JPH0320596A - Automation operating device for flying body - Google Patents

Abstract

PURPOSE:To improve accuracy of induced flying by estimating flying conditions and switching parameters for a computer which computes a steering command signal in conformity with said estimated conditions to proper ones. CONSTITUTION:A flying body vibrates at an angular frequency determined by a machine body and flying conditions by temporarily interrupting a control closing circuit in a timing controlled by a sequence controller 16. Since machine characteristics are previously known, the flying conditions can be estimated by estimating the angular frequency from a change in an angular velocity. Accordingly, by referring to a ROM data table based upon a signal from a frequency measuring instrument 15 to call a proper parameter for computation by a microprocessor, the automatic steering device can output a steering command signal suitable for the flying conditions and hence induction flying accuracy can be improved.

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention relates to an automatic pilot system for a flying object.

[Conventional technology]

Figure 3 shows a conventional autopilot system. (1) refers to the entire conventional autopilot system. (2) and (3) are detectors that detect the pitch and yaw accelerations of the projectile, "Ip+a @y," (4) and (5) are the same as the angular velocity qp.
It is a detector that detects +qy. (6). (7) is a computer that calculates the pitch/yaw steering angle command signal δpcδYC from the acceleration, angular velocity, and guidance signal σpσy detected in (2) to (5). The flying object receives this steering angle command signal and steers to perform the desired spatial movement.

[Problem to be solved by the invention]

The configuration of a conventional autopilot system is as described above.In this case, from the aircraft attitude angular velocity in each direction of pitch and yaw, the signal from the acceleration detector, and the guidance signal for the target,
The parameter values of the computer that calculates the steering command signal are fixed. However, this parameter value greatly affects dynamic pressure, which changes depending on flight conditions such as flight speed and flight altitude. Therefore, it is necessary to change this value depending on the flight conditions, and if it is a fixed value as in the past, it will not be possible to give an appropriate rudder angle command, resulting in a decrease in the accuracy of the guided flight.

This invention was made in order to solve the above-mentioned problems, and it is an object to obtain an autopilot device that can estimate flight conditions without using a speedometer or an altimeter and change the parameter values of a computer accordingly. With the goal.

[Means to solve the problem]

The autopilot device according to the present invention is capable of estimating flight conditions, and also estimates the parameter values of a computer that calculates a steering command signal by referring to a data table in a ROM. It is designed so that it can be switched.

[Effect]

The automatic pilot system according to the present invention can estimate flight conditions and change the parameter values of the computer that calculates the steering command signal to appropriate values accordingly, so it can output an appropriate steering angle command signal and control the guided flight. Improves accuracy.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. 1st
In the figure, .(8) is an autopilot device according to the present invention. (2) and (3) are the pitch and yaw acceleration detectors of the projectile. (4). (5) is also an angular velocity detector. (9). (io) is (2) ~ (
5) This is a calculator that calculates the steering angle command signals for pitch and yaw from the detected acceleration and angular velocity as well as the manually input guidance signal, and the calculator has multiple parameter values depending on the dynamic pressure that changes depending on the flight conditions. Set R
Data table in OM. (It is recorded. (l5)
teeth. This device calculates the angular frequency from the signals of the angular velocity detectors (4) and (5). (17). (1g) is a switch that temporarily turns off the control closed circuit of the steering servo system, and this switch and the timing of frequency measurement are controlled by the sequence controller (16).

An aircraft equipped with this autopilot system vibrates at an angular frequency determined by the aircraft and flight conditions by temporarily cutting off the closed control circuit at a timing controlled by the sequence controller (16). Since the aircraft characteristics are known in advance, the flight conditions can be estimated by finding this angular frequency from changes in angular velocity. Therefore, from the signal of the frequency measuring device (l6), the ROM
By referring to the data table of Improves flight accuracy. Although the pitch and yaw calculators are shown separately in this figure, it is possible to calculate the pitch and yaw steering angle command signals using a single calculator.

FIG. 2 is a diagram showing only the pitch portion of the autopilot system according to claim 2. In the figure, (19) is a device that generates an arbitrary steering angle command signal. This steering angle command generator (19) is added to the automatic pilot system, and is similarly controlled by the sequence controller (l6). The steering angle command generator (■9) generates an appropriate steering angle command signal when the closed control circuit is turned off.
Make the aircraft vibrate arbitrarily. This allows you to measure the frequency more accurately by increasing the amplitude or changing the measurement conditions.

In addition, among the above embodiments, the acceleration and angular velocity detector (
Functions other than 2) to (5) are the steering angle command calculator (9),
It can also be realized by the software program (10), and the ROM (12
), this autopilot functions similarly.

Note that although the above embodiment shows an automatic pilot system that controls the attitude angle by changing the rudder angle, the rudder angle command also applies to a flying object that controls the attitude angle by changing the thrust direction. The other things are the same except that the direction command is replaced.

〔Effect of the invention〕

As above. By using the automatic pilot system according to the present invention, the parameter values of the computer that calculates the steering command signal can be switched to appropriate values according to the flight conditions.
This has the effect of improving guided flight accuracy. Furthermore, since there is no need to use a speedometer or an altimeter, the device has the effect of being inexpensive and simple in structure.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an automatic pilot system for a flying object according to an embodiment of the present invention, and FIG. FIG. 3 is a block diagram showing a part of another embodiment of the present invention. FIG. 3 is a block diagram showing an example of an autopilot device according to the prior art. (1) is the entire autopilot system according to the conventional technology. (2) and (3) are pitch and yaw acceleration detectors, (4
), (5) is a pitch/yaw angular velocity detector, (6) is a bitch steering angle command calculator, (7) is a yaw steering angle command calculator,
(8) is the entire automatic pilot system according to the present invention, (9) is the pitch rudder angle command calculator, and (10) is the yaw rudder angle command calculator (
11) and (12) are the microprocessor in the bitch steering angle command calculator and ROM, (13) respectively. (
14) are the microprocessor and ROM in the yaw steering angle command calculator, (15) are the vibration frequency measuring device, and (
16) is a sequence controller, (17). (18) is a switch, and (19) is a steering angle command generator. In addition. In the figures, the same reference numerals indicate the same or corresponding parts.

Claims (3)

[Claims] (1) In an autopilot system installed in a flying object that guides flight through space, in order to control its attitude angle to achieve the desired spatial movement, an aircraft attitude angular velocity detector in each direction of pitch and yaw is used. and an acceleration detector, a means for measuring the frequency of the aircraft attitude angle, a microprocessor for calculating a steering command signal from those signals and a guidance signal for the target, and adjusting parameters used for calculation to multiple dynamic pressures. ROM (Read Only Memory) that records the data table calculated in advance.
In addition to a computer with
It is characterized by having a means for temporarily cutting off a control closed circuit of a steering servo system that outputs output to the steering wing to control the attitude angle of the aircraft, and a means for controlling the timing of cutting off this control closed circuit and measuring the angular frequency. An autopilot device for a flying vehicle. (2) In an autopilot system installed in a flying object that guides flight through space, in order to control its attitude angle to achieve the desired spatial movement, an aircraft attitude angular velocity detector in each direction of pitch and yaw is used. and an acceleration detector, a means for measuring the frequency of the aircraft attitude angle, a microprocessor for calculating a steering command signal from those signals and a guidance signal for the target, and adjusting parameters used for calculation to multiple dynamic pressures. ROM (Read Only Memory) that records the data table calculated in advance.
In addition to a computer with An autopilot device for a flying object, characterized by having a means for controlling timing. (3) The aircraft attitude angular velocity detector, the acceleration detector, and the functions other than these detectors are realized by a software program of a microprocessor, and at the same time, it is characterized by having a computer with a ROM that records the necessary data. An automatic pilot system for a flying object according to claims (1) and (2).