JP2008282195A - Flying object control device - Google Patents

Abstract

An object of the present invention is to provide a flying object control apparatus for accurately controlling a roll.
A control signal for a roll system, a pitch system, and a yaw system is calculated from an angular velocity output from a rate sensor, and a steering angle of a plurality of steering blades of a flying body is calculated to control the angular steering blades. When the roll system angular velocity or the roll system attitude angle is large, the larger the roll system attitude angle obtained by integrating the roll system angular velocity or roll system angular velocity, the more the pitch system and yaw system steering. It is characterized by suppressing the corners to be small.
[Selection] Figure 1

Description

  The present invention relates to a control device that controls the flying attitude of a flying object such as a missile.

  It is necessary to control the attitude of the flying object during the flight. For example, in addition to the case where the tracking target changes the traveling direction, when the flying posture is disturbed due to the state of the air current or the like, it is necessary to efficiently change the flying posture to a desired state.

  Fig.5 (a) is the figure which showed the external appearance of the flying body, and its control direction. FIG. 5B is a view of the flying object 501 viewed from the direction of arrow A.

  As shown in FIGS. 5A and 5B, the flying object control device mounted on the flying object controls the flying attitude of the flying object 501 in three directions: pitch 503, yaw 504, and roll 502. This is performed by controlling the rotation angles of the four steering blades of the first steering blade 601, the second steering blade 602, the third steering blade 603, and the fourth steering blade 604.

  Of these directions, the pitch 503 uses two steering blades of the second steering blade 602 and the fourth steering blade 604, and the yaw 504 uses two steering blades of the first steering blade 601 and the third steering blade 603. Control. The roll 502 is controlled using the four steering blades.

  For this reason, for example, when it is necessary to control two directions of the pitch 503 and the roll 502 at the same time, the conventional flying body control device applies the steering angle of the pitch 503 and the roll 502 to the second steering blade 602 and the fourth steering blade 604. The total value of was output. At this time, if any of the control directions becomes extremely large, the total value of the steering angle exceeds the range in which the steering blades can rotate, and the flying object may not be properly controlled. There was a point.

In this regard, the inertial device is mounted on the flying body, and the steering angle of the steering blade is limited so that it does not exceed the rotatable range of the steering blade based on the flying speed and flying height detected by this inertial device. A technique for providing a limiter has been proposed (for example, Patent Document 1).
Japanese Patent Laid-Open No. 7-325622

  However, depending on the technique described in Patent Document 1, the flying speed and the flying altitude are effective for calculating the dynamic pressure, but are not effective for accurately detecting the degree of the roll 502. For this reason, there is a problem that it is difficult to accurately control the flying posture of the flying object.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a flying object control apparatus that accurately controls a roll.

  In order to achieve this object, the present invention is mounted on a flying object, calculates control signals for the roll system, pitch system, and yaw system from the angular velocity output from the rate sensor, and further controls a plurality of steering objects of the flying object. A flying body control device that calculates the steering angle of a blade and controls the angular steering blade, and when the angular velocity of the roll system or the attitude angle of the roll system is large, the angular velocity of the roll system or the attitude angle of the roll system A flying body control device is characterized in that the larger the is, the smaller the steering angle of the pitch system and yaw system is suppressed.

  According to the present invention, the maximum values of the pitch and yaw limiters are changed according to the angular velocity of the roll system or the attitude angle of the roll system. For this reason, it is possible to control the steering blade appropriately corresponding to the speed of the roll and the size of the roll, and it is possible to control the flying body roll more stably.

  Hereinafter, an embodiment of a flying object control apparatus according to the present invention will be described in detail with reference to the drawings.

<Details of First Embodiment>
FIG. 1 is a schematic diagram showing the configuration of the flying object control device of the first embodiment. As shown in FIG. 1, the flying object control device of the present embodiment inputs an angular velocity from a rate sensor 200 that outputs the angular velocity of the flying object's posture change, and the steering angle and pitch system around the axis of the roll system. A steering angle calculation unit 11 for calculating a steering angle around the axis of the motor and a steering angle around the axis of the yaw system; the maximum value of the pitch system limiter that inputs the angular velocity from the rate sensor 200 and suppresses the control signal of the pitch system And a maximum limit value changing unit 16 that outputs a maximum value of the yaw system limiter that suppresses the control signal of the yaw system; a steering angle around the pitch system axis input from the shaft steering angle calculation unit 11 and the yaw system A limiter 17 that suppresses and outputs the rudder angle around the axis with the maximum value of the pitch system limiter and the maximum value of the yaw system limiter input from the limiter maximum value changing unit 16; Rudder angle around system axis and limiter Steering blade control for controlling a plurality of steering blades that control the flying attitude of the flying object by inputting the rudder angle around the axis of the restrained pitch system output by 7 and the rudder angle around the axis of the restrained yaw system A steering blade steering angle calculation unit 12 for calculating a signal.

  The rate sensor 200 is mounted on the flying body. The rate sensor 200 detects and outputs the angular velocity of the flying object posture change. For example, the angular velocity in each of the three-dimensional directions of the roll system, the pitch system, and the yaw system is output.

  The shaft rudder angle calculation unit 11 inputs these angular velocities from the rate sensor, calculates a rudder angle around the axis of the roll system, and pitch system control to calculate the rudder angle around the pitch axis. Unit 11P, and a yaw system control unit 11Y that calculates a steering angle about the axis of the yaw system.

  The limiter maximum value changing unit 16 receives an angular velocity from the rate sensor 200, calculates a pitch-based limiter value and a yaw-based limiter value, and a pitch-based limiter maximum that suppresses a pitch-based control signal. A pitch system limiter maximum value changing unit 16P that outputs a value and a yaw system limiter maximum value changing unit 16Y that outputs the maximum value of the yaw system limiter that suppresses the control signal of the yaw system are provided.

  The limiter 17 is a pitch system limiter input from the pitch system limiter maximum value changing unit 16P of the limiter maximum value changing unit 16 based on the steering angle around the pitch system axis input from the pitch system control unit 11P of the shaft steering angle calculating unit 11. The pitch system limiter 17P suppressed by the maximum value and the steering angle around the yaw system axis input from the yaw system control unit 11Y of the shaft steering angle calculation unit 11 are controlled by the yaw system limiter maximum value change unit 16Y of the limiter maximum value change unit 16. And a yaw limiter 17Y that suppresses by the maximum value of the yaw limiter input from.

  Steering blade rudder angle calculation unit 12 includes a rudder angle around a roll system axis output by roll system control unit 11R of shaft rudder angle calculation unit 11, and a suppressed pitch system axis output by pitch system limiter 17P of limiter 17. A steering blade that controls a plurality of steering blades that control the flying posture of the flying object by inputting the surrounding steering angle and the steering angle around the axis of the suppressed yaw system output by the yaw limiter 17Y of the limiter 17 Each control signal is calculated.

  Next, the operation of the flying body control device of the present embodiment will be described. The rudder angle about the roll system axis that is the output signal of the roll system control unit 11R is r, the rudder angle about the pitch system axis that is the output signal of the pitch system control unit 11P is p, and the output signal of the yaw system control unit 11Y Let y be the rudder angle around the axis of the yaw system. When there are four steering blades that control the flying posture of the flying object, the first steering blade, the second steering blade, the third steering blade, and the fourth steering blade are used.

  At this time, the control signal output from the steering blade rudder angle calculation unit 12 to the first steering unit 131 that controls the first steering blade is the first steering signal d1, and the second steering unit that controls the second steering blade. The control signal output to 132 is the second steering signal d2, the control signal output to the third steering unit 133 that controls the third steering blade is the third steering signal d3, and the fourth steering blade is to control the fourth steering blade. A control signal output to the steering unit 134 is a fourth steering signal d4. Each of these control signals can be expressed as follows.

d1 = y + r
d2 = p + r
d3 = −y + r
d4 = −p + r
(-Indicates turning of the steering blade in the opposite direction to +)
For example, it is assumed that the turning range of each steering blade is + −10 °. Here, if p = 5 ° and r = 6 °, d1 = 11 °, which exceeds the turning range of the steering blade, and thus the flying object cannot be accurately controlled.

  In the limiter 17, the flying body control device according to the present embodiment performs control as follows using the maximum value Lp of the pitch limiter and the maximum value Ly of the yaw limiter.

  That is, when d1 to d4 exceed the turning range of the steering blade, d1 to d4 are suppressed by the following formula.

d1 = y + r However, when y> Ly, d1 = Ly + r
d2 = p + r However, when p> Lp, d2 = Lp + r
d3 = −y + r However, when −y <−Ly, d3 = −Ly + r
d4 = −p + r However, when −p <Lp, d4 = −Lp + r
Here, when the roll angular velocity output from the rate sensor 200 increases, the limiter maximum value changing unit 16 causes the pitch limiter maximum value Lp and the yaw limiter maximum value Ly to be increased. Decrease.

  That is, the flying control apparatus of the present embodiment controls Lp and Ly so as to decrease as the roll angular velocity detected by the rate sensor 200 increases as shown in FIG. As a result, the roll control signal is given priority and the flying object roll is stopped first.

  The d1 to d4 calculated as described above are output to the first steering unit 131 to the fourth steering unit 134, respectively, and the outputs from the first steering unit 131 to the fourth steering unit 134 are limited to the steering angle of the steering blade. Are output to the first steering angle limiter 141 to the fourth steering angle limiter 144 to control each steering blade.

<Effect of the first embodiment>
As described above, the flying object control device of the present embodiment calculates the maximum value of the limiter that suppresses the steering angle of the pitch system and the yaw system from the angular velocity output from the rate sensor 200, and further, the rate When the roll angular velocity output from the sensor 200 increases, the limiter maximum value changing unit 16 decreases the maximum value of the pitch limiter and the maximum value of the yaw limiter. For this reason, it is possible to control the steering blade appropriately corresponding to the speed of the roll, and it is possible to stably control the flying body roll.

<Details of Second Embodiment>
FIG. 3 is a schematic diagram showing the configuration of the flying object control device of the second embodiment. As shown in FIG. 2, the flying object control device of the present embodiment inputs the angular velocity from the rate sensor 200 that outputs the angular velocity of the flying object's posture change, and the rudder angle and pitch system around the axis of the roll system. A steering angle calculation unit 11 for calculating a steering angle around the axis of the motor and a steering angle around the axis of the yaw system; the maximum value of the pitch system limiter that inputs the angular velocity from the rate sensor 200 and suppresses the control signal of the pitch system And a maximum limit value changing unit 16 that outputs a maximum value of the yaw system limiter that suppresses the control signal of the yaw system; a steering angle around the pitch system axis input from the shaft steering angle calculation unit 11 and the yaw system A limiter 17 that suppresses and outputs the rudder angle around the axis with the maximum value of the pitch system limiter and the maximum value of the yaw system limiter input from the limiter maximum value changing unit 16; Rudder angle around system axis and limiter Steering blade control for controlling a plurality of steering blades that control the flying attitude of the flying object by inputting the rudder angle around the axis of the restrained pitch system output by 7 and the rudder angle around the axis of the restrained yaw system A steering blade steering angle calculation unit 12 for calculating a signal.

  The rate sensor 200 is mounted on the flying body. The rate sensor 200 detects and outputs the angular velocity of the flying object posture change. For example, the angular velocity in each of the three-dimensional directions of the roll system, the pitch system, and the yaw system is output.

  The shaft rudder angle calculation unit 11 inputs these angular velocities from the rate sensor, calculates a rudder angle around the axis of the roll system, and pitch system control to calculate the rudder angle around the pitch axis. Unit 11P, and a yaw system control unit 11Y that calculates a steering angle about the axis of the yaw system.

  The limiter maximum value changing unit 16 receives an angular velocity from the rate sensor 200, integrates the angular velocity to calculate a roll posture angle, and a pitch system that suppresses a pitch control signal from the angular velocity. Calculate the angular velocity reference pitch limiter maximum value, which is the maximum limiter value, and the angular velocity reference yaw limiter maximum value, which is the maximum value of the yaw limiter that suppresses the yaw control signal, from the attitude angle of the roll system. Attitude angle reference pitch limiter maximum value that is the maximum value of the pitch system limiter that suppresses the pitch system control signal, and Attitude angle reference yaw system limiter value that is the maximum value of the yaw system limiter that suppresses the yaw system control signal And the angular velocity reference pitch system limiter maximum value and the attitude angle reference pitch system limiter maximum value are compared, and the smaller one is output as the pitch system limiter maximum value. The limiter maximum value changing unit 15 that compares the maximum degree reference yaw system limiter value with the attitude angle reference yaw system limiter maximum value and outputs the smaller one as the yaw system limiter maximum value, and the pitch for suppressing the pitch system control signal A pitch limiter maximum value changing unit 16P that outputs the maximum value of the system limiter, and a yaw limiter maximum value changing unit 16Y that outputs the maximum value of the yaw limiter that suppresses the yaw control signal.

  The limiter 17 is a pitch system limiter input from the pitch system limiter maximum value changing unit 16P of the limiter maximum value changing unit 16 based on the steering angle around the pitch system axis input from the pitch system control unit 11P of the shaft steering angle calculating unit 11. The pitch system limiter 17P suppressed by the maximum value and the steering angle around the yaw system axis input from the yaw system control unit 11Y of the shaft steering angle calculation unit 11 are controlled by the yaw system limiter maximum value change unit 16Y of the limiter maximum value change unit 16. And a yaw limiter 17Y that suppresses by the maximum value of the yaw limiter input from.

  Steering blade rudder angle calculation unit 12 includes a rudder angle around a roll system axis output by roll system control unit 11R of shaft rudder angle calculation unit 11, and a suppressed pitch system axis output by pitch system limiter 17P of limiter 17. A steering blade that controls a plurality of steering blades that control the flying attitude of the flying object by inputting the surrounding steering angle and the steering angle around the axis of the suppressed yaw system output from the yaw limiter 17Y of the limiter 17 Each control signal is calculated.

  Next, the operation of the flight control apparatus of this embodiment will be described. The rudder angle about the roll system axis that is the output signal of the roll system controller 11R is r, the rudder angle about the pitch system axis that is the output signal of the pitch system controller 11P is p, and the output signal of the yaw system controller 11Y. Let y be the rudder angle around the axis of the yaw system. When there are four steering blades that control the flying posture of the flying object, the first steering blade, the second steering blade, the third steering blade, and the fourth steering blade are used.

  At this time, the control signal output from the steering blade rudder angle calculation unit 12 to the first steering unit 131 that controls the first steering blade is the first steering signal d1, and the second steering unit that controls the second steering blade. The control signal output to 132 is the second steering signal d2, the control signal output to the third steering unit 133 that controls the third steering blade is the third steering signal d3, and the fourth steering blade is to control the fourth steering blade. A control signal output to the steering unit 134 is a fourth steering signal d4. Each of these control signals can be expressed as follows.

d1 = y + r
d2 = p + r
d3 = −y + r
d4 = −p + r
(-Indicates turning of the steering blade in the opposite direction to +)
For example, it is assumed that the turning range of each steering blade is + −10 °. Here, if p = 5 ° and r = 6 °, d1 = 11 °, which exceeds the turning range of the steering blade, and thus the flying object cannot be accurately controlled.

  In the limiter 17, the flying body control device according to the present embodiment performs control as follows using the maximum value Lp of the pitch limiter and the maximum value Ly of the yaw limiter.

  That is, when d1 to d4 exceed the turning range of the steering blade, d1 to d4 are suppressed by the following formula.

d1 = y + r However, when y> Ly, d1 = Ly + r
d2 = p + r However, when p> Lp, d2 = Lp + r
d3 = −y + r However, when −y <−Ly, d3 = −Ly + r
d4 = −p + r However, when −p <Lp, d4 = −Lp + r
Here, the flight control apparatus of the present embodiment calculates the roll system posture angle by integrating the roll angular velocity output from the rate sensor 200, and the maximum limiter value calculated from the roll system posture angle; The maximum value of the limiter calculated from the angular velocity of the roll system is compared, and the smaller one is set as the maximum value of each of the pitch system and the yaw system.

  In this case, when the roll angular velocity or the roll system attitude angle is increased, the limiter maximum value changing unit 16 determines that the pitch limiter maximum value Lp and the yaw limiter Ly are the maximum values Ly. Decrease.

  That is, in the flying control device of this embodiment, as shown in FIG. 4A, the limiter maximum value changing unit 16 decreases the angular velocity reference pitch so as to decrease as the roll angular velocity detected by the rate sensor 200 increases. The system limiter maximum value and the angular velocity reference yaw system limiter maximum value are controlled. Further, the flying control device of the present embodiment is made smaller in the limiter maximum value changing unit 16 as the posture angle of the roll system calculated by the roll posture angle calculating unit 201 becomes larger, as shown in FIG. 4B. As described above, the posture angle reference pitch system limiter maximum value and the posture angle reference yaw system limiter maximum value are controlled.

  Further, in the flying control device of the present embodiment, the limiter maximum value changing unit 16 compares the angular velocity reference pitch system limiter maximum value with the attitude angle reference pitch system limiter maximum value, and the smaller one is the pitch system limiter maximum value Lp. The angular velocity reference yaw system limiter maximum value and the attitude angle reference yaw system limiter maximum value are compared, and the smaller one is output as the yaw system limiter maximum value Ly. As a result, the roll control signal is given priority and the flying object roll is stopped first.

  The d1 to d4 calculated as described above are output to the first steering unit 131 to the fourth steering unit 134, respectively, and the outputs from the first steering unit 131 to the fourth steering unit 134 are limited to the steering angle of the steering blade. Are output to the first steering angle limiter 141 to the fourth steering angle limiter 144 to control each steering blade.

<Effects of Second Embodiment>
As described above, the flying object control apparatus of the present embodiment integrates the angular velocity output from the rate sensor 200 to calculate the posture angle of the roll system, and uses the posture angle and angular velocity of the roll system. The limiter value is calculated, and the smaller one is set as the maximum value of the pitch and yaw limiters. For this reason, it is possible to control the steering blade appropriately corresponding not only to the speed of the roll but also to the size of the roll, and further, it is possible to control the roll of the flying object stably.

<Possibility in the embodiment of the present invention>
Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

It is a schematic diagram which shows the structure of the flight control apparatus of 1st Embodiment. It is the graph which showed the relationship between the roll type angular velocity and the maximum value of a pitch type limiter and a yaw type limiter. It is a schematic diagram which shows the structure of the flight control apparatus of 2nd Embodiment. It is the graph which showed the relationship between the roll type | system | group angular velocity and roll type | system | group attitude | position angle, and the maximum value of a pitch type limiter and a yaw type limiter. It is an external view of a flying body and a steering wing.

Explanation of symbols

11: Steering angle calculation unit,
12: Steering blade rudder angle calculation unit,
16: Limiter maximum value changing section,
17: Limiter,
200: Rate sensor,
201: Roll posture angle calculation unit.

Claims (4)

The angular velocity is input from a rate sensor that outputs the angular velocity of the attitude change of the flying object, and the rudder angle about the roll system axis, the rudder angle about the pitch system axis, and the rudder angle about the yaw system axis are calculated. A shaft rudder angle calculation unit;
Limiter maximum value changing unit for inputting the angular velocity from the rate sensor and outputting the maximum value of the pitch system limiter that suppresses the control signal of the pitch system and the maximum value of the yaw system limiter that suppresses the control signal of the yaw system. When;
The rudder angle around the pitch system axis and the rudder angle around the yaw system axis input from the rudder angle calculation unit are set to the maximum pitch system limiter value input from the limiter maximum value changing unit and the yaw angle. A limiter that suppresses the output by the maximum value of the system limiter;
The rudder angle around the axis of the roll system output by the rudder angle calculation unit, the rudder angle around the axis of the suppressed pitch system and the rudder angle around the axis of the suppressed yaw system output by the limiter, A steering blade steering angle calculation unit for calculating a steering blade control signal for controlling a plurality of steering blades for controlling the flying posture of the flying object;
A flying body control device comprising: When the roll angular velocity output by the rate sensor increases,
The flying body control device according to claim 1, wherein the limiter maximum value changing unit decreases the maximum value of the pitch limiter and the maximum value of the yaw limiter. The angular velocity is input from a rate sensor that outputs the angular velocity of the attitude change of the flying object, and the rudder angle about the roll system axis, the rudder angle about the pitch system axis, and the rudder angle about the yaw system axis are calculated. A shaft rudder angle calculation unit;
Input the angular velocity from the rate sensor,
Calculate the posture angle of the roll system by integrating the angular velocity,
The maximum angular velocity reference pitch limiter that suppresses the pitch control signal from the angular velocity, and the maximum angular velocity reference yaw limiter that is the maximum yaw limiter that suppresses the yaw control signal. Value and
Posture angle reference pitch system maximum value that is the maximum value of the pitch system limiter that suppresses the pitch system control signal from the roll system attitude angle, and the attitude that is the maximum value of the yaw system limiter that suppresses the yaw system control signal Calculate the angle reference yaw system limiter maximum value,
Compare the angular velocity reference pitch limiter maximum value with the posture angle reference pitch limiter maximum value, and output the smaller one as the pitch limiter maximum value.
Compare the angular velocity reference yaw system limiter maximum value with the posture angle reference yaw system limiter maximum value, and output the smaller one as the yaw system limiter maximum value.
The limiter maximum value changing section;
The rudder angle around the pitch system axis and the rudder angle around the yaw system axis input from the rudder angle calculation unit are set to the maximum pitch system limiter value input from the limiter maximum value changing unit and the yaw angle. A limiter that suppresses the output by the maximum value of the system limiter;
The rudder angle around the axis of the roll system output by the rudder angle calculation unit, the rudder angle around the axis of the suppressed pitch system and the rudder angle around the axis of the suppressed yaw system output by the limiter, A steering blade steering angle calculation unit for calculating a steering blade control signal for controlling a plurality of steering blades for controlling the flying posture of the flying object;
A flying body control device comprising: When the roll angular velocity output from the rate sensor or the attitude angle of the roll system is increased,
4. The flying object control device according to claim 3, wherein the limiter maximum value changing unit decreases the maximum value of the pitch limiter and the maximum value of the yaw limiter.

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