels and changing the transmission factor of the object 5 can be observed in the time range of the flow control commands from one channel to another, which leads to razbaltyvaniya object 5 with respect to its trajectory.

In the time range T1...T2 in the vertical and horizontal channels of the control system is supplied with signals from the first and second outputs of the device 10 in accordance with the formula (5).

The time interval T1. ..T2 is selected from the conditions for steady-state optimization process control system software signals (5). In this time interval the object 5 moves along the programmed line relative to the nominal trajectory.

In the time range T2...T3 determines the magnitude of the phase communication channels and changing the transmission factor of the object 5 in the following sequence.

1. The outputs of the first, second, third and fourth transducers Fourier 21, 22, 23 and 24 are formed of vertical and horizontal orthogonal components of the coordinate vector and vector commands in accordance with formulas (6)-(13).

Using the coordinate vector and vector commands in the presence of noise in the measured signals.

2. The outputs of the first, second, third and fourth adders 25, 26, 27 and 28 are formed orthogonal components of the coordinate vector and vector commands in accordance with formulas (14)-(17).

3. The outputs of the devices 29 and 31 calculates the module and the turn angle of the vector of coordinates in accordance with formulas (18)-(19).

4. The outputs of the devices 30 and 32 calculates the modulus and the angle of spread of vector commands in accordance with the formulas (20)-(21).

5. The output device 33 calculates the amount of phase channels of the object 5 in accordance with the formula (22).

6. The output device 34 calculates the amount of change of the transmission factor of the object 5 in accordance with the formula (23).

The time interval T2...T3 is selected from the conditions for determining the amount of phase communication channels and changes the coefficient of the object 5 and is set not less than 1-1,5 periods the program signal. In this time interval the object 5 continues to move software of the trajectory relative to the nominal trajectory.

In the time range T3...T4 continues the calculation signal (3)-(23) and serves compensating signal according to the phase relation of the channels (22) through the third control unit 13 to the third input device 8 and the compensating signals POI second control units 14, 15. The signals from the first and second outputs of the device 9 tend to zero, and the signal from the third output device 9 tends to zero. The output of the first and second control units 13, 14, a signal is generated that is proportional to the change gear ratio of the object 5, and the output of the third control unit 15, a signal is generated that is proportional to the phase connection of the channels of the object 5. Using the first, second and third control units 13, 14, 15 provide a more accurate refinement of the compensating signal according to the phase of communication channels and the change gear ratio of the object 5, than in the first variant implementation of the control system. This is due to the fact that the regulation in this case is rejected.

The time interval T3. ..T4 is selected to ensure completion of transition processes on the regulation of compensation of the amount of phase communication channels and changes the coefficient of the object 5.

When time management more T4 is fed the output signal of the device 10, and a third input device 8 and the control inputs of the devices 6, 7 are served memorized compensating signal according to the phase of communication channels and the change gear ratio of the object 5, respectively, with the trajectory without hesitation, due to the presence of the object 5 phase communication channels and the change gear ratio.

To prove the second variant of the control system with a second embodiment of the device computing the ratio and angle as follows.

In the time range t0...T1 is the beginning of the control object 5.

Because of the presence of phase communication channels and changing the transmission factor of the object 5 can be observed in the time range of the flow control commands from one channel to another, which leads to razbaltyvaniya object 5 with respect to its trajectory.

In the time range T1...T2 in the vertical and horizontal channels of the control system is supplied with signals from the first and second outputs of the device 10 in accordance with the formula (5).

The time interval T1. ..T2 is selected from the conditions for steady-state optimization process control system software signals (5). In this time interval the object 5 moves along the programmed line relative to the nominal trajectory.

In the time range T2...T3 determines the magnitude of the phase connection of the channels of the object 5 in the following sequence.

1. The outputs of the first, second, third alaysia coordinate vector and vector commands in accordance with formulas (6)-(13).

The use of Fourier transforms (6)-(13) allows you to create vertical and horizontal orthogonal components of the coordinate vector and vector commands in the presence of noise in the measured signals.

2. The outputs of the first, second, third and fourth adders 25, 26, 27 and 28 are formed orthogonal components of the coordinate vector and vector commands in accordance with formulas (14)-(17).

3. Output device 31 calculates the angle of spread of the vector of coordinates in accordance with the formula (19).

4. The output device 32 calculates the angle of spread of vector commands in accordance with the formula (21).

5. The output device 33 calculates the amount of phase channels of the object 5 in accordance with the formula (22)
The time interval T2...T3 is selected from the conditions for determining the value of the phase connection of the channels of the object 5 and is set not less than 1-1,5 periods the program signal. In this time interval the object 5 continues to move software of the trajectory relative to the nominal trajectory.

In the time range T3...T4 are continuing to shape the signals (3)-(22) and serves compensating signal according to the phase relation of the channels (22) through the third control unit 15 to the third input device 8. what is the signal, proportional to the phase connection of the channels of the object 5. Using the third control unit 15 provides a more accurate refinement of the compensating signal according to the phase relation of the channels of the object 5, than in the first variant implementation of the control system. This is due to the fact that the regulation in this case is rejected.

The time interval T3. ..T4 is selected to ensure completion of transition processes for the regulation of the compensation values of the phase connection of the channels of the object 5.

When time management more T4 to the third input device 8 is supplied to the stored compensating signal according to the phase relation of the channels of the object 5 from the output of the third control unit 15.

Within the range of time T4...T5 is determined by the magnitude of the change ratio of the transmission channels of the object 5 in the following sequence.

1. The outputs of the first, second, third and fourth transducers Fourier 21, 22, 23 and 24 are formed of vertical and horizontal orthogonal components of the coordinate vector and vector commands in accordance with formulas (6)-(13).

The use of Fourier transforms (6)-(13) allows you to create vertical and horizontal orthogonal components of the coordinate vector and vector to the tori 25, 26, 27 and 28 are formed orthogonal components of the coordinate vector and vector commands in accordance with formulas (14)-(17).

3. The output device 34 calculates the magnitude of the change gear ratio in the vertical channel of the object 5 in accordance with formula (24).

4. The output device 34 calculates the magnitude of the change gear ratio in the horizontal channel of the object 5 in accordance with the formula (25).

In the time range T5...T6 continue to form signals(3)-(18), (20), (24) and (25) and served compensating signals (24), (25) change ratio of the transmission channels of the object 5 on the control inputs of the devices 6, 7 respectively through the first and second control units 13, 14. The signals from the first and second outputs of the device 9 tend to zero. The output of the first and second control units 13, 14, a signal is generated that is proportional to the change of the coefficient of transmission through the object 5. Using the first and second control units 13, 14 provide a more accurate refinement of the compensating signal change ratio of the transmission channels of the object 5, than in the first variant implementation of the control system. This is due to the fact that the regulation in this case is carried out by otklonenijami compensation value change ratio of the transmission channels of the object 5.

When time management more T6 is the termination signal from the output device 10, and a third input device 8 and the control inputs of the devices 6, 7 are served memorized compensating signal according to the phase of communication channels and the change gear ratio of the object 5 with outputs respectively of the first, second and third control units 13, 14, 15. In this time interval the object 5 moves along its trajectory without hesitation, caused by the presence in the object 5 phase communication channels and change the gear ratio on the TV.

The analysis shows that the precision of the control system when the phase of communication channels and the change gear ratio of the object is provided in the conditions of influence of disturbing factors, interference and maneuvering object tracking.

Therefore, the use of new elements 6-9, 23, 24, 28-35, connected in accordance with Fig. 1, 2, 3 and 4 with the above characteristics (1) to(25), the proposed control system, distinguishes the proposed technical solutions from the prototype, so as to improve the accuracy of operation of the control system when the phase of communication channels and the change gear ratio of the object in terms of interference and Manet unmanned aerial vehicles. M: mechanical engineering, 1965, S. 28-30, Fig.1.7.

2. Bodner Century A. theory of automatic flight control. M.: Nauka, 1964, S. 290-293, Fig.7.7-7.9.

3. Dudka C. D., Parfenov Y. L. Dual channel autopilot stabilization phase shift control surface actuators on the speed of the rocket // In the book: Problems of design and production systems. Tula: TSU, 1999, S. 360 - 362.

4. Alexenko A. G., particularly E. A., Starodub, And. the Use of precision analog ICS. M.: Radio and communication, 1981.

5. Kochetov Century. So, Polovko A. M., Ponomarev A. MT systems Theory telecontrol and homing missiles. M.: Nauka, 1964.

6. Gorbatsevich, E. D., Levinson, F. F. Analog simulation control systems. - M.: Nauka, 1984.

7. Design of specialized information and computing systems. M., "Higher school", 1984. Edited by Y. M. Smirnov.

8. Encyclopedia of Cybernetics. CH. editor of the Ukrainian Soviet encyclopedia. Kiev, 1974. Volume 2.


Claims

1. The method of controlling the trajectory of the object, including vertical and horizontal channels determine the current input coordinates and the coordinates of the object, calculating the difference between the input coordinates and the coordinates of the object, setting program signals and fo is, is the set time of the beginning and end of the feed signals, since the start time until the end time add in team management software signals, determine a phase shift between the vector and the vector of coordinates compensate the phase shift of the reversal of the vector commands on this angle, determine the attitude of the modules of vector commands and coordinate vector and compensate for the change gear ratio of the object by changing the value of the command object.

2. Control system the motion trajectory of the object that contains the control object, the first and second adders, the unit signals, the first and second outputs of which are connected respectively to the first inputs of the first and second adders, connected in series, the first shaping unit error, a second input connected to the first output of the control object, the first corrective filter, connected in series, the second block formation errors, a second input connected to the second output of the control object, the second corrective filter, to the first inputs of the first and second blocks forming the error signal input in the vertical and horizontal channels, atlahta first corrective filter, a second amplifier with an adjustable gain, an input connected to the output of the second correction filter, phase rotator, the first and second outputs of which are connected with the second inputs respectively of the first and second adders, the unit of calculation of the coefficient and phase, the first and second inputs connected to the outputs respectively of the first and second blocks forming errors, and the first and second inputs of the phase rotator is connected to the outputs respectively of the first and second amplifiers with adjustable gain control inputs which are connected respectively with the first and second outputs of the device computing the ratio and phase, the first and second inputs of the control object connected to the outputs respectively of the first and second adders and respectively to third and fourth inputs of the device computing the ratio and phase, and the third and fourth outputs of the generator signals are connected respectively to the fifth and sixth inputs of the device computing the ratio and phase, the third output of which is connected to the third input of the phase rotator.

3. Control system the motion trajectory of the object that contains the object management PE is connected with the first inputs of the first and second adders, connected in series, the first shaping unit error, a second input connected to the first output of the control object, the first corrective filter, connected in series, the second block formation errors, a second input connected to the second output of the control object, the second corrective filter, and the first, second and third control units, to the first inputs of the first and second blocks forming the error signal input in the vertical and horizontal channels, characterized in that the input device calculate the ratio and phase, the first and second inputs connected to the outputs respectively of the first and second blocks forming errors the first amplifier with an adjustable gain, an input connected to the output of the first adder and the third input of the calculation of the ratio and phase, a second amplifier with an adjustable gain, an input connected to the output of the second adder and the fourth input of the calculation coefficient and the phase of the phase rotator, the first and second outputs of which are connected respectively with the first and second inputs of the control object, and the first and second inputs of the phase dramatispersonae inputs which are connected respectively through the first and second control units of the first and second outputs of the device computing the ratio and phase, the output of the first corrective filter is connected with the second input of the first adder, the output of the second correction filter connected to the second input of the second adder and the third and fourth outputs of the generator signals are connected respectively to the fifth and sixth inputs of the device computing the ratio and phase, the third output of which is connected via the third control unit with a third input of the phase rotator.

4. The method of determining the phase of communication channels and the transmission factor of the object in the control system the motion trajectory of the object, including the measurement control commands and coordinates in the horizontal and vertical plane, characterized in that is carried out in each measured team and coordinate with Fourier transform computation of orthogonal components, calculated orthogonal components define the module and turn corners vector commands and coordinate vector, the computed values of the module of the vector commands and module of the vector of coordinates define the transmission coefficient of the object, and the computed values of the angles of spread of vector commands and vector coordinates define the phase relationship of the channel object.

5. The device vechicle characterized in that that introduced the third and fourth transducers Fourier, the first device calculating module, a second input connected to the output of the first adder, the first device angle calculation, the first input connected to the output of the second adder and the first input of the first computing device module, connected in series, the second device calculating module, a second input connected to the output of the third adder, the unit of calculation of the coefficient, a second input connected to the output of the first computing device module, connected in series, the fourth adder, a first input connected to the second output of the fourth inverter Fourier, the second device angle calculation, first input connected to the first input of the second device of the computing module, the device computation phase, a second input connected to the output of the first device angle calculation, and the first output of the first inverter Fourier connected to the second input of the second adder, a first input connected to the second output of the second inverter Fourier, the second output of the first inverter Fourier connected with the second input of the first adder, a first input connected to the second input of the fourth adder, the second output of the third inverter Fourier connected to a second input of the third adder, a first input connected to the first output of the fourth inverter Fourier, the first input of the first inverter Fourier connected with the first inputs of the second, third and fourth transducers Fourier, the second input of the first inverter Fourier connected with the second inputs of the second, third and fourth transducers Fourier, the output of the first adder is connected to a second input of the first device angle calculation, and the output of the third adder connected to the second input of the second device to calculate the angle, the third inputs of the first, second, third and fourth transducers Fourier are respectively the first, the second, third and fourth inputs of the device computing the ratio and phase, the first inputs of the first, second, third and fourth transducers Fourier correspond to the fifth input of the calculation of the ratio and phase, the second inputs of the first, second, third and fourth transducers Fourier correspond to the sixth input of the calculation of the ratio and phase, the output of the coefficient calculation is the first and the second outputs of the device computing ficient and phase.

6. The device calculate the ratio and phase containing the first and second converters Fourier, the first, second and third adders, wherein the entered third and fourth transducers Fourier, the first device calculating a coefficient, a second input connected to the output of the first adder, the first device angle calculation, the first input connected to the output of the second adder, the second computing device ratio, a second input connected to the output of the second adder, connected in series, the fourth adder, a first input connected to the second output of the fourth inverter Fourier, the second device angle calculation, first input connected to the first input of the second device coefficient calculation device calculating the phase, a second input connected to the output of the first device angle calculation, and the first output of the first inverter Fourier connected to the second input of the second adder, a first input connected to the second output of the second inverter Fourier, the second output of the first inverter Fourier connected with the second input of the first adder, a first input connected to the first output of the second pre is ora, the second output of the third inverter Fourier connected to a second input of the third adder, a first input connected to the first output of the fourth inverter Fourier, the first input of the first inverter Fourier connected with the first inputs of the second, third and fourth transducers Fourier, the second input of the first inverter Fourier connected with the second inputs of the second, third and fourth transducers Fourier, the output of the first adder is connected to a second input of the first device angle calculation, and the output of the third adder connected to the second input of the second device angle calculation and the first input of the first unit of calculation of the coefficient, while the third inputs of the first, second, the third and fourth transducers Fourier are respectively the first, second, third and fourth inputs of the device computing the ratio and phase, the first inputs of the first, second, third and fourth transducers Fourier correspond to the fifth input of the calculation of the ratio and phase, the second inputs of the first, second, third and fourth transducers Fourier correspond to the sixth input of the calculation of the ratio and phase, the output of the first computing device to the comprehension of the coefficient is the second output of the coefficient calculation and phase, and the output of the calculation phase is the third output of the coefficient calculation and phase.

 

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