JPH04200A - Auto-pilot electronic apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] This invention relates to an autopilot electronic device for guidance and control of flying objects.

[Conventional technology]

Figure 2 is a diagram showing a conventional autopilot device. In Figure 1, (1) is the guidance signal input from the target tracking device, (2) is the gain adjuster for the guidance signal gain, and (3) is the target (4) is a navigation calculator that performs navigation calculations based on the guidance signal; (5) is an acceleration command input that is the output of the navigation calculator;
(6) is a variable gain amplifier, (7) is a variable gain amplifier, (8) is a variable gain amplifier, (9) is an integrator,
(10) is a variable gain amplifier, (11) is a steering sabot device that controls the steering blades, (12) is the response of the aircraft to steering, (13) is a rate gyro that measures the turning angular velocity of the aircraft, and (14) is The accelerometer that measures the acceleration of the aircraft, (15) is the aerodynamic differential coefficient that is roughly input.
Aircraft specifications of mass, center of gravity, and moment of inertia, (16) is the airframe band calculated according to (15) and (18), (1
7) is the response coefficient for performing predetermined compensation, (18) is the dynamic pressure output by an inertial reference device, etc., and (19) is (
Variable gain amplifier (6), (7) according to 17)
, (8) and (10) is an aircraft response model compensation calculator that performs gain adjustment.

Next, the operation will be explained. In this Autonomirot electronic device, the uncompensated airframe band (16) is first calculated using the airframe specifications (15) and the dynamic pressure input (18). In response, the aircraft response coefficients (17) and (16) are calculated in order to obtain a predetermined stability, and the aircraft model that provides the predetermined response is converted to an aircraft response model compensation calculator (19).
and use this model to create a variable gain amplifier (
6) Calculate and adjust the gains of (7), (8), and (10).

The guidance signal (1) output from the target tracking device is adjusted to a gain adjuster (2) according to the target relative distance (3).
The navigation calculator (4) performs calculations according to the guided navigation and outputs an acceleration command (5).

Acceleration command (5) is calculated by 9 aircraft response model compensation calculator (19
] with the gain adjusted by the amplifier (6), (7)
(8) and integrated by an integrator (9). The output of the integrator (9) is amplified by an amplifier (10) and input as a steering command to a steering servo device (11) for steering. The aircraft motion changes due to steering, resulting in 1 aircraft response (1
2) rate gyro (13) for angular velocity and acceleration;
The angular velocity is measured by an accelerometer (14) and an amplifier (8)
, (10) and feed back the acceleration to the amplifier (7).

[Invention or problem to be solved]

Conventional autopilots are configured as follows, so the response of one aircraft always has a certain stability, and the gain of the guidance signal, that is, the acceleration command, is variable according to the target relative distance, and the gain of the acceleration command is changed depending on the target relative distance. In large areas, the goal is to reduce the amount of steering, reduce speed, and reduce the consumption of the power source of the steering servo device, or is it possible to set the stability of the aircraft to increase guidance accuracy to reduce the amount of steering? There was an issue of deterioration.

This invention was made to solve the above-mentioned problems, and it adjusts the stability setting of the aircraft according to the target relative distance, reduces the amount of steering, reduces the speed, and adjusts the steering servo device. The purpose of the present invention is to obtain a device that can effectively suppress consumption of a power source and improve guidance accuracy.

[Means to solve the problem]

The autopilot electronic device according to the present invention uses a response coefficient that changes according to the target relative distance to reduce the amount of steering depending on the aircraft specifications and dynamic pressure, suppressing the reduction in speed and consumption of the power source of the steering servo device, and guiding It employs an aircraft response model compensation calculator that adjusts the gain of the amplifier to improve accuracy.

[Effect]

The aircraft response model compensation calculator in this invention inputs the aircraft specifications and dynamic pressure, and sets a response coefficient according to the target relative distance to reduce the amount of steering, reduce speed, and increase the power source of the steering servo device. Calculate and set amplifier gains that can reduce consumption and improve guidance accuracy.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. 1st
In the figure, (1) is the guidance signal input from the target tracking device, (3) is the target relative distance, (4) is the navigation calculator that performs navigation calculations based on the guidance signal, and (5) is the output of the navigation calculator. A certain acceleration command input, (6) is a variable gain amplifier, (
7) is a variable gain amplifier (8) is a variable gain amplifier!
, (9) is an integrator, (10) is a variable gain amplifier, (11) is a steering servo device that controls the steering blade, (
12) is the response of the aircraft to steering (13) is the rate gyro that measures the angular velocity of the aircraft (14) is the accelerometer that measures the acceleration of the aircraft, and (15) is the aerodynamic differential coefficient, mass, center of gravity, and Aircraft specifications of moment of inertia,
(1, 6) is the aircraft band calculated according to the aircraft specifications (15) and dynamic pressure (18), (17) is a variable response coefficient for performing predetermined compensation, and (19) is the response coefficient ( 17), variable gain amplifiers (6), (7), (8),
(10) This is an airframe response model compensation calculator that performs gain adjustment.

Next, the operation will be explained. This autopilot electronic device first calculates the uncompensated airframe band (16) using the airframe specifications (15) and the dynamic pressure input (18).

On the other hand, a response model of a predetermined aircraft is calculated by an aircraft response model compensation calculator (19) using the response coefficient (17). The response coefficient is variable according to the target relative distance (3), and when the relative distance is large, the response coefficient is set to be sufficiently small for one aircraft band (16) in order to reduce the need for steering and suppress the decrease in the speed of the flying object. When the five-point relative distance is small, the response model is set to obtain a response model equivalent to one aircraft band (16) in order to increase the aircraft response and improve the guidance accuracy. The aircraft response model compensation calculator (19) calculates one aircraft response model using the response coefficients set variably in this way, and furthermore, based on this model, the variable gain amplifiers (6), (7), (8), ( 10
) and adjust the gain.

A guidance signal (1) output from the target tracking device is output as an acceleration command (5) after being subjected to a predetermined navigation calculation (4). The acceleration command (5) is amplified by the amplifiers (6), (7), and (8) with gains adjusted as described above, and integrated by the integrator (9). The output of the integrator (9) is amplified by an amplifier (10) and input as a steering command to a steering servo device (11) to perform steering. The aircraft motion changes due to steering, and the angular velocity and acceleration are measured as an aircraft response (12) by a rate gyro (13) and an accelerometer (14), and the angular velocity is fed back to the amplifiers (8) and (10), and the acceleration is measured by the amplifier (7). Give feedback.

In the above embodiment, only the response coefficient (17) may be made variable according to the target relative distance (3), or the gain of the guidance signal (1) may also be made variable according to (3) (,2 It has a heavy effect.

〔Effect of the invention〕

As described above, according to the present invention, the response coefficient is made variable according to the target relative distance, the aircraft response model is calculated by the aircraft response model compensation calculator, and the gain of the amplifier is adjusted. This has the effect of reducing the amount, reducing the speed, suppressing the consumption of the power source of the steering servo device, and improving the guidance accuracy.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an autopilot electronic device according to an embodiment of the present invention, and FIG. 2 is a block diagram showing a conventional autopilot electronic device. In the figure, (1) is the induction signal, (2) is the gain adjuster,
(3) is target relative distance, (4) is navigation calculation, (5) is acceleration command, (6), (7), (8), (
10) is the amplifier (9) is the integrator, (11) is the steering servo device, (12) is the aircraft response, (13) is the rate gyro, (14) is the accelerometer, (15) is the aircraft specifications,
(16) is the aircraft band, (17) is the response coefficient, (18
) is the dynamic pressure, and (19) is the aircraft response model compensation calculator. In addition, in FIG. 9, the same reference numerals indicate the same or equivalent parts.

Claims (1)

[Claims] A first amplifier that amplifies the acceleration command calculated based on the guidance signal from the target tracking device, and a second amplifier that amplifies the difference between the output of this first amplifier and the output of an accelerometer that measures the acceleration of the flying object. An amplifier, an integrator that integrates the difference between the output of this second amplifier and the output of the rate gyro that measures the turning angular velocity of the flying object, and amplifies the difference between the output of this integrator and the output of the rate gyro to generate a steering angle command. 3rd output signal
amplifier, a steering servo device that inputs this rudder angle command signal and steers the control blades of the flying object, an inertial reference device that measures the altitude and speed of the flying object, and a system that calculates the dynamic pressure and airframe band and adjusts it to the target. From the response coefficient according to the relative distance, the first, second,
and an airframe response model compensation calculator that adjusts the gain of the third amplifier.