JPH0271100A - Steering control device - Google Patents

Abstract

PURPOSE:To enable execution of optimum steering at any altitude by a method wherein an ambient atmospheric pressure or the altitude of a flying body is detected, and according to the atmospheric pressure or the altitude, the gain of an integrator is variable. CONSTITUTION:An induction device 2 generates a lateral acceleration command signal, and is sent to an integrator 13 through an adding circuit 8. A barometer 11 detects an atmospheric pressure around a flying body, and the gain of the integrator 13 is varied. The lateral acceleration command signal from the induction device 2 is converted into a steering signal having an optimum response time responding to ambient atmospheric pressure by means of the integrator 13. Since the gain of the integrator is varied according to an ambient atmospheric pressure, when an ambient atmospheric pressure is low, i.e., when an altitude is high, the response speed of a steering signal is further increased, and desired lateral acceleration can be provided rapidly. When an ambient atmospheric pressure is high, i.e., when an altitude is low, the response time of a steering signal is further decreased, and excessive lateral acceleration is prevented from occurring. This constitution enables execution of optimum control of steering even when an ambient atmospheric pressure is any value.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a steering control device that can automatically vary the gain depending on the ambient air pressure or altitude of a flying object to provide optimal control.

[Conventional technology]

FIG. 3 is a diagram showing a conventional steering control device.

FIG. 1 is a diagram showing an example of a flying situation of a flying body. In the figure, (1) is a flying object, (2) is a guidance device for the flying object, and (3) is a steering control device that performs steering according to a lateral acceleration command signal from this guidance device (21).

(4) An integrator that converts the lateral acceleration command signal from the Vi guidance device (2) into a steering signal with a constant response speed.

(4A) is a capacitor that sets the gain of this integrator.

(4B) is a computing unit, (5) is a servo mechanism that converts the steering signal into mechanical movement, (6) is a steering blade that is driven by the servo mechanism and generates the desired lateral acceleration to the flying body, () ) is an accelerometer that detects the lateral acceleration of the flying body,
(8) is an addition circuit that adds the lateral acceleration command signal and the accelerometer output, (9) is the launcher of the flying object (1), αG
is the target aircraft.

Next, the operation will be explained. In order for the flying object (11) launched from the launcher (9) to fly towards the target aircraft an, the flying object's guidance device (2) outputs a lateral acceleration command signal, and the adding circuit (8) ) is applied to the integrator (4).The integrator (4) is set to a constant gain by a capacitor (4A), and the lateral acceleration/degree command signal is
This integrator (4) converts the steering signal into a steering signal having a constant response speed, and outputs it to the servo mechanism (5). The servo mechanism (5) converts this steering signal into mechanical movement to drive the steering blade (6). The flying body obtains lateral acceleration according to the steering angle of the steering blade (61).The force speed meter (7)
At that time, the lateral acceleration of the flying object is detected, and a signal corresponding to the lateral acceleration is outputted to 81 by an adding circuit.

When the desired lateral acceleration is obtained, the lateral acceleration command signal is canceled. Then, the output to the integrator (4) disappears, and the movement of the steering blade (6) stops.

In this way, the flying object obtains the desired lateral acceleration and flies toward the target aircraft a1.

[Problem to be solved by the invention]

Conventional steering control devices are configured as described above, regardless of the altitude at which the object is being flown.

The gain of the integrator is constant. Therefore, for example, when the flight altitude is high, the surrounding air pressure is low, so even if the control blades are driven in accordance with the lateral acceleration command signal, the desired lateral acceleration cannot be easily obtained. I had to keep adding. Also.

For example, when flying at a low altitude, the surrounding air pressure is high, so driving the steering blades in response to the lateral acceleration command signal will generate excessive lateral acceleration, and in order to compensate for this, it is necessary to reapply all of the lateral acceleration in the opposite direction. Ta.

As a result, the flying object was unable to take an appropriate flight path, resulting in a problem in which the overall guidance accuracy was reduced.

This invention was made in order to solve all of the above-mentioned problems.It is a steering control device that can vary the gain of the integrator according to the surrounding atmospheric pressure and can perform optimal steering at any altitude. The purpose is to obtain.

[Means to solve the problem]

The steering control device according to the present invention detects the surrounding air pressure or the altitude of the flying object using a barometer or altimeter attached to the flying object, and is capable of varying the gain of the integrator according to the surrounding air pressure or altitude. It is something.

[Effect]

The steering control device in this invention detects the ambient air pressure or the entire altitude of the flying object using a barometer or altimeter attached to the flying object, and changes the gain of the integrator based on this to detect low ambient air pressure. In other words, when at high altitude, the response of the steering signal is faster.

Furthermore, when the ambient pressure is high, that is, when the altitude is low, the response of the steering signal is delayed, so that optimal steering can be performed no matter the altitude.

〔Example〕

The present invention will be explained in detail below. In Figure 1 (1
1 to (31, +51 to (8)) are equivalent to the above conventional device. +11 is a barometer that detects the atmospheric pressure around the flying object, and α2 is a switch switching signal ( 12A) and (12B), r13 is an integrator that converts the lateral acceleration command signal output from the guidance device (3) into a steering signal with an appropriate response time, and (13A) is an integrator. incorporated into the container.

This is a switch circuit that performs switching according to the switching signal from the switching signal generation circuit aa, and has two switches (Sl
) and (S2). (13B) is a capacitor circuit that sets the gain of the integrator (13), and is composed of three capacitors whose capacitances are (2C), (C:'r, and (0), and the switch circuit (13A) is The combined capacitance i is made variable by switching. (15C) is an arithmetic unit.

Next, the operation will be explained. Guidance device (2+I/'i) Generates a lateral acceleration command signal like the conventional device, and adds an adder circuit (
8) to the integrator a9. Also, the barometer αυ
detects the air pressure around the flying object and switches the switching signal generation circuit α
Output to 2. The switching signal generating circuit a2 generates a switching signal according to the output of the barometer aD. Switch circuit (15A
) is switched in response to this switching signal to vary the combined capacitance of the capacitor circuit (13B). By varying the combined capacitance, the gain of the integrator α3 is varied. The lateral acceleration command signal from the guidance device (2) is converted by the above-mentioned integrator 0 into a steering signal having an optimal response time depending on the ambient air pressure. Figure 2 shows changes in the switching signal, operation 9 of the switch circuit, combined capacitance I, and changes in response speed of the steering signal in response to changes in ambient air pressure.
In this example, the gain is switched in four stages depending on the ambient air pressure. This steering signal allows the servo mechanism (
5), move the steering blade (6) once, detect the lateral acceleration with the accelerometer (7), and when the desired lateral acceleration is obtained, the integrator a
There is no output to 3, and the movement of the steering blade (6) stops.

In this way, since the gain of the integrator varies according to the ambient atmospheric pressure,9 when the ambient atmospheric pressure is low, that is, at high altitude, the response speed of the steering signal is made faster and the desired lateral acceleration can be quickly obtained. shall be provided. Furthermore, when the ambient air pressure is high, that is, when the altitude is low, the response time of the steering signal becomes slower, thereby preventing excessive lateral acceleration from occurring. Therefore, optimal steering control can be performed no matter what the ambient pressure is.

In the above embodiment, a barometer is provided on the flying body to detect the surrounding atmospheric pressure, and the gain is varied according to the atmospheric pressure. However, the present invention is not limited to this, and can be applied to the flying body. Set up an altimeter.

Needless to say, the altitude of the flying object may be detected and the gain may be varied depending on the altitude.

〔Effect of the invention〕

As described above, according to the present invention, the response speed of the steering signal can be varied according to the ambient air pressure of the flying object or the altitude of the flying object, so no matter what the ambient air pressure or altitude, This has the effect of providing optimal steering control and a flying object with high guidance accuracy.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing a steering control device according to an embodiment of the present invention, and FIG. 2 is a block diagram showing a switching signal with respect to ambient pressure, switch circuit operation, two-channel capacitance change, and steering signal response speed change according to an embodiment of the present invention. FIG. 3 is a block diagram showing a conventional steering control device, and FIG. 4 is a diagram showing an example of a flight situation of a flying object. In the figure, (1) is the flying object, (2) is the guidance device, (
3) is a steering control device, (4) ld is a conventional integrator, (
4A) is a capacitor, (5) is a servo mechanism, (6) is a steering blade, (7) is an accelerometer, (8) is an adder circuit, (9) is a launcher for the flying body, α is a target aircraft, αD is a barometer,
α2ilt switching signal generation circuit, (12A) and (12
B) Fi switching signal, α3 is an integrator. (13A) is a switch circuit, (Sl) and (S2) are switches, (13B) is a capacitor circuit, (13
C) is an arithmetic unit. Note that in the two figures, the same reference numerals indicate the same or equivalent parts.

Claims (1)

[Claims] A detection means attached to a flying object that detects the altitude or ambient air pressure, and a lateral acceleration command signal from the flying object's guidance device and a signal corresponding to the lateral acceleration of the flying object detected by an accelerometer. an integrator, the integrator having a means for inputting the input via the detector and varying the gain according to the output of the detecting means;
A steering control device characterized by comprising a servo mechanism that converts a steering signal from the integrator into a motion of a flight control rudder.