RU2293686C1 - Autopilot for anti-aircraft roll-stabilized guided missile - Google Patents

Abstract

FIELD: control of flying vehicles, anti-aircraft guided missiles in particular.

SUBSTANCE: proposed autopilot includes two lateral control channels which are identical in structure; outputs of these channels are connected to signal forming unit for control of missile control surfaces; autopilot is also provided with the following units connected in series: primary flight information receiving unit, ratio correction law forming unit and ratio correction distribution law unit. Each lateral control channel has the following components connected in series: lateral g-load sensor, comparison unit, first correction amplifier, first adder, first integrator and second adder whose output is used as output of lateral control channel; it also includes angular-rate sensor whose output is connected with second and third correction amplifiers whose output is connected to second input of second adder. Outputs of primary flight information receiving unit are connected with comparison unit of each lateral control channel and correction amplifiers of each lateral control channel are embraced by negative feedback through elements of ratio correction law distribution unit.

EFFECT: extended functional capabilities.

5 cl, 7 dwg

Description

The invention relates to the control of aircraft, in particular to control devices for anti-aircraft guided missiles (SAM) of a symmetrical aerodynamic configuration, stabilized roll.

A known autopilot for a roll-stabilized symmetric rocket, comprising a current speed sensor, a threshold unit and a controllable switch, connected in series, and in each of the two transverse control channels, a command reference unit, a comparison unit, a variable gain amplifier, an adder and an integrator, the output of which is connected to the servo drive, the angular velocity sensor, the output of which is connected to the servo drive and the second input of the adder, transverse overload sensor, the first output d is connected to a second input of the comparator, and the second output - with an input detection unit module, a first output connected to the first input of the comparator, and the second output - to an input of scaling amplifier whose output is connected to the second input of the comparator opposite lateral control channel; the outputs of the comparators are connected to the second and third inputs of the managed switch, the first and second output of which are connected to the second input of the amplifier with a variable gain, respectively, of the first and second transverse control channels [1].

The reason that impedes the achievement of the technical result indicated below when using the known autopilot is the limited functionality of the autopilot, due to the fact that the sensor of the current flight speed is used only to ensure the specified quality of spatial control of SAM in a limited speed range.

The objective of the invention and the technical result in its implementation is to expand the functionality of the autopilot of a symmetrical SAM, stabilized roll.

This is achieved by the fact that in the known autopilot for a roll-stabilized symmetrical rocket, it contains two transverse control channels (KPUs) identical in structure, each of which contains an angular velocity sensor, a transverse overload sensor connected in series, and a comparison unit connected in series with the first adder and the first integrator, according to the invention, a primary flight information receiving unit, a gear ratio formation law generation block, a distribution law correction distribution block are introduced a positive number, a block for generating control signals for the rocket rudder drives, the third and fourth output of the primary flight information receiving unit are connected respectively to the first and second input of the gear ratio correction block, the first, second and third outputs of which are connected respectively to the first or third inputs of the block distribution of the laws of gear ratio correction, and the first, second and third correction amplifiers, the second adder, the first input of the first amplifier a section is connected to the output of the comparison unit, and the output to the first input of the first adder, the first inputs of the second and third correction amplifiers are connected to the output of the angular velocity sensor, the output of the second correction amplifier is connected to the second input of the first adder, the output of the third correction amplifier is connected to the first input of the second the adder, the first input of which is connected to the integrator output, the output of the second adder, being the channel output, is connected to the corresponding input of the control unit s, wherein the first and second outputs of the block receiving primary FIR are connected to a second input of the comparator, respectively the first and second CPU; the first, second and third outputs of the distribution block of the laws of gear ratio correction are connected to the second inputs of the first, second and third correction amplifiers of the first KPU, respectively, and the fourth, fifth and sixth inputs of this block are connected to the data outputs of the correction amplifiers; the fourth, fifth and sixth outputs of the distribution block of the laws of gear ratio correction distribution are connected to the second inputs of the first, second, and third correction amplifiers of the second CPU, respectively, and the seventh, eighth, and ninth inputs of this block are connected to the data outputs of the correction amplifiers.

The primary flight information receiving unit contains the first register and the first KOD-ANALOG converter in series, the output of which is the first output of the block, the second register and the second KOD-ANALOG converter in series, the output of which is the second block output, the missile longitudinal overload sensor and the second an integrator, the output of which is the third output of the unit, the fourth output of which is the output of the longitudinal rocket overload sensor.

The gear ratio correction law generation block contains a switch, a switch and three shaper of correction signals, the first input of the switch being the first input of the block, the second input of the switch and the input of the switch combined and the second input of the block, the output of the switch connected to the third input of the switch, to the output of which the inputs of the correction signal conditioners are connected, the outputs of which are the first, second and third outputs of the block.

The block of laws of gear ratio correction distribution contains the first-third analog-to-digital converters (ADCs) and the first-sixth digital-to-analog converters (DACs), while the first input of the block is the input of the first ADC, the output of which is connected to the first inputs of the first and fourth DACs, the second the input of the first DAC is the fourth input of the block, and the output is the first output of the block, the second input of the fourth DAC is the seventh input of the block, and the output is the fourth output of the block; the second input of the block is the input of the second ADC, the output of which is connected to the first input of the second and fifth DACs, the second input of the second DAC being the fifth input of the block and the output the second output of the block, the second input of the fifth DAC is the eighth input of the block, and the output is the sixth output block; the third input of the block is the input of the third ADC, the output of which is connected to the first input of the third and sixth ADCs, the second input of the third ADC is the sixth input of the block, and the output is the third output of the block, the second input of the sixth ADC is the ninth input of the block, and the output is the sixth output block.

The rocket rudder drive control signal generation block contains the first and second rocket hull vibration suppression filters, the first and fourth amplifiers, the first input of the block being the first filter input, the first and second outputs of which are connected to the first and second amplifiers, the outputs of which are connected to drives of the first and third rudders of the rocket, respectively; the second input of the block is the input of the second filter, the first and second outputs of which are connected respectively to the third and fourth amplifiers, the outputs of which are connected to the drives of the second and fourth rudders of the rocket, respectively.

Causal relationships between the features of the invention and the technical result are as follows. To ensure the stability of the dynamic characteristics of the stabilization loop, it is necessary to adjust the gear ratios inversely with the magnitude of the pressure head, the range of change of which is most significant compared to other parameters - the speed and altitude of the rocket. However, direct measurement of the velocity head is impossible due to the high heating temperatures of the outer skin of the rocket body. It is known [2] that the longitudinal acceleration W _{X of a} rocket in a passive (main) flight section can be calculated by the formula:

where C _X is the drag coefficient;

q - velocity head;

S is the mid-sectional area of the rocket;

m is the mass of the rocket without fuel.

It follows from this expression that, up to the values of the aerodynamic constants of the rocket (S, m, C _X = 2 ... 2.5), its longitudinal acceleration W _{X is} directly proportional to the pressure head q. The introduction of a longitudinal overload sensor and a second integrator provides both a signal equivalent to the SAM speed and a signal proportional to the longitudinal acceleration and, accordingly, the pressure head.

The invention is illustrated by drawings, in which: FIG. 1 is a structural diagram of a claimed autopilot; figure 2 is a structural diagram of a block receiving primary flight information; figure 3 is a structural diagram of a block for generating laws of gear ratio correction; figure 4 is a structural diagram of a distribution block of the laws of gear ratio correction; 5 is a structural diagram of a unit for generating control signals for rocket rudder drives; 6 is a form of the law of gear ratio correction; Fig.7 is a structural diagram explaining the principle of formation of the laws of gear ratio correction.

The autopilot for roll stabilized missiles (Fig. 1) contains a block 1 for receiving primary flight information, a block 2 for generating gearbox correction laws, a block 3 for distributing gearbox correction laws, a block 4 for generating control signals for the rocket rudder drives, and two identical in structure lateral control channel (CPU) 5. Each of the CPU 5 includes a transverse overload sensor 6, a comparison unit 7, a first correction amplifier 8 _{1, a} first adder 9 ₁ , a first integrator 10 ₁ and a second adder 9 ₂ ; the angular velocity sensor 11, the output of which is connected to the first inputs of the second 8 ₂ and third 8 ₃ correction amplifiers, and the output of the second correction amplifier 8 _{2 is} connected to the second input of the first adder 9 ₁ , and the output of the third correction amplifier 8 ₃ is connected to the second input of the second adder 9 ₂ . The first and second outputs of the primary flight information receiving unit 1 are connected to the second input of the comparison unit 7, respectively, of the first 5 ₁ and second 5 ₂ KPUs, and the second and third outputs of block 1 are connected to the first and second inputs of the generating ratio correction law block 2, the first the third outputs of which are connected respectively with the first or third inputs of the distribution ratio correction law distribution block 3, the fourth, fifth and sixth inputs of which are connected with the output of the first 8 ₁ , second 8 ₂ and third 8 ₃ amplifiers section of the first CPU 5 ₁ , and the seventh, eighth and ninth inputs - with the output of the first 8 ₁ , second 8 ₂ and third 8 ₃ amplifiers of the correction of the second CPU 5 _2, respectively. The first, second and third outputs of block 3 of the distribution of laws of gear ratio correction are connected to the second inputs of the first 8 ₁ , second 8 ₂ and third 8 _{3 of the} correction amplifiers of the first CPU 5 ₁ , respectively, and the fourth, fifth and sixth outputs are connected to the second inputs of the first 8, respectively ₁ , the second 8 ₂ and the third 8 ₃ amplification correction of the second CPU 5 ₂ .

The output of the second adder 9 _{2 of the} first KPU 5 _{1 is} connected to the first input of the block 4 for generating control signals of the rocket rudder drives, to the second input of which the output of the second adder 9 _{2 of the} second KPU 5 ₂ is connected. The autopilot input is the first and second inputs 12 of the primary flight information receiving unit 1 associated with the missile guidance system, and the output is the first, second, third and fourth outputs 13 of the rocket rudder drive control signal generation unit 4, the first and second outputs being connected to the drive respectively, the first and third, and the third and fourth outputs - with a drive, respectively, of the second and fourth rudders of a symmetrical rocket.

The primary flight information receiving unit 1 (FIG. 2) contains the first register 14 ₁ and the first CODE-ANALOG 15 ₁ converter in series, the output of which is the first output of the unit, which is connected to the second input of the comparison unit 7 of the first CPU 5 ₁ ; the second register 14 ₂ and the second KOD-ANALOG 15 ₂ converter sequentially connected, the output of which is the second output of the unit, which is connected to the second input of the comparison unit 7 of the second CPU 5 ₂ ; a series-connected longitudinal overload sensor 16 of the rocket and a second integrator 10 ₂ , the output of which is the third output of the block. In addition, the output of the longitudinal overload sensor 16 is also output as the fourth output of the block. The inputs of the first 14 ₁ and second 14 ₂ registers, which are the inputs of the block and, accordingly, the autopilot, are connected to the guidance system of missiles.

Block 2 of the formation of laws of gear ratio correction (Fig. 3) contains a switch 17, a switch 18, a first 19 ₁ , a second 19 ₂ and a third 19 ₃ shaper of correction signals. The first input of the switch 17 is the first input of the block and is connected to the third output of the block 1 (the output of the second integrator 10 ₂ ), the second input of the switch 17 and the input of the switch 18 are combined and are the second input of the block, which is connected to the fourth output of the block 1 (the output of the longitudinal overload sensor 16). The output of the switch 18 is connected to the third input of the switch 17, the output of which is connected to the inputs of the first 19 ₁ , second 19 ₂ and third 19 ₃ drivers of correction signals, the outputs of which are respectively the first, second and third outputs of the block.

Block 3 distribution of the laws of gear ratio correction (Fig. 4) contains the first 20 ₁ , second 20 ₂ and third 20 ₃ ADCs, the first 21 ₁ , second 21 ₂ , third 21 ₃ , fourth 21 ₄ , fifth 21 ₅ and sixth 21 ₆ DACs . The first input of block 3, connected to the output of the first driver of correction signals 19 _{1 of} block 2, is the input of the first ADC 20 ₁ , the output of which is connected to the first inputs of the first 21 ₁ and fourth 21 ₄ DACs. The second input of the first DAC 21 ₁ is the fourth input of the block connected to the output of the first correction amplifier 8 _{1 of the} first CPU 5 ₁ , and the output is the first output of the block connected to the second input of the same correction amplifier; the second input of the fourth DAC 21 ₄ is the seventh input of the block connected to the output of the first correction amplifier 8 _{1 of the} second CPU 5 ₂ , and the output is the fourth output of the block connected to the second input of the same correction amplifier. The second input of block 3, connected to the output of the second driver of correction signals 19 _{2 of} block 2, is the input of the second ADC 20 ₂ , the output of which is connected to the first input of the second 21 ₂ and fifth 21 ₅ DAC. In this case, the second input of the second DAC 21 ₂ is the fifth input of the block connected to the output of the second correction amplifier 8 _{2 of the} first CPU 5 ₁ , and the output is the second output of the block connected to the second input of the same correction amplifier; the second input of the fifth DAC 21 ₅ is the eighth input of the block connected to the output of the second correction amplifier 8 _{2 of the} second CPU 52, and the output is the sixth output of the block connected to the second input of the same correction amplifier. The third input of block 3, connected to the output of the third driver of correction signals 19 _{3 of} block 2, is the input of the third ADC 20 ₃ , the output of which is connected to the first input of the third 21 ₃ and the sixth 21 ₆ ADC. The second input of the third ADC 21 ₆ is the sixth input of the block connected to the output of the third correction amplifier 8 _{3 of the} first CPU 5 ₂ , and the output is the third output of the block connected to the second input of the same correction amplifier; the second input of the sixth ADC 21 ₆ is the ninth input of the block connected to the output of the third correction amplifier 8 _{3 of the} second CPU 5 ₂ , and the output is the sixth output of the block connected to the second input of the same correction amplifier. All ADCs 20 _{(1-3) are} made with one input and n-channel output. All DACs 21 _{(1-6) are} made according to the well-known scheme [4] with an n-channel input and one output in the form of a set of series-connected resistors R _(1-n) , in parallel with which are connected electronic keys Кл _(1-n) (Fig. 7). The input and output of the set of resistors are connected, respectively, to the output and the second input of the corresponding correction amplifier 8, and the electronic keys are connected to the n-channel output of the corresponding ADC 20.

Block 4 of the formation of control signals of the drives of the rudders of the rocket (Fig. 5) contains the first 22 ₁ and second 22 ₂ filters for suppressing bending vibrations of the rocket body, the first 23 ₁ , second 23 ₂ , third 23 ₃ and fourth 23 ₄ amplifiers. The first input of the block is the input of the first filter 22 ₁ connected to the output of the second adder 9 _{2 of the} first PKU 5 ₁ , the second input of the block is the input of the second filter 22 ₂ , which is connected to the output of the second adder 9 _{2 of the} second PKU 5 ₂ . The first and second outputs of the first filter 22 _{1 are} connected to the inputs of the first 23 ₁ and second 23 ₂ amplifiers, the outputs of which (13 ₁ and 13 ₃ ) are connected to the drives of the first and third rudders of the rocket, respectively. The first and second outputs of the second filter 22 _{2 are} connected to the inputs of the third 23 ₃ and fourth 23 ₄ amplifiers, respectively, the outputs of which (13 ₂ and 13 ₄ ) are connected to the drives of the second and fourth rudders of the rocket, respectively.

The described blocks are made according to well-known rules on typical elements of digital technology. In particular, in block 2 of the formation of the laws of gear ratio correction, the switch 17 can be made, for example, in the form of two electronic keys with a combined output; as a switch 18, a comparator can be used, to the second input of which a threshold voltage source is connected; operational amplifiers can be used as shapers of correction signals 19 ₁ -19 ₃ , stabilized reference voltage sources are connected to the second inputs of which. In block 4 for generating control signals for rocket rudder drives, filters 22 ₁ , 22 _{2 for} suppressing bending vibrations of the rocket body are made in the form of an operational amplifier with RC feedback.

Autopilot for missile stabilized roll, works as follows. During the entire passive section of the controlled flight of the rocket, the signals in the form of codes defining for the first CPU 5 are sent to the inputs of the first 14 ₁ and second 14 ₂ registers of the primary flight information receiving unit 1 (Fig. 1, Fig. 2) via the radio link ₁ and the second CPU 5 ₂ values of control commands in two mutually perpendicular planes. These signals are converted into analog form (using converters 15 ₁ , 15 ₂ ) and fed to the second input of the comparison unit 7, corresponding to the CPU 5, to the first input of which inverted signals from the output of the transverse overload sensor 6 are proportional to the accelerations of the rocket in this transverse plane . At the output of the comparison unit 7, error signals are generated that are transmitted to the first input of the first correction amplifier 8 ₁ , and from its output, through the first adder 9 ₁ and the first integrator 10 ₁ , to the first input of the second adder 9 ₂ . The signals proportional to the angular velocity of the rocket from the output of the angular velocity sensor 11 in each CPU 5 are fed to the first input of the second 8 ₂ and third 8 ₃ correction amplifiers, while the output signal of the third correction amplifier 8 ₃ is supplied to the second input of the second adder 9 ₂ , and the output signal of the second correction amplifier 8 ₂ is supplied to the first input of the second adder 9 ₂ through the first adder 9 ₁ and the first integrator 10 ₁ . Error signals from the output of the second adder 9 _{2 of the} first CPU 5 ₁ and from the output of the second adder 9 _{2 of the} second CPU 5 ₁ are supplied respectively to the first and second inputs of the unit 4 for generating control signals for the rocket rudder drives (Fig. 5). Using filters 22 ₁ , 22 _{2, the} high-frequency components of the output signals of the angular velocity sensors 11, which respond to the bending vibrations of the rocket body in the range of 20-80 Hz, are suppressed. The output signals of the filters 22 ₁ , 22 _{2 are} amplified by powerful amplifiers, respectively 23 ₁ , 23 ₃ and 23 ₂ , 23 ₄ and are supplied to the corresponding input devices of the four drives mechanically connected with the aerodynamic rudders of the rocket.

To ensure the specified dynamic characteristics of the stabilization system for SAM, in each CPU 5, three gear ratios K of the autopilot are corrected - by the integral of the error signal (lateral acceleration), by the integral of angular velocity and angular velocity. These gear ratios are determined by the formulas:

- для обратной связи по интегралу от сигнала ошибки (поперечному ускорению);

- for feedback on the integral of the error signal (transverse acceleration);

- для обратной связи по интегралу от угловой скорости;

- for feedback on the integral of the angular velocity;

- для обратной связи по угловой скорости,

- for feedback on angular velocity,

,

,

- константы, величины которых определяется соотношениями сопротивлений во входных цепях, цепях обратных связей усилителей коррекции 8₁, 8₂, 8₃ и других элементах устройства;Where

,

,

- constants, the values of which are determined by the ratios of the resistances in the input circuits, feedback circuits of the correction amplifiers 8 ₁ , 8 ₂ , 8 ₃ and other elements of the device;

,

,

- законы коррекции передаточных чисел.

,

,

- laws of gear ratio correction.

второго интегратора 10₂, который поступает на первый вход коммутатора 17 и с его выхода - на входы первого 19₁, второго 19₂ и третьего 19₃ формирователей аналоговых сигналов коррекции по текущей скорости полета ракеты. На пассивном участке полета с выключенным двигателем аргументом коррекции является выходной сигнал W_x датчика продольной перегрузки 16, который поступает на второй вход коммутатора 17 и вход переключателя 18. Этот сигнал проходит на выход коммутатора 17 и далее на формирователи сигналов коррекции 19₁-19₃ только при наличии разрешающего сигнала, поступающего на третий вход коммутатора 17 с выхода переключателя 18 при изменении знака продольной перегрузки. Значения аналоговых сигналов коррекции и моменты их появления на выходах формирователей 19₁-19₃ задаются путем сравнения величин стабилизированных опорных напряжений с напряжениями, поступающими с выхода второго интегратора 10₂ или датчика продольной перегрузки 16. Законы коррекции передаточных чисел ракетного автопилота обычно имеют вид равнобочной гиперболы и реализуются в виде линейной функции изменения аргумента коррекции [3]. В заявленном автопилоте законы коррекции передаточных чисел (f_i) реализуются в виде линейной функции изменения коэффициентов усиления операционных усилителей коррекции 8₁-8₃ по цепям обратных связей и характер изменения законов коррекции

,

,

одинаков (фиг.6). При этом значения f_imax и f_imin являются постоянными, а значению f_imax соответствует минимальное значение продольного ускорения W_x1, значению f_imin - максимальное значение W_x2, которые определяются на этапе формирования и проектирования системы стабилизации ракеты. Далее в блоке 3 распределения законов коррекции передаточных чисел (фиг.4) аналоговые сигналы коррекции преобразуются в цифровые двоичные коды и распределяются между первым и вторым КПУ 5. В первом 21₁, втором 21₂ и третьем 21₃ ЦАП цифровые сигналы коррекции преобразуются в аналоговые, смешиваются с выходными аналоговыми сигналами соответственно первого 8₁, второго 8₂ и третьего 8₃ усилителей коррекции первого КПУ 5₁ и подаются на вторые входы этих же усилителей, образуя обратные связи соответственно по интегралу от сигнала ошибки (поперечному ускорению в данной плоскости), по интегралу от угловой скорости, по угловой скорости ракеты. Аналогично, в четвертом 21₄, пятом 21₅ и шестом 21₆ ЦАП цифровые сигналы коррекции преобразуются в аналоговые, смешиваются с выходными аналоговыми сигналами соответственно первого 8₁, второго 8₂ и третьего 8₃ усилителей коррекции второго КПУ 5₂ и подаются на вторые входы этих же усилителей, образуя обратные связи соответственно по интегралу от сигнала ошибки (поперечному ускорению в данной плоскости), по интегралу от угловой скорости, по угловой скорости ракеты.Sources of information for gear ratio correction are the signal measured by the longitudinal overload sensor 16, proportional to the longitudinal acceleration of the rocket W _x , and the output signal of the second integrator 10 ₂ , proportional to the integral of the longitudinal acceleration W _x , in the primary flight information receiving unit 1 (FIG. 2), which arrive respectively at the second and first inputs of block 2 of forming the laws of gear ratio correction (Fig. 3). On the active section of the flight of missiles with the engine turned on, the argument of the laws of correction of the gear ratios of the autopilot is the output signal

the second integrator 10 ₂ , which is supplied to the first input of the switch 17 and from its output to the inputs of the first 19 ₁ , second 19 ₂ and third 19 ₃ shapers of analog correction signals for the current flight speed of the rocket. On the passive flight section with the engine off, the correction argument is the output signal W _x of the longitudinal overload sensor 16, which is fed to the second input of the switch 17 and the input of the switch 18. This signal passes to the output of the switch 17 and further to the correction signal generators 19 ₁ -19 ₃ only in the presence of an enabling signal supplied to the third input of the switch 17 from the output of the switch 18 when changing the sign of the longitudinal overload. The values of the analog correction signals and the moments of their appearance at the outputs of the formers 19 ₁ -19 ₃ are set by comparing the values of the stabilized reference voltages with the voltages coming from the output of the second integrator 10 ₂ or the longitudinal overload sensor 16. The laws of correction of gear ratios of a rocket autopilot usually have the form of an equal-sided hyperbola and implemented as a linear function of the change of the correction argument [3]. In the claimed autopilot, the laws of gear ratio correction (f _i ) are implemented as a linear function of changing the gain of operational correction amplifiers 8 ₁ -8 ₃ in feedback circuits and the nature of the change in the correction laws

,

,

the same (Fig.6). The values of f _imax and f _imin are constants, and f _imax value corresponds to the minimum value of the longitudinal acceleration W _x1, the value of f _imin - maximum value W _x2, which are determined at the stage of designing of missiles and stabilize the system. Next, in block 3 of the distribution of the laws of gear ratio correction (Fig. 4), the analog correction signals are converted into digital binary codes and distributed between the first and second CPU 5. In the first 21 ₁ , second 21 ₂ and third 21 ₃ DACs, the digital correction signals are converted to analog are mixed with the output analog signals of the first 8 ₁ , second 8 ₂ and third 8 ₃ correction amplifiers of the first CPU 5 ₁ , respectively, and are fed to the second inputs of the same amplifiers, forming feedbacks, respectively, by the integral of the error signal (transverse acceleration in a given plane), by the integral of the angular velocity, by the angular velocity of the rocket. Similarly, in the fourth 21 ₄ , fifth 21 ₅ and sixth 21 ₆ DACs, the digital correction signals are converted to analog, mixed with the analog output signals of the first 8 ₁ , second 8 ₂ and third 8 ₃ correction amplifiers of the second CPU 5 _2, respectively, and fed to the second inputs of the same amplifiers, forming feedbacks, respectively, by the integral of the error signal (lateral acceleration in a given plane), by the integral of the angular velocity, by the angular velocity of the rocket.

для обратной связи по угловой скорости (фиг.7). Усилитель коррекции 8₁, на вход которого от датчика 11 подается аналоговый сигнал, пропорциональный угловой скорости ракеты, охвачен отрицательной обратной связью через ЦАП 21₁, в котором электронные ключи Кл_(1-n) управляются n-разрядным цифровым кодом с выхода АЦП 20₁, соответствующим аналоговому сигналу коррекции, поступающему на вход АЦП 20₁ от формирователя сигнала коррекции 19₁. В результате коммутации резисторов R(1-n) изменяется сопротивление цепи обратной связи усилителя коррекции 81 и, соответственно, усиление в прямой цепи оказывается пропорциональным заданному закону коррекции

.The correction of the gear ratios of the autopilot is carried out identically for all three feedbacks in each control unit and is illustrated by the example of gear ratio adjustment

for feedback on the angular velocity (Fig.7). Correction amplifier 8 ₁ , the input of which from the sensor 11 receives an analog signal proportional to the angular velocity of the rocket, is covered by negative feedback through the DAC 21 ₁ , in which the electronic keys Kl _{(1-n) are} controlled by an n-bit digital code from the output of the ADC 20 ₁ corresponding to the analog correction signal supplied to the input of the ADC 20 ₁ from the shaper of the correction signal 19 ₁ . As a result of switching resistors R (1-n), the resistance of the feedback circuit of the correction amplifier 81 changes and, accordingly, the gain in the direct circuit is proportional to the specified correction law

.

Information sources

1. RU 2085443, B 64 C 13/18, 1997.

2. Designing anti-aircraft guided missiles. Ed. I.S. Golubeva and B.C. Svetlova. M .: ed. MAI, 1999.

3. I.N. Bronstein, K. A. Semendyaev. Math reference. M .: State. Publishing House of Technical and Theoretical Literature, 1962, p. 210, Fig. 189.

4. W. Titze, K. Schenk. Semiconductor circuitry. M.: Mir, 1982, p. 445, Fig. 243.

Claims (5)

1. The autopilot for anti-roll guided missile stabilized roll, containing two identical in structure to the transverse control channel (KPU), each of which contains an angular velocity sensor, connected in series to the transverse overload sensor and a comparison unit, connected in series to the first adder and the first integrator, characterized the fact that a primary flight information receiving unit, a gear ratio formation law generation block, a gear ratio correction law distribution block, a gear forming law block are introduced control signals of the rocket rudder drives, the third and fourth outputs of the primary flight information receiving unit are connected respectively to the first and second inputs of the gear ratio correction block, the first, second and third outputs of which are connected respectively to the first and third inputs of the gear ratio correction distribution block numbers, and in each of the CPUs introduced the first, second and third correction amplifiers, the second adder, and the first input of the first correction amplifier is connected to the output Loka comparison, and the output is with the first input of the first adder, the first inputs of the second and third correction amplifiers are connected to the output of the angular velocity sensor, the output of the second correction amplifier is connected to the second input of the first adder, the output of the third correction amplifier is connected to the second input of the second adder, the first input which is connected to the integrator output, the output of the second adder, being the channel output, is connected to the corresponding input of the rocket rudder drive signal generation block, while the first and second the swarm outputs of the primary flight information receiving unit are connected to the second input of the comparison unit, respectively, of the first and second CPU; the first, second and third outputs of the distribution block of the laws of gear ratio correction are connected to the second inputs of the first, second and third correction amplifiers of the first KPU, respectively, and the fourth, fifth and sixth inputs of this block are connected to the data outputs of the correction amplifiers; the fourth, fifth and sixth outputs of the distribution block of the laws of gear ratio correction distribution are connected to the second inputs of the first, second, and third correction amplifiers of the second CPU, respectively, and the seventh, eighth, and ninth inputs of this block are connected to the data outputs of the correction amplifiers. 2. The autopilot according to claim 1, characterized in that the primary flight information receiving unit comprises a first register and a first KOD-ANALOG converter, the output of which is the first output of the block, a second register and a second KOD-ANALOG converter, the output of which is the second output of the block, sequentially connected sensor of longitudinal overload of the rocket and the second integrator, the output of which is the third output of the block, the fourth output of which is the output of the sensor of longitudinal egruzki missiles. 3. The autopilot according to claim 1, characterized in that the block for generating gearbox correction laws comprises a switch, a switch and three shapers of correction signals, wherein the first input of the switch is the first input of the block, the second input of the switch and the input of the switch are combined and are the second input of the block , the output of the switch is connected to the third input of the switch, the output of which is connected to the inputs of the drivers of the correction signals, the outputs of which are the first, second, and third outputs of the block. 4. The autopilot according to claim 1, characterized in that the distribution block of the laws of gear ratio correction contains the first - third analog-to-digital converters (ADC) and the first - sixth digital-to-analog converters (DAC), while the first input of the block is the input of the first ADC, the output which is connected to the first inputs of the first and fourth DACs, the second input of the first DAC being the fourth input of the block, and the output being the first output of the block, the second input of the fourth DAC being the seventh input of the block, and the output being the fourth output of the block; the second input of the block is the input of the second ADC, the output of which is connected to the first input of the second and fifth DACs, the second input of the second DAC being the fifth input of the block, and the output the second output of the block, the second input of the fifth DAC is the eighth input of the block, and the output is the fifth output block; the third input of the block is the input of the third ADC, the output of which is connected to the first input of the third and sixth DACs, the second input of the third DAC being the sixth input of the block and the output the third output of the block, the second input of the sixth DAC is the ninth input of the block, and the output is the sixth output block. 5. The autopilot according to claim 1, characterized in that the block for generating control signals for the rocket rudder drives contains first and second filters for suppressing bending vibrations of the rocket body, the first and fourth amplifiers, while the first input of the block is the input of the first filter to the first and second outputs which is connected, respectively, the first and second amplifiers, the outputs of which are connected to the drives, respectively, of the first and third rudders of the rocket; the second input of the block is the input of the second filter, the first and second outputs of which are connected respectively to the third and fourth amplifiers, the outputs of which are connected to the drives of the second and fourth rudders of the rocket, respectively.

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