JPH0682039B2 - Steering method of flying body - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a steering method for a flying vehicle, and more particularly to a proportional steering type steering method for detecting a steering angle and performing feedback control.

[Prior art]

In general steering of a proportional steering system for a flying vehicle, three control system input signals for pitch, yaw, and roll are distributed for four steering wings, and become steering control signals for each rudder. Amplified by a signal amplifier,
A motor or the like is driven, and the output of the motor or the like is decelerated by a speed reducer or the like to move the steering wings. The steering angle of the steering wing is detected by a steering angle detector and becomes a feedback signal, which is multiplied by an appropriate gain and compensation characteristic and compared with a steering control signal to form a feedback loop.

FIGS. 1 (a), (b) and (c) show an example of the definitions of pitch, yaw and roll rudder in a flying vehicle steering system.

That is, the figure is a rear view of a flying body having four steering blades. With respect to the aircraft 1, the upper left steering blade is 2a, the lower left steering blade is 2b, the lower right steering blade is 2c, and the upper right steering wheel is Each of the wings is indicated by 2d. For pitch control, the left steering wheel 2a,
The steering wheel 2b is steered in the same direction, and the steering blades 2c, 2d on the right side are steered in the same direction but opposite to the steering blades 2a, 2b on the left side. Here, the time when the steering blade is steered in the direction of FIG. 1A is defined as the positive direction of pitch control. For yaw control, the upper steering blades 2a and 2d are steered in the same direction, and the lower steering blades 2b and 2c are steered in the same direction and opposite to the upper steering blades 2a and 2d. . Here, steering in the direction of FIG. 1 (b) is defined as positive yaw control. For roll control, all the steering wings 2a, 2b, 2c, 2d are steered in the same direction. Then, steering in the direction of FIG. 1 (c) is defined as positive roll control. Note that such positive and negative definitions of steering are merely examples, and other definitions may be used. In actual steering, steering for pitch control, yaw control, and roll control is superimposed to move the steering blades.

FIG. 2 shows an example of a proportional steering system in a conventional steering system. The motion of the machine body 1 is detected by a detector 3 such as a gyro, becomes pitch, yaw, and roll signals representing the motion of the machine body, is compared with respective steering control signals, and the comparison result is input to the steering matrix 4. . The steering matrix 4 distributes control system input signals for pitch, yaw, and roll for the four steering wings to provide steering angle command signals δ ′ ₁ ,
δ ′ ₂ , δ ′ ₃ and δ ′ ₄ are set, and the distributed steering angle commands are amplified by the amplifier 5 to operate the steering blade drive motor 6. The output shaft of the motor 6 steers the steering blades via the reduction gear 7 by the steering angles δ ₁ , δ ₂ , δ ₃ , and δ ₄ . In the conventional steering method, the output rotation of the reduction gear 7 is detected by the steering angle detector 8 and a feedback signal is formed. Then, four feedback loops are individually formed between the steering angle command signal and the steering angle feedback signal of the steering blade.

[Problems to be solved by the invention]

In the conventional steering method described above, due to variations in the response speed of the four steering systems, backlash, backlash of the reduction gears, etc., each steering wing should have its own pitch, yaw, and roll control system input signals. There will be some error with respect to the steering angle corresponding to. Further, due to the disturbance torque due to the aerodynamic force, the frictional force, etc. acting on the steering blade, the actual steering angle normally causes an offset with respect to the steering control signal, which causes an error in the set steering angle. The correction of the motion of the flying object due to these errors is first performed by a large feedback loop based on the detection value by the detector 3 such as a gyroscope mounted on the flying object. That is, it can only be confirmed as a result of the airframe movement whether or not each steering blade has moved to the position where it should originally move. Therefore, the accuracy and response speed to the control of the flying object are deteriorated, and the movement of the flying object is adversely affected.

Now, assuming that the control system input signals for the pitch, yaw and roll are δ ′ _P , δ ′ _Y and δ ′ _R , respectively, and the calculation for distributing them to the four signals is the steering matrix (A), each steering wheel passing through it Steering control signals of δ ′ ₁ , δ ′ ₂ , δ ′ ₃ and δ ′ ₄ respectively represented by the following equations.

The effective combined pitch, yaw, and roll rudder based on the steered angle signals δ ₁ , δ ₂ , δ ₃ , and δ ₄ of the steered blades to be driven is represented by the following composite matrix (B).

When a random error Δδ occurs in each steering blade due to the above-mentioned reasons, the effective pitch, yaw, and roll steering error Δ
δ _P , Δδ _Y , and Δδ _R are Therefore, the same error occurs in pitch, yaw, and roll systems.

In a normal flying vehicle steering system, the roll control signal is more effective than the pitch and yaw control signals. Since it is small, the roll output of the effective rudder is accompanied by a large error, which causes a particular problem in roll control characteristics.

In addition, because the size of each steering angle is limited, if the pitch and yaw control signals are large, it will be saturated by itself, and a small roll control signal will be lost in it, causing roll rudder due to mutual interference of the rudder. There is a problem that the effectiveness of the control is reduced, and it becomes a serious problem especially in a steering device for a flying body that emphasizes the control characteristics of the roll system.

The present invention solves the above-mentioned problems in the proportional steering type flying object steering method, reduces the influence of variations in response speed of each steering system, rattling, backlash of gears, and the like to improve steering setting accuracy. The objective is to improve the response speed of the steering angle setting.

[Means for solving problems]

In order to solve the above-mentioned problems, in the present invention, a steering angle command signal for each steering blade is distributed by a control system error signal for pitch, yaw, and roll, and the steering blade is moved by a normal method to detect the steering angle. The steering angle signals corresponding to pitch, yaw, and roll are combined from the steering angle detected by the instrument, and the appropriate feedback gain and compensation characteristics are multiplied to this steering angle signal to control pitch, yaw, and roll. It is used as a feedback signal and compared with the control system input signal.

[Action and effect]

According to the present invention, from the steering angle detected by the steering angle detector, the steering angle signals corresponding to the pitch, yaw, and roll are combined and fed back to the control system input unit. When an error occurs in the steering wheel, correction signals corresponding to the pitch, yaw, and roll corresponding to the error can be immediately formed, and the steering angle setting accuracy can be improved. Further, the gain and compensation characteristic of the steering angle signal corresponding to each of pitch, yaw, and roll can be set individually, so that the effectiveness of roll steering can be improved by increasing the gain of the roll steering system, for example.

〔Example〕

An embodiment of the present invention will be described below with reference to FIG. In the figure, pitch, yaw, and roll control system input signals 11
Is the pitch compared to the feedback signal described below,
The yaw and roll control error signals δ ′ _P , δ ′ _Y , δ ′ _R become the control system error signals, and the steering matrix 12 causes the steering angle command signals δ ′ ₁ , δ ′ ₂ , δ ′ ₃ , δ ′ ₃ . ' ₄ . The steering angle command signal is passed through the amplifier 13 respectively,
The motor 14 is driven. The rotation of the motor 14 is reduced by the reduction gear 15 to move the steering wings. The rudder angle of the steering wing is detected by the rudder angle detector 16, and the detection signal is the composite matrix 17
Are combined into pitch, yaw, and roll steering angle signals. Appropriate feedback gains K _P , K _Y ,
The feedback signals δ _P , δ _Y , δ _R are formed by multiplying K _R and the compensation characteristics C _P , C _Y , C _R. This feedback signal is compared with the control system input signal 11 as described above.

In the configuration of this embodiment, when a disturbance torque is applied to the steering system of each steering wing and a steering angle error occurs in the steering angle, the steering angle error is combined by the combination matrix 17, and pitch, yaw, roll To the steering matrix 12 as a steering angle signal corresponding to.

Where feedback gains K _P , K _Y , K _R and compensation characteristics
C _P , C _Y , and C _R can be set individually for each pitch, yaw, and roll channel, and adjustments can be made to match the required frequency band or increase the loop gain of the priority channel. ing.

Further, a feedback loop for feeding back the detection signals δ _PC , δ _YC and δ _RC of the detector 3 such as a gyro that detects the motion of the machine body 1 to the input portion of the steering matrix 12 is provided as in the conventional case.

By doing this, when an error occurs in each rudder,
Since the pitch, yaw, and roll control system input signals can be directly compared and corrected, it is possible to wait for the result of the slow-moving aircraft motion as in the conventional steering device, and to make a response compared to the case of correction. The speed can be significantly increased.

In addition, by increasing the feedback gain of the channel that should be given priority, for example, the roll system, together with the compensation characteristic, the necessary steering can be performed before the other channels. The channel can be drastically reduced. further,
Since the loop gain of the channel to be prioritized can be increased, the weak signal can be prioritized without reducing the effectiveness of the steering due to the mutual interference of the steering, which has been a problem in the past. In addition, in the conventional steering device, since it is necessary to strictly match the characteristics of each rudder, it takes a lot of time to adjust the amplifier, the motor, the gear, and the like. Since it is automatically corrected as a servo loop, it is not necessary to strictly match the characteristics of each rudder.

Although the above-described embodiment describes the case of controlling the four steering blades based on the three control input signals of pitch, yaw, and roll, it is also applied when the number of steering blades is different. Of course you can. Further, the steering blade is not limited to a control surface that uses normal aerodynamic force, but can also be applied to a vane blade for thrust vector control that uses a jet of a rocket motor or the like.

[Brief description of drawings]

1 (a), (b) and (c) are schematic diagrams showing an example of positive and negative definitions of steering of a flying object, FIG. 2 is a block diagram showing a conventional steering method, and FIG. It is a block diagram which shows an Example. 1 ... Airframe, 3 ... Detector, 11 ... Steering signal, 12 ... Steering matrix, 14 ... Motor, 15 ... Reduction gear, 16 ... Steering angle detector, 17 ... Composite matrix.

Claims (3)

[Claims] 1. A steering method for a flying vehicle having a plurality of steering blades, wherein a control system error signal corresponding to a plurality of motion components of the flying vehicle is distributed to each of the steering blades by a steering matrix calculation to steer the steering angle. A command signal is formed, each of the steering wings is driven by the steering angle command signal, and the steering angle signal obtained by detecting the steering angle of each of the driven steering wings is synthesized matrix operation to calculate the plurality of flying bodies. The steering method is characterized in that a control system error signal is formed by synthesizing a feedback signal corresponding to the motion component of the control signal and comparing the feedback signal with the control system input signal. 2. The steering method according to claim 1, wherein the gain and the compensation characteristic of the feedback signal are individually changed according to the priority of the control system input signal. 3. The steering method according to claim 1 or 2, wherein the plurality of motion components of the flying body are pitch, yaw and roll.