JPH05221388A - Auto pilot for flying object - Google Patents

Abstract

PURPOSE:To constitute an auto pilot for a flying object always excellent in control performance with no necessity for decreasing a gain of a system in order to avoid oscillation of the auto pilot system by always performing effective removal of an air frame vibration signal even when a bending vibration frequency of an airframe is changed according to combustion of a rocket motor. CONSTITUTION:A constitution of an auto pilot is provided such that a plurality of air frame vibration signal removers 5, 6, 7 of different frequency characteristics are provided and switched in accordance with a value of a timer 9 from launching time by a changeover switch 8, to make selectable the air frame vibration signal remover always optimum in the flying time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flying autopilot.

[0002]

2. Description of the Related Art FIG. 6 shows an example of a conventional autopilot for a flying vehicle. In the figure, 1 is a posture control compensator, 2 is a steering device that steers in response to a command from the posture control compensator 1, and 3 is a missile from a steering angle δ generated by the steering device 2 to a posture angular velocity θ of a flying object. Airframe dynamic characteristics, 4 is an airframe attitude angular velocity detector for detecting the attitude angular velocity θ of the flying object, and 29 is a signal for removing a signal due to bending vibration of the airframe included in the signal detected by the airframe attitude angular velocity detector 4. The airframe vibration signal eliminator, 36 is the entire autopilot of the flying vehicle.

Next, the operation will be described. In order to change the flight path angle of the flying object, the attitude angle change command θc to be taken should be given to the mounted autopilot 36.
give. The autopilot 36 calculates an appropriate steering angle command δc in the attitude control compensator 1 from the command and the detection result of the current aircraft attitude angular velocity θ and gives it to the steering device 2.
The flying body generates an attitude angular velocity θ according to the missile machine body dynamic characteristics 3 by the steering angle taken by the steering device 2, and the target is tracked by a change in the machine body acceleration accompanying the change in the attitude angle. FIG. 7 shows an example of the frequency characteristic of the open loop transfer function of the autopilot 36 at that time. The autopilot having an open-loop transfer function as shown in FIG. 7 has an appropriate phase margin and is a stable system. However, in the control loop for changing the attitude angle, there is a bending vibration of the airframe of the flying object. FIG. 8 shows the open-loop transfer function in which the bending vibration of the machine body is also taken into consideration. This peak of the bending vibration of the airframe makes the autopilot system unstable at the bending vibration frequency of the airframe. Therefore, in order to remove only the airframe bending vibration component of the flying vehicle, an airframe vibration signal eliminator 29 having the frequency characteristics shown in FIG. 9 is inserted, and the frequency characteristics of the autopilot system are set as shown in FIG. Is prevented from becoming unstable.

[0004]

Since the conventional autopilot for a flying vehicle is constructed as described above, it is limited to the change in bending vibration frequency due to the change in the density of the airframe due to the combustion of the rocket motor. Since this bending vibration signal can be removed only in a certain frequency range, it is necessary to lower the gain of the autopilot system in order to avoid oscillation of the autopilot system, and there is a problem that the control performance of the autopilot deteriorates. ..

The present invention has been made in order to solve the above-mentioned problems. Even if the bending vibration frequency changes due to the change in the density of the airframe due to the combustion of the rocket motor, the airframe vibration signal can always be effectively removed. The aim is to obtain a flying autopilot that does not deteriorate the control performance.

[0006]

An autopilot for a flying vehicle according to the present invention can detect the change in bending vibration frequency of a vehicle body due to combustion of a rocket motor as a function of combustion time, and can always effectively eliminate the vehicle body vibration signal. Similarly, the machine body vibration signal remover is switched, and the parameters of the machine body vibration signal remover are changed with time.

[0007]

The autopilot for a flying vehicle according to the present invention is equipped with a vehicle vibration signal eliminator so that the vehicle vibration signal eliminator can always be effectively removed even if the bending vibration frequency of the vehicle body changes due to the combustion of the rocket motor. Switch with
Since the parameters of the airframe vibration signal eliminator are changed, it is not necessary to lower the gain of the system to avoid oscillation of the autopilot system, and it is possible to always construct a flying autopilot with excellent control performance.

[0008]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, 1 is an attitude control compensator, 2 is a steering device, 3 is a missile aircraft motion characteristic, 4 is an aircraft attitude angle signal device,
5 to 7 are airframe vibration signal eliminators, 8 is a changeover switch for switching between the plurality of airframe vibration signal eliminators, 9 is a timer for measuring time from rocket motor ignition, 30 is the entire autopilot of the flying vehicle of the present invention Is.

Next, the operation will be described. In order to change the flight path angle of the flying body, the flying body gives a command to change the attitude angle to be taken to the mounted autopilot 30. The autopilot 30 calculates an appropriate steering angle command δc in the attitude control compensator 1 from the command and the detection result of the current aircraft attitude angular velocity, and gives it to the steering device 2. According to the steering angle taken by the steering device 2, the flying body generates an attitude angular velocity θ according to the missile aircraft dynamic characteristics 3, and the target is tracked by the change in the aircraft acceleration accompanying the change in the attitude angle.
It is the same as the conventional one.

Usually, in the control loop for changing the attitude angle, the airframe bending vibration of the flying body exists, and the control loop becomes unstable. Therefore, the airframe for removing only the airframe bending vibration component of the flying body. A vibration signal remover is inserted. However, as shown in "Equation 1," the bending vibration frequency greatly changes due to the density change of the airframe accompanying the combustion of the rocket motor. Therefore, the combustion pattern of the rocket motor is grasped as a function of the time from the rocket motor ignition, the time from the rocket motor ignition is measured by the timer 9, the change of the bending vibration frequency thereof is estimated, and by the changeover switch 8, for example, as shown in FIG. The optimum one for the time is selected from the machine body vibration signal removers 5, 6, and 7 having the frequency characteristics A, B, and C as shown in FIG. By doing so, effective aircraft vibration signal removal can always be performed, and it is not necessary to lower the gain of the system to maintain the stability of the autopilot system, and it is possible to construct a flying autopilot with excellent control performance.

[0011]

[Equation 1]

Example 2. Another embodiment of the present invention will be described with reference to the drawings. In FIG. 2, 1 is an attitude control compensator, 2
Is a steering device, 3 is a missile airframe dynamics characteristic, 4 is an airframe attitude angle detector, 5 to 7 are airframe vibration signal removers, 8 is a changeover switch for switching the plurality of airframe vibration signal removers, and 9 is rocket motor ignition. Are timers for measuring the time of, and these are the same as those of the first embodiment. 10 to 12 are airframe vibration signal eliminators, 13 is a changeover switch for switching the plurality of airframe vibration signal eliminators,
Reference numeral 31 denotes the entire autopilot of the flying vehicle of the present invention.

In the first embodiment, it is considered that only the first-order mode component of the airframe bending vibration of the flying vehicle, which is considered to have the greatest influence on the stability of the system, is removed by the airframe vibration signal remover. However, as shown in FIG. 7, bending vibration of the airframe has higher secondary modes, tertiary modes, and the like. Therefore, to match the bending vibration frequency band in each vibration mode, for example, the machine vibration signal removers 5, 6 and 7 are adjusted to the machine vibration frequency band of the primary mode to remove the machine vibration signal of the first mode. In order to remove the aircraft vibration signal in the next mode, the aircraft vibration signal removers 10, 11, 12 may be adjusted to the aircraft vibration frequency band in the secondary mode. By arranging the aircraft vibration signal eliminators in multiple stages like this, it is possible to eliminate even higher-order vibration modes, and to construct a flying autopilot with superior control performance.

Example 3. A third embodiment of the present invention will be described with reference to the drawings. In FIG. 3, 1 is an attitude control compensator, 2 is a steering device, 3 is a missile machine body motion characteristic, 4 is a machine body attitude angle detector, 9 is a timer for measuring the time from rocket motor ignition, and 14 is an analog machine body vibration signal. A remover, 15 is a changeover switch for switching the setting constant of the analog airframe vibration signal remover 14, 16 is an analog amplifier, 17 and 18 are resistors, and 19 to 21 are a plurality of capacitors, 32
Is the entire aircraft autopilot of the present invention.

In the first embodiment, the time from the rocket motor ignition is measured by the timer 9 for the first-order mode component of the airframe bending vibration of the flying vehicle, which is considered to most affect the stability of the system, and the changeover switch 8 is used. From among the multiple airframe vibration signal eliminators with different frequency characteristics,
Although it was considered to select the most suitable one for the time, the frequency characteristic of the analog machine body vibration signal eliminator 14 is determined among the components in the machine body vibration signal eliminator as in the present embodiment. Such parts, namely 19 to 2 in this embodiment.
If a plurality of capacitors of No. 1 are switched by the changeover switch 8 according to the time measured by the timer 9, the same performance as that of the first embodiment can be expected and an inexpensive airframe vibration signal eliminator can be configured, and the flight with excellent control performance can be performed. The body autopilot can be configured.

Example 4. A fourth embodiment of the present invention will be described with reference to the drawings. In FIG. 4, 1 is an attitude control compensator, 2 is a steering device, 3 is a missile aircraft dynamics characteristic, 4 is an aircraft attitude angle detector, 9 is a timer that measures the time from rocket motor ignition, and 22 is a digital aircraft vibration signal. The remover 33 is the entire autopilot of the flying vehicle of the present invention.

In the first embodiment, the time from the rocket motor ignition is measured by the timer 9 for the first-order mode component of the airframe bending vibration of the flying vehicle, which is considered to most affect the stability of the system, and the changeover switch 8 is used. From among the multiple airframe vibration signal eliminators with different frequency characteristics,
I thought about choosing the most suitable one for that time, but using digital parts such as a microprocessor as in this embodiment, the machine vibration can also be calculated by a difference calculation by a microprocessor such as "Equation 2". A signal remover can be configured,
Coefficient a (n) of the difference calculation formula that determines the frequency characteristic,
If b (n), c (n), d (n), and e (n) are appropriately switched by the signal n from the timer 9, more types of airframe vibration signal eliminators can be installed without increasing the number of components. It is possible to construct a vehicle vibration signal eliminator that is easy to hold, can perform detailed vehicle body vibration signal removal, and can easily change setting parameters, and configure a flying autopilot with excellent control performance.

[0018]

[Equation 2]

Example 5. A fifth embodiment of the present invention will be described with reference to the drawings. In FIG. 5, 1 is an attitude control compensator, 2 is a steering device, 3 is a missile machine body motion characteristic, 4 is a machine body attitude angle detector, 5 to 7 are machine body vibration signal eliminators having different frequency characteristics, and 8 are these. A changeover switch for switching a plurality of airframe vibration signal eliminators, 9 is a timer for measuring the time from rocket motor ignition, and these are the same as those in the first embodiment. Reference numeral 23 is an acceleration control compensator for the acceleration loop of the flying body, 24 is a missile airframe dynamic characteristic up to the acceleration with respect to the input steering angle, 25 is an airframe acceleration detector,
26 to 28 are a plurality of airframe vibration signal eliminators having different frequency characteristics, which are inserted in the acceleration control loop of the spacecraft.
Reference numeral 4 denotes a changeover switch for switching the plurality of airframe vibration signal removers 26 to 28, and 35 denotes the entire autopilot of the flying vehicle of the present invention.

In Example 1, it was considered that only the first-order mode component of the airframe bending vibration of the flying body angular velocity loop, which is considered to have the greatest influence on the stability of the system, is removed by the airframe vibration signal remover. By disposing the airframe vibration signal eliminator also in the acceleration control loop of the flying object in this way, unnecessary acceleration signals generated by vibration can be removed, and the gain of the acceleration control loop can be increased, and further control A highly efficient flying autopilot can be constructed.

[0021]

The autopilot for a flying vehicle according to the present invention is capable of switching a plurality of airframe vibration signal eliminators having different frequency characteristics over time, even if the bending vibration frequency of the airframe changes due to combustion of a rocket motor. Since the constants and setting parameters of the aircraft vibration signal eliminator components that determine the frequency characteristics are changed, effective aircraft vibration signal removal can always be performed, and it is necessary to lower the system gain to avoid oscillation of the autopilot system. It is possible to configure a flying autopilot with excellent control performance.

[Brief description of drawings]

FIG. 1 is a diagram showing an autopilot of a flying vehicle according to a first embodiment of the present invention.

FIG. 2 is a diagram showing an autopilot of a flying vehicle according to a second embodiment of the present invention.

FIG. 3 is a diagram showing an autopilot of a flying vehicle according to a third embodiment of the present invention.

FIG. 4 is a diagram showing an autopilot of a flying vehicle according to a fourth embodiment of the present invention.

FIG. 5 is a diagram showing an autopilot of a flying vehicle according to another embodiment of the present invention.

FIG. 6 is a diagram showing frequency characteristics of a plurality of airframe vibration signal removers.

FIG. 7 is a diagram showing a frequency characteristic of an open loop transfer function in consideration of airframe bending vibrations of a first-order mode and a second-order mode.

FIG. 8 is a diagram showing a conventional autopilot for a flying vehicle.

FIG. 9 is a diagram showing an example of frequency characteristics of an open loop transfer function of a conventional aircraft autopilot.

FIG. 10 is a diagram showing an example of frequency characteristics of an open-loop transfer function of a conventional autopilot for a flying body, which also takes into consideration airframe bending vibrations.

FIG. 11 is a diagram showing frequency characteristics of a conventional airframe auto-pilot, which is inserted into a control loop in consideration of airframe bending vibrations, and which is included in a vehicle body vibration signal eliminator.

FIG. 12 is a diagram showing an example of frequency characteristics of an open-loop transfer function in which a body vibration signal remover is inserted in a control loop in consideration of body bending vibration in a conventional aircraft autopilot.

[Explanation of symbols]

 1 Attitude control compensator 2 Steering device 3 Missile airframe dynamic characteristics 4 Airframe attitude angular velocity detector 5 Airframe vibration signal eliminator 6 Airframe vibration signal eliminator 7 Airframe vibration signal eliminator 8 Changeover switch 9 Timer 10 Airframe vibration signal eliminator 11 Airframe Vibration signal eliminator 12 Airframe vibration signal eliminator 13 Changeover switch 14 Analog airframe vibration signal eliminator 15 Changeover switch 16 Analog amplifier 17 Resistor 18 Resistor 19 Capacitor 20 Capacitor 21 Capacitor 22 Digital airframe vibration signal eliminator 23 Acceleration control compensator 24 Missile Aircraft Motion Characteristics 25 Airframe Acceleration Detector 26 Airframe Vibration Signal Eliminator 27 Airframe Vibration Signal Eliminator 28 Aircraft Vibration Signal Eliminator 29 Aircraft Vibration Signal Eliminator 34 Changeover Switch

Claims (4)

[Claims] 1. An autopilot for a flying vehicle in which the attitude of the vehicle is changed by a steering wing to change the lift generated, and means for detecting the angular velocity of the vehicle attitude, means for compensating the attitude control system, and actually steering. Means, an airframe vibration signal eliminator having different frequency characteristics, means for measuring the time from rocket motor ignition, and means for selecting an airframe vibration signal eliminator having a predetermined frequency characteristic according to the value of this time An autopilot for a flying vehicle characterized by being equipped with 2. In an autopilot for a flying vehicle in which the attitude of the airframe is changed by a steering wing and the lift force generated is changed, means for detecting the airframe attitude angular velocity, means for compensating the attitude control system, and actual steering And a plurality of fuselage vibration signal eliminators having different frequency characteristics and provided so as to be capable of responding to the Nth (N is 1, 2, 3, ...) Next-order body vibration frequency, and rocket motor ignition A flying vehicle comprising means for measuring time and means for appropriately selecting and combining a plurality of machine body vibration signal removers from the plurality of machine body vibration signal removers according to the value of this time. Auto pilot. 3. In an autopilot of a flying vehicle in which the attitude of the airframe is changed by a steering wing and the lift force generated is changed, means for detecting the airframe attitude angular velocity, means for compensating the attitude control system, and actual steering Means, an airframe vibration signal eliminator configured by calculation by a computer, a means for measuring the time from rocket motor ignition, and a set parameter for determining the frequency characteristic of the airframe vibration signal eliminator based on the value of this time. An autopilot for a flying vehicle, which is equipped with a means for selectively switching. 4. In an autopilot for a flying vehicle in which the attitude of the vehicle is changed by a steering wing to change the lift generated, a means for detecting an aircraft attitude angular velocity, a means for detecting an aircraft acceleration, and an attitude control system are compensated. Means, a means for compensating the acceleration control system, a means for actually steering, a plurality of machine body vibration signal eliminators used in the attitude control system having different frequency characteristics, and a plurality of body bodies having different frequency characteristics used in the acceleration control system. A vibration signal eliminator, means for measuring the time from rocket motor ignition, and means for selecting one body vibration signal eliminator from the plurality of body vibration signal eliminators of the attitude control system according to the value of this time. And a means for selecting one airframe vibration signal eliminator from a plurality of airframe vibration signal eliminators of the above acceleration control system. To.