RU2184340C2 - Interrupted pneumatic actuator of control system of spin-stabilized missiles and method for monitoring of its dynamics - Google Patents

Abstract

FIELD: military equipment, guided missiles and projectiles. SUBSTANCE: interrupted pneumatic actuator of the control system of a spin-stabilized missile, having a power amplifier and an actuator linked with the control surfaces, uses also an adder, whose one input serves as an input of the actuator and is connected to the output of the missile control equipment, two-step relay with a negative hysteresis loop of a variable width, whose output is connected to the input of the power amplifier. The actuator is also provided with a linearizing oscillator, whose output is connected to the second input of the adder, and a device for setting the phase lead of the actuator during the missile flight, whose output is connected to the hysteresis loop width control inputs of the two-step relay. The dynamics is monitored during equivalent lag at a supply pressure corresponding to the selected missile flight conditions, for example, the maximum and minimum flight speeds, and readout of information on angular position of the control surfaces from the output of the control surface angle sensor, applied to the input of the two-step relay with a negative hysteresis loop of a variable width from the output of the signal generator is a periodic square- wave signal at a frequency equal, for example, to the maximum spin rate of the missile with an amplitude corresponding to the maximum travel of the control surfaces (according to the limits), the angle of the control surfaces and the preset signal are fixed on the registering device, the time of start-up, movement and actuation of the actuator at a travel of the control surfaces from one extreme position (limit) to the other and back is determined, time τ_e of the equivalent lag of the actuator according to a definite mathematical dependence is determined. EFFECT: simplified design of the actuator, enhanced accuracy and reliability of its operation, simplified monitoring of the actuator dynamics. 2 cl, 4 dwg

Description

 The present invention relates to power control systems of aircraft and most expediently can be used in steering drives and autopilots of control systems of small-sized roll-driven guided missiles and shells.

 The steering gear is part of the flight control system of the aircraft and is the executive element of this system and is designed to move or rotate the controls [1, 2, 3].

 Pneumatic steering gear was widely used in aircraft control systems as an autopilot actuator [L.3, p. 33, chap. 1.2; L.2, Ch. 3; L.1, ch. II], one of the main drawbacks of which is its complexity [L.1, p. 99, 2nd paragraph from the bottom].

 Steering drives and autopilots of guided missiles are objects with variable parameters. Over a wide range of missile flight times, the articulated load on the rudders (from spring to overcompensation) changes due to changes in the missile’s flight speed, the roll’s rotational speed along the roll, and also the control signal parameters.

 The developer of guided missiles is faced with the task of creating simple and easy-to-use steering gears and autopilots, taking into account restrictions on weight, dimensions, labor intensity and manufacturing cost, which requires the search and implementation of new circuit and design solutions, expanding the scope of existing ones.

 Modern technology for creating new promising guided missile and projectile systems involves widespread use, due to their special effectiveness, air-dynamic steering gears (VDRP) and autopilots that use compressed air energy as a source of working fluid due to the high-speed pressure of the incoming flow of compressed air during missile flight. They are characterized by a significant dependence of the quality of working out the control signal on the aerodynamic load on the rudders and the supply pressure at various sections of the missile flight.

 With an increase in the flight speeds of the rocket, the demands on the speed of both the control system as a whole and the actuators included in it — steering gears — increase.

 With an increase in the speed of control systems for high-speed maneuverable aircraft, the steering gear has an increasingly strong influence on the dynamics of the control system. In this case, the steering drive cannot be considered as an inertia-free element of the control system at all stages of development and testing. In this regard, it becomes necessary to approximate the dynamic properties of the steering drive with possibly simpler transfer functions, but accurately reflecting its dynamics.

 The development of simple, reliable and informative ways to control the quality of the operation of steering drives of guided missiles, one of the indicators of which is the dynamics of the drive, at various stages of development, production and testing was and remains an urgent technical task along with the development of new simple drive schemes.

 Known pneumatic steering gear [L.2, p. 116, Fig. 3.4, Fig. 1.1, p. 5-10, L.3, Fig. 1.1, Fig. 2.1], which is a closed automatic system, which includes a pneumatic power drive and control elements: an electromechanical converter, an electronic amplifier and a feedback sensor, the signal from which covers the entire drive. As rightly noted, a feedback drive is the most common type of drive in aircraft control systems [L.2, p. 9, 2nd paragraph below; L.3, p. 33, 2nd paragraph from the bottom].

 Known self-oscillating pneumatic steering gear of a roll of a guided projectile 9M117 [4], comprising a summing device in series, a correction filter, a nonlinear element, a power amplifier, a pneumatic steering machine with a control magnet, a feedback sensor associated with one of the inputs of the subtraction unit, another whose input is the input of the drive. As a working fluid, the energy of compressed air of the incoming air flow during rocket flight is used.

 Known relay automatic control system [6], comprising a summing device, a relay element and a control object (linear part), covered by negative feedback.

 Also known is a self-oscillating pneumatic steering gear [5, 7] of a guided projectile rotating along the roll, containing the same basic functional elements as the steering gear [4], but with a higher accuracy of working out the input harmonic control signals due to the use of new circuits correction filters in the drive error circuit.

 In the known (analog) self-oscillating steering drives [4, 5, 7] and systems [6], the linearization of the relay element is provided by self-oscillations, the amplitude of which is determined by the parameters of the linear part and the relay element.

A feature of the work of the well-known [4, 5, 7] pneumatic steering drives as part of a roll of a guided missile is the development of a harmonic input signal U _I = U _m • sinω _I t with variable amplitude and frequency ω _I = ω _BP ± ω _c , respectively the error of the mismatch of the rocket control loop and the roll speed of the rocket (ω _bp = 2π • f _bp , where f _bp is the roll speed of the rocket roll) and the natural frequency of the rocket (ω _c = 2π • f _c ), at each moment of the flight time of the rocket . The drive dynamics in this case is estimated by the magnitude and stability of the dynamic transmission coefficient and phase shift of the first harmonic of the output signal of the steering drive, the selection of which requires the use of complex and expensive special technical devices.

 A common significant drawback of the known closed pneumatic steering drives of guided missiles and other aircraft is the complexity of the drive, due to the need to implement the proportional control principle to ensure the required accuracy of the drive, that is, control by error of the mismatch between the set and actual values of the controlled variable after working out. This leads to the need to use a feedback sensor, a summing device, corrective filters in the drive control circuit, the appearance of a closed drive loop and the associated problems of ensuring stability of the closed loop, ensuring acceptable parameters of auto-oscillations (amplitude and frequency) based on the given accuracy of the drive , ensuring the proportionality of processing the drive error signal by an amplifier, an electro-pneumatic converter, etc., which in itself leads to the complexity of implementation and these elements.

 The disadvantages of these drives should also include the difficulties noted above with estimating drive dynamics from the first harmonic of the output signal, i.e. in a known way to assess the dynamics of the drive by the amplitude and phase frequency characteristics [L.9, p. 5-7, chapter one to five; L.2, p. 10-16].

 Known (prototype) open air drive of the aircraft control system [L.1, Fig.2.6, p. 104, 4th paragraph from above], containing a power amplifier and steering machine kinematically connected with the rudders.

 A disadvantage of the known open air drive is the lack of information about the control of the drive in the control system of the aircraft. A schematic diagram of the power unit of the pneumatic drive without linking its control part (to the power amplifier) to the needs of creating a control system for a guided missile rotating on a roll, a projectile, is presented.

 When designing automatic control and regulation systems, various methods of analysis and synthesis of linear and nonlinear systems developed in the theory of automatic regulation find application.

 Currently, the most widely used is the known (prototype) method for studying the dynamics of automatic systems according to frequency characteristics [L.9, p. 5-7, chapters one to five].

 When using the frequency method, one of the main advantages of which is its versatility, the initial data for analyzing the dynamics of the system, including the steering gear, can be obtained both by calculation and experimentally.

 The obtained amplitude-phase frequency characteristics of the steering drive are approximated by simpler transfer functions that accurately reflect its dynamic properties [L.2, p. 3, 4th paragraph from the bottom].

 A disadvantage of the known frequency method for analyzing the dynamics of systems is its complexity due to the lack of special equipment designed for experimental determination of frequency characteristics [L.9, p.6, 2nd paragraph above].

 The objective of the invention is to simplify the pneumatic steering drive of a rocket rolling along the roll, increase the information content of the power control of an open drive, increase the accuracy and reliability of operation, simplify control of drive dynamics, reduce the complexity and cost of manufacture.

 The problem is solved by the implementation in the pneumatic steering drive of a rocket rotating along the roll instead of the proportional relay on-off control law of the open air drive.

 This is achieved by the fact that an adder, one input of which is the input of the drive and connected to the output of the rocket control equipment, a two-position relay with a negative hysteresis loop of variable width, is inserted into the open pneumatic pipeline of the control system for a rotating rocket containing a power amplifier and a steering machine connected with the rudders the output of which is connected to the input of the power amplifier, a linearizing oscillation generator, the output of which is connected to the second input of the adder, and a device for setting the phase advance of the drive according to the flight time of the rocket, the output of which is connected to the control inputs of the width of the hysteresis loop of the on-off relay.

In the method for controlling the dynamics of an open pneumatic actuator of a control system for a rotating rocket, based on determining the amplitude and phase frequency characteristics of the drive by the first harmonic of the output signal when working out the harmonic input signal and approximating them with a simpler transfer function, for example, a delay link, the control is carried out by the time of the equivalent delay with pressure power supply corresponding to the selected flight mode of the rocket, for example, maximum and minimum flight speeds, and eat e information about the angular position of the rudders from the output of the rudder angle sensor, to the input of the on-off relay with a negative hysteresis loop of variable width from the output of the signal generator, a periodic rectangular signal is fed with a frequency equal, for example, to the maximum frequency of rotation of the rocket along the roll, with an amplitude corresponding to the maximum movement of the rudders (on the stops), on the recording device, the angle of rotation of the rudders and the set signal are recorded, the time of starting, movement and operation of the drive when changing When steering wheels are moved from one extreme position (stop) to another and vice versa, the time τ _{e of the} equivalent drive delay is determined according to
τ _e = t _Tr + K • t _dv ,
where t _Tr - the starting time from the moment the signal arrives to the start of the movement;
t _dv - time of movement from the beginning of the movement to the arrival of the stop;
t _Tr + t _dv = t _cf - response time from the moment the signal arrives until it arrives at the stop;
K is a coefficient characterizing the time component τ _e due to time t _dv , determined by the law of change of the angle of rotation of the rudders when they move from one extreme position to another under current loads.

 Schematic diagram of the proposed open air drive control system of a rotating missile is shown in figure 1.

The drive consists of an adder 2 connected to the output of the rocket control equipment 1, a two-position relay with a negative hysteresis loop of variable width 4, a linearizing oscillator 3 of a sawtooth or triangular shape, a device for setting the phase advance of the drive in flight time of the rocket 5, power amplifier 6, steering machine as a part of a relay neutral electromechanical converter 7, a switchgear with a jet tube 8, an actuator 9 (as part of two power cylinders 10 and 11, pistons 12,13, rods 14, 15) kinematically connected with the rudders 16. Compressed air with pressure parameters P _P and temperature T _P from the incoming flow of compressed air when the rocket is flying at speed V is used as the source of the working fluid of the drive. Air is supplied through the air inlet 17 to the inlet of the jet tube 18 of the switchgear 8.

A schematic diagram of the implementation of a two-position relay with a negative hysteresis loop of variable width is known [L.8, p.168, diagram 2.12.5] and does not present difficulties for practical implementation. The circuit of figure 2 is made on 4 operational amplifiers with levels of limitation ± A, made on zener diodes. The static characteristic of the relay of FIG. 2 is shown in FIG. 3, where 2λ is the width of the hysteresis loop, the value of which changes in proportion to the signals ± Xa at the control inputs of the relay. Signals X ₁ and X ₂ respectively the input and output of the relay.

The device operates as follows
After the rocket leaves the launcher (container, barrel, etc.), the rudders 16 open, bringing the steering gear into working condition (in the diagram of Fig. 1, the mechanism for opening and fixing the rudders is not shown). The air through the air intake hole 17 after cleaning with a filter (not shown in the diagram) enters the inlet section of the jet tube of the switchgear 8 into the working cavities of the power cylinders 10, 11.

In the absence of an input signal (U _I = 0) at the output of the on-off relay 4, there are rectangular oscillations of a 50% duty cycle of the frequency of linearizing oscillations from the output of generator 3. Their frequency is equal to or a multiple of the rocket rotational speed along the roll. For example, for a single-channel roll roll, it will be 4f _BP .

 When voltage is supplied from the output of the power amplifier 6 to the control winding ОУ1 of a relay neutral (the operation of which does not depend on the direction of the current in the winding) of the electromechanical converter 7, a magnetic flux is created in the magnetic circuit 19, attracting the armature 21, which is rigidly connected to the jet tube 18, to the pole 22. In this case, air flows from the jet tube through the intake window of the switchgear 8 into the cavity of the power cylinder 11 and air flows out of the cavity of the power cylinder 10 connected to the surrounding osferoy through the open window of the receiving distribution device. The pressure in the working cavity of the power cylinder 11 rises, and in the cavity of the cylinder 10 drops. The pressure difference generated in the cavities of the power cylinders 11, 10 creates a driving moment, under the influence of which the rudders 16 rotate rigidly connected with the pistons 12, 13 of the power cylinders through the kinematic link.

 When voltage is applied to the control winding OU2, the rudders 16 turn in the opposite direction.

When practicing periodic rectangular vibrations And the rudders move from one stop to another and vice versa, as shown in figure 2. The movement of the rudders from lock to lock at a selected linearization frequency is provided by the drive dynamics incorporated in its design. When working out on-off relay signals at U _I = 0, the average value for the period of oscillations of the control torque acting on the rocket due to the rudder deflection along the stops does not lead to the appearance of control forces that lead to the rocket displacement relative to the control center.

When a control signal is applied to the input of the drive at the output of the on-off relay, the duty cycle of periodic signals will differ from 50%. In this case, the rudders will also move from one stop to another, but the holding time on the stops will be different than in the case of U _in = 0. When working out on-off relay signals at U _I ≠ 0, the average value for the period of oscillations of the control moment acting on the rocket due to the rudder deflection along the stops at uneven holding times on the stops leads to the emergence of control forces that lead to the displacement of the rocket to the control center.

 Due to the final speed of the pneumatic drive, it has a certain phase delay in the development of periodic signals, which in the general case can vary with the flight time of the rocket. This is due to a change in the maximum speed of the rudders, the maximum developed moment of the drive, the magnitude and sign (spring or overcompensation) of the maximum hinge moment on the rudders. These parameters can vary widely over the flight time of the rocket, and therefore the magnitude of the phase delay of the drive.

 To compensate for the phase delay of the drive at the input of the drive, phase advance devices are introduced, which are provided, for example, by rotating the brushes of the current collector of the rocket gyro coordinator at an angle opposite to the rotation of the rocket and equal to the average value of the phase shift of the steering drive at the central frequency of rotation of the rocket, as is done, for example, in a guided missile 9M117 [4].

 This ensures that only the average value of the phase shift of the drive is compensated. Compensation for deviations of the phase shift from the average value is not provided, which is a disadvantage of such compensators.

 In the proposed pneumatic actuator (Fig. 1), a device is introduced that allows you to enter a variable phase advance in flight time of the rocket. This is achieved by introducing in the on-off relay 4 a negative hysteresis loop of variable width and a device for setting the phase advance of the drive according to the flight time of the rocket 5.

 This device operates as follows.

The negative hysteresis loop in its physics has the ability to provide a phase advance from 0 to 90 ^o , the magnitude of this advance is determined by the width of the loop (with a constant amplitude of linearizing oscillations). Changing the width of the hysteresis loop, which is achieved by applying voltage to the corresponding control inputs of the on-off relay 4 from the output of the phase advance device 5. Since there are no inertial elements in the circuit diagram for the implementation of the on-off relay with a negative hysteresis loop of variable width, with the exception of operational amplifiers, the strip of which significantly exceeds the possible frequencies of the linearizing oscillations of the generator 3, we can consider the introduction of phase advance also without rational.

The absence on board the rocket of a special source of the working fluid for the operation of the pneumatic drive, ensured by using the energy of the incoming air flow, is one of the significant advantages of such a pneumatic drive (air-dynamic). Due to the low pressures and temperatures (P _P , T _P ) of the working fluid, non-deficient domestic construction materials are used in the design of the pneumatic drive.

 The proposed method for controlling the dynamics of an open pneumatic drive of a control system for a rotating missile is provided as follows.

 From the output of the signal generator 24, for example, a generator of type G6-26, an additional input of the adder 2 (Fig. 1) is fed (in the absence of signals from the outputs of the rocket control equipment 1, a device for setting the phase advance of the drive by the flight time of the rocket 5, the generator of linearizing oscillations 3 ) a periodic rectangular signal with a frequency equal, for example, to the maximum frequency of rotation of the rocket along the roll, with an amplitude corresponding to the maximum movement of the rudders (on the stops). The control of the dynamics of the drive is carried out according to the time of the equivalent delay of the drive at a supply pressure corresponding to the selected flight mode of the rocket, for example, maximum and minimum flight speeds.

To fix the angular position of the rudders, a rudder angle sensor is used, for example, a potentiometric 25, as in Fig. 1, although this can be generally any other (non-contact, etc.) kinematically connected with the rudders, which is shown in dotted in Fig. 1 line. On the recording device 26, for example, a light-beam oscilloscope of the type N-115, N-117, etc., or a time interval meter of an electronic frequency meter, for example, type 43-54, the rudder rotation angle and the set signal are recorded (at zero phase advance provided by the absence of a hysteresis loop in on-off switch 4) define breakaway time t _mp, t _dd motion and the response time t _cp actuator when moving the rudder from one extreme position to another and vice versa as the time intervals Δt from the moment the signal prior to the displacement (t _tr) Com and in abutment (t _avg) from the beginning of starting until the arrival at the abutment (t _dd).

According to the data obtained, the time τ _{e of the} equivalent drive delay is determined by the dependence
τ _e = t _Tr + K • t _dv ,
where t _tr + t _dv = t _cf
K is the coefficient determined by the law of change of the angle of rotation of the rudders during their movement from one stop to another under the conditions of acting loads (inertial, articulated, etc.), characterizing the time component τ _e due to time t _dv .

A typical picture of working off a two-position relay signal A from the output of a two-position relay is shown in figure 4, where it is indicated:
U _c is the input signal;
δ is the angle of rotation of the rudders;
δ _m1 , δ _m2 - the maximum steering angles (on the stops);
t $\genfrac{}{}{0ex}{}{\text{1 (2)}}{\text{tr}}$ , t $\genfrac{}{}{0ex}{}{\text{1 (2)}}{\text{dv}}$ , t $\genfrac{}{}{0ex}{}{\text{1 (2)}}{\text{wed}}$ - the times of starting, movement and operation of the drive when moving in one or the other direction.

где τ_э = t_тр+K•t_дв,
t_тр- чистое запаздывание привода, равное времени трогания, при отработке двухпозиционного релейного сигнала А;
t_дв=t_дв(q)- время движения руля с упора на упор;
q = ρV²/2 - скоростной напор набегающего со скоростью V потока с плотностью ρ.
Отношение

определяет динамический коэффициент передачи пневмопривода по первой гармонике, так как величина первой гармоники релейного двухпозиционного сигнала А составляет

величина первой гармоники выходного сигнала δ при трапецеидальной форме изменения в первом приближении также можно считать примерно равной 1,27 δ_m, хотя реально она будет несколько меньше особенно при больших величинах t_дв привода.The dynamics of an open pneumatic drive of a rotating missile control system using a high-pressure head is described by a delay link with a transfer function

where τ _e = t _Tr + K • t _dv ,
t _Tr - the net delay of the drive, equal to the starting time, when working out a two-position relay signal A;
t _dv = t _dv (q) - rudder travel time from lock to lock;
q = ρV ^2/2 - dynamic pressure of the oncoming flow velocity V with a density ρ.
Attitude

determines the dynamic coefficient of transmission of the pneumatic actuator according to the first harmonic, since the value of the first harmonic of the on-off relay signal A is

the value of the first harmonic of the output signal δ with a trapezoidal form of change in a first approximation can also be considered approximately equal to 1.27 δ _m , although in reality it will be slightly less especially with large values of t _two drive.

The representation of the dynamics of an open pneumatic actuator in the form of a typical dynamic link of pure delay with a time constant τ equal to the equivalent delay time τ _{e of the} actuator is used by the developer of the rocket control system in the synthesis and analysis of the control system and is of practical interest from the point of view of the main consumer qualities of the steering drive.

In practice, checking the dynamics of the drive, it is possible to control the dynamics of the drive by the response time t _cf , which is of interest from the point of view of ease of control, since in this case it is possible to use a non-contact control sensor, for example, the final angle of movement of the rudders. Obviously, this type of control, due to its attractiveness to the simplicity of its implementation, does not however provide sufficiently accurate information about the speed of the drive from the point of view of describing it by the link as a pure delay with a time constant τ _e ,
The magnitude of the phase shift φ of the pneumatic drive at the frequencies of rotation of the rocket roll
φ = ω _BP • τ _e
where ω _bp = 2πf _bp is the circular roll speed of the rocket.

 The pneumatic actuator has the property of adapting the parameters of the control system to the flight conditions of the guided missile due to the balance of the energy capabilities of the drive using high-speed pressure with the kinetic energy of the rocket. This is manifested in accordance with the required and available maximum moments of the pneumatic drive, in accordance with the required and available maximum speeds of the drive, which ultimately leads to the practical constancy of the phase shift of the pneumatic drive at rocket speeds.

The value of the equivalent delay τ _{e of the} pneumatic actuator is in the range of τ _e = 10 ÷ 20 ms, and the greater value corresponds to the operation of the actuator at the minimum flight speed of the rocket, less - at the maximum. The rotation frequency f _BP , rockets along the roll in this case will be proportional to the speed of flight of the rocket. Ultimately, the product ω _bp • τ _e , which determines the phase shift (dynamics) of the drive at rotation frequencies f _bp , with respect to the flight time of the rocket, will be almost constant.

 This property of ensuring the stability of the dynamic characteristics of an open pneumatic drive at rocket speeds in a wide range of external influences, along with the absence of a special source of working fluid, is also one of the main advantages of the proposed pneumatic drive.

A two-position open relay actuator (1) operates as a part of rotary missile control system in a pulse width modulation whose frequency is ω _l = 4ω _bp for one channel of rotary missile roll. The static characteristic of the drive in the first harmonic of the rotational speed is linear with respect to the direct current command supplied to the rocket gyro coordinator, and the rectangular pulses - satellites of the linearization frequency of the relay drive are processed by the drive, which is ensured by the maximum speed of the drive during its design.

 When using a two-position relay drive operating in a pulse-width modulation mode on a rocket, the adopted law of changing the duty cycle of the command pulses provides linearity of the static characteristic: the supplied DC command is the first harmonic of the rotation frequency from the rudder angle.

Due to the introduction of the relay control law of the amplifier, electromechanical converter, switchgear and actuator into the open pneumatic drive of the rotary rocket control system and the use of the compressed air flow as the working fluid, it was possible to provide a number of advantages over the known steering pneumatic drives, namely:
1) to simplify the drive circuit by eliminating the feedback sensor, summing device, corrective filters;
2) eliminate the problems of ensuring stability, ensuring the required parameters of self-oscillations, drive accuracy;
3) to ensure the independence of the mass and volume of the steering gear from the operating time;
4) to ensure compliance with the required and developed moments of the drive;
5) to ensure compliance with the required and available drive speed;
6) to ensure the almost constant phase shift of the drive at rocket speeds;
7) to simplify the design and verification of the parameters (dynamics) of the pneumatic actuator;
8) to provide the possibility of using non-deficient structural materials in the pneumatic drive design.

 These advantages made it possible to provide the required dynamic characteristics in an open pneumatic actuator with a two-position relay control signal for prospective guided missiles rotating over a roll in a wide range of articulated loads (from spring to overcompensation) and developed moments of an executive motor that uses air energy in a wide range of flight speeds guided missiles, and powered by other sources of compressed air.

 Thus, the proposed technical solution, in comparison with the known one, allows to simplify the pneumatic steering drive of the roll-by-roll missile control system, increase the information content of the power part control of the open drive, increase the accuracy and reliability of operation, simplify the control of drive dynamics, reduce the labor input and manufacturing cost, and solve the problem of creating simple and easy-to-use guided missiles of high-precision guided weapons systems, taking into account restrictions on weight, dimensions, t udoemkosti and manufacturing cost.

Sources of information
1. Kostin S.V., Petrov B.I., Gamynin N.S. Steering gears. M .: Mechanical Engineering, 1973.

 2. Krymov B.G., Rabinovich L.V., Stebletsov V.G. Actuators of aircraft control systems. M .: Engineering, 1987.

 3. Pneumatic drive control systems for aircraft. Under the general editorship of V.A. Chashchina. M .: Engineering, 1987.

 4. Self-oscillating steering gear of a guided projectile 9M117. Technical description and operating instructions ZUBK10.00.000 TO - M .: Military Publishing House, 1987, pp. 15-19, Fig. 11.

 5. Patent RU 2079806, IPC 6 F 42 B 15/01, B 64 C 13/36, priority 06.22.93, published 05.20.97, Bull. 14.

 6. Relay system of automatic regulation. Theory of automatic regulation. / Under the editorship of V.V. Solodovnikova Book 3. The theory of non-stationary, non-linear and self-tuning automatic control systems. -M.: Engineering, 1969, p. 9, Fig. XIII.I, p. 25, sect. 3.

 7. Patent RU 2114387, IPC 6 F 42 B 15/01, B 64 C 13/36, priority 04.29.97, published 06.27.98, Bull. 18.

 8. Tetelbaum I. M., Schneider Yu.R. The practice of analog modeling of dynamic systems. Reference manual. M .: Energoatomizdat, 1987.

 9. Vavilov A.A., Solodovnikov A.I. Experimental determination of the frequency characteristics of automatic systems. M.-L.: Gosenergoizdat, 1963.

Claims (2)

 1. An open pneumatic actuator of the control system of a rotating rocket, comprising a power amplifier and a steering machine, the input of which is connected to the output of the power amplifier, and the output is with rudders, characterized in that an adder is inserted into it, one input of which is the input of the drive and connected to the output of the equipment rocket control, a two-position relay with a negative hysteresis loop of variable width, the output of which is connected to the input of the power amplifier, and the input to the output of the adder, a linearizing oscillator, the output of which is connected is connected to the second input of the adder, and a device for setting the phase advance of the drive by the flight time of the rocket, the output of which is connected to the control inputs of the hysteresis loop width of the on-off relay. 2. A method for controlling the dynamics of an open pneumatic actuator for a control system of a rotating rocket, based on determining the amplitude and phase frequency characteristics of the drive according to the first harmonic of the output signal when working out the harmonic input signal and approximating them with a simpler transfer function, characterized in that the control is carried out at a supply pressure corresponding to the selected flight mode of the rocket, for example, the maximum and minimum flight speeds, and the removal of information about the angular position of the rudders from the exit d of the rudder angle sensor, to the input of the on-off relay with a negative hysteresis loop of variable width, the output of which is connected through the power amplifier to the steering machine, a periodic square-wave signal is supplied from the generator output with a frequency equal, for example, to the maximum roll speed of the rocket along the roll, with amplitude corresponding to the maximum movement of the rudders, the angle of rotation of the rudders and the set signal are recorded on the recording device, the time of starting, movement and operation of the drive during movement is determined ii rudders from one extreme position to another and back again, determine the time τ _e equivalent actuator lag depending
τ _e = t _Tr + K • t _dv ,
where t _Tr - the starting time from the moment the signal arrives until the start of movement;
t _dv - time of movement from the beginning of the movement to the arrival of the stop;
t _Tr + t _dv = t _cp is the response time from the moment the signal arrives to the stop;
K is a coefficient characterizing the time component τ _e due to the time t _dv , determined by the law of change of the angle of rotation of the rudders when they move from one extreme position to another under current loads.

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