JPH0749918B2 - Flying body guidance method - Google Patents

Description

The present invention relates to a method for guiding a flying vehicle that performs homing guidance by a turning acceleration command.

[Prior Art] As a general guidance system for a flying object, for example, a missile, as shown in FIG. 4, the homing device 1 receives the spatial motion information of the target and the spatial motion information of the missile obtained from the turning acceleration of the missile itself. Is input to the autopilot 2 and the steering angle is calculated from the turning acceleration command nc and the deviation between this turning acceleration command nc and the turning acceleration of the missile itself detected by the sensor 3. The system is such that a command δc is calculated, and this steering angle command δc is input to the servo device 4 to steer the missile at the steering angle δc to make the airframe respond.

By the way, conventionally, the autopilot 2 in such a missile guidance system employs proportional navigation in which the visual linear angular velocity input from the homing device 1 is multiplied by a navigation constant (constant value) N to obtain a turning acceleration command nc. The turning acceleration command nc is input to the comparator 6 through the limiter 5 to find the deviation from the turning acceleration of the missile itself detected by the sensor 3, and this deviation is input to the steering angle command calculating means 7 to obtain the steering angle command δc. I am trying to calculate.

Therefore, in the conventional missile guidance system, the visual linear angular velocity is increased or decreased because the visual linear angular velocity is multiplied by a certain navigation constant to obtain the turning acceleration command and the missile is turned by the turning acceleration command. Regardless of which state, the turning acceleration proportional to the visual angular velocity is commanded.

[Problems to be Solved by the Invention] However, in such a missile guidance system based on proportional navigation, the visual linear angular velocity is in a reduced state, and even if the turning acceleration is small, a large turning acceleration is commanded and conversely, When the line-of-sight angular velocity is increasing and a large turning acceleration is required, the turning acceleration is commanded to be too small. For this reason, overshooting or insufficient turning occurs and the accuracy of hitting the target deteriorates.

Also, since there is a limit to the turning acceleration in an actual missile, if the line-of-sight linear acceleration exceeds a certain value, the command always issues a constant maximum turning acceleration regardless of the increase / decrease. become.

The present invention has been made in order to solve the above-mentioned problem, and the flight command is to improve the accuracy of hitting the target object by turning the flying body by the acceleration command in consideration of the increase and decrease of the visual angular velocity. The object is to provide a method for guiding the body.

[Means for Solving the Problems] In order to achieve the above object, the present invention is based on the spatial motion information of the flying object itself obtained from the spatial motion information of the target object and the turning acceleration information of the flying object. The line-of-sight angular velocity is obtained, and the line-of-sight linear velocity is differentiated, and the differential value is added to the line-of-sight linear velocity to obtain the turning acceleration command. An angle command is calculated, and the flying object is steered and turned by the steering angle command.

[Operation] Therefore, in such a missile guidance method, when the visual linear angular velocity increases or decreases, the gradient of the visual linear angular velocity is obtained from the differential value thereof, and based on this, the turning acceleration command is calculated to determine the visual linear velocity. Since the turning acceleration command according to the change of the angular velocity can be obtained, the flying object turns too far,
There will be no shortage.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows an example of a block configuration of a turning acceleration command calculation unit in the missile guidance system. This turning acceleration command calculation unit is provided in place of the navigation constant unit N of the autopilot 2 in FIG. Therefore,
The other structure is the same as that of FIG. 4, and the description thereof is omitted here. In this embodiment, as shown in FIG.
The visual linear angular velocity input from the homing device 1 in the figure is differentiated by the differential element S to obtain the change, which is multiplied by an appropriate differential element gain K ₂ and added to the visual linear angular velocity by the adder A. Turning acceleration command calculation Master gain
The turning acceleration command nc is calculated by multiplying K ₁ . Here, the master gain K ₁ corresponds to the proportional navigation constant of the conventional method, and the differential element gain K ₂ sets the degree of reflection of the acceleration differential value of the line of sight, which value is the turning performance of the missile ( Rapid response and maximum turning acceleration)
Determined by That is, this turning acceleration command nc becomes nc = K ₁ (1 + K ₂ S).

Therefore, by providing the turning acceleration command calculation unit having such a configuration in place of the navigation constant unit N of the autopilot 2 shown in FIG. 4, the following actions and effects can be obtained.

Although the turning acceleration of the missile has a limit, the turning acceleration command output from the turning acceleration command calculation unit may be below the limit or above the limit. Therefore, here, the case where the acceleration command is equal to or less than the limit and the case where the acceleration command is equal to or more than the limit are described and compared with the conventional method.

(1) When the visual linear angular velocity is small and the turning acceleration command is smaller than the maximum turning acceleration FIG. 2 shows an example of temporal changes in the visual linear angular velocity and the turning acceleration command in this case. 2A shows the conventional method, and FIG. 2B shows the case of the method of this embodiment. That is, as can be seen from FIG. 2 (b), in the case of the method according to the present embodiment, when the visual linear angular velocity starts to decrease, the turning acceleration command is changed according to the change as compared with the conventional method of FIG. 2 (a). Since it is pressed down a little, it is possible to prevent the excessive turning by slowing down the visual angular velocity. On the other hand, if the turn goes too far, the turn acceleration command becomes large, so that the overshoot amount can be kept small.

(2) When the visual linear angular velocity is large and the turning acceleration command is larger than the maximum turning acceleration In this case, FIG. 3 shows an example of temporal changes of the visual linear angular velocity, the turning acceleration command, and the turning speed. Incidentally, FIG. 3 (a) shows the case of the conventional method, and FIG. 3 (b) shows the case of the method of this embodiment. That is, in the case of the conventional method shown in FIG. 3 (a), even if the visual linear angular velocity starts to decrease, the turning acceleration command obtained by multiplying the visual linear angular velocity by the navigation constant becomes a value smaller than the maximum turning acceleration command. Keep turning with maximum turning acceleration. In other words, once the turning acceleration command begins to decrease, it is no longer necessary to make a further turn, so continuing to turn at the maximum turning acceleration is an unnecessary turn, and as a result, the turn will be excessive. Grows larger. In this case, it seems that the problem can be solved by simply reducing the navigation constant of proportional navigation.
If this is the case, the correction will not be sufficiently made if the turn goes too far. On the other hand, in the method of the present embodiment, when the visual linear angular velocity tends to decrease as shown in FIG. 3 (b), the turning acceleration command becomes small, and unnecessary turning (too much turning) is prevented, and turning If too much, the turning acceleration command becomes large, so the overshoot amount of the turning can be suppressed small.

Thus, according to the method of the present embodiment, the homing device 1
When a visual linear angular velocity δ is input from the autopilot 2 to the autopilot 2, the visual linear angular velocity is differentiated by a differentiating element S, and this is multiplied by an appropriate differential element gain K ₂ to be added to the visual linear angular velocity. Multiply the calculated master gain K ₁ to obtain the turning acceleration command nc.
Since the missile is steered to turn based on the above, even if the visual linear angular velocity increases or decreases, the visual linear angular velocity is particularly large, and even if the turning acceleration command is larger than the maximum turning acceleration, the change in the visual linear angular velocity itself is gentle. become. Therefore, since the missile turns due to the turning acceleration command according to the increase or decrease in the visual linear angular velocity, it is possible to prevent the turning too much and improve the accuracy of hitting the target.

[Effects of the Invention] As described above, according to the present invention, the visual linear angular velocity is obtained from the spatial motion information of the target object and the spatial motion information of the flying object itself obtained from the turning acceleration of the flying object. A turning acceleration command is calculated based on the line-of-sight angular velocity, a steering angle command is calculated from a deviation between the turning acceleration command and the turning acceleration of the flying object itself, and the flying object is steered by the steering angle command. In the method of guiding the flying object that is caused to turn, when calculating the turning acceleration command, the visual linear angular velocity is differentiated by a differentiating element, and the turning acceleration command is calculated based on the differential value. Even if the visual linear angular velocity increases or decreases, a turning acceleration command can be obtained according to the change in the visual linear angular velocity, so that the flying object does not overshoot or become insufficient,
It is possible to provide a method for guiding a flying object that can improve the accuracy of hitting a target object.

[Brief description of drawings]

FIG. 1 is a block diagram showing a turning acceleration command calculator in one embodiment for explaining a method for guiding a flying object according to the present invention, and FIGS. 2 and 3 are the method of this embodiment in comparison with a conventional method. FIG. 4 is a block diagram showing a configuration example of a conventional missile guidance system, for explaining the action and effect of the above. 1 ... Homing device, 2 ... Autopilot, 3 ...
… Sensors, 4 …… Servo devices, 5 …… Limiters, 6 ……
Comparator, 7 ... Rudder angle command calculation means, S ... Differential element, K ₁
...... Turning acceleration command calculation master gain, K ₂ …… Differential element gain, A …… Adder.

Claims (1)

[Claims] 1. A visual linear angular velocity is obtained from the spatial motion information of the flying object itself obtained from the spatial motion information of the target object and the turning acceleration information of the flying object, and this visual linear angular velocity is differentiated, and the differentiation thereof is performed. A value is added to the visual linear angular velocity to obtain a turning acceleration command, and a steering angle command is calculated from a deviation between the turning acceleration command and the turning acceleration of the flying object itself. A method of guiding a flying object, characterized by being steered to turn.