RU2845534C1 - Method for intelligent control of interceptor during its guidance to aerial target - Google Patents

Abstract

FIELD: radioelectronic control systems.

SUBSTANCE: invention relates to radioelectronic control systems and can be used to increase efficiency of homing interceptors on an aerial target. In the disclosed method for intelligent control of an interceptor during guidance thereof to an aerial target in an on-board radar system, the bearing on the aerial target is measured ϕ_m, on the basis of which bearing estimate is generated in horizontal plane to aerial target, in the on-board computer, based on the estimated bearing values, the guidance errors by the angle in the horizontal plane are calculated Δ_ψh and rate of change of guidance error . Based on the calculated guidance error values Δ_ψh and its change rate , numerical value of the required control action u_rh on the interceptor in the horizontal plane is calculated in accordance with an expression based on the fuzzy logic elements, as one of the intelligent control tools. Calculated value of the required control action u_tg is transmitted to the interceptor automatic control system for control in accordance with the algorithm: Δ_h=u_h-u_rh, where u_h is the current value of the control action in the horizontal plane, until the parameter Δ_h is not equal to zero.

EFFECT: providing a method of guiding an interceptor to an aerial target with no information on the approach speed and the angular velocity of rotation of the boresight.

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Description

The invention relates to the field of electronic control systems and can be used to increase the efficiency of guiding interceptors to an air target.

A method for guiding interceptors to the TC is known, which consists of eliminating the discrepancy Δ between the required j _T and the current j acceleration of the interceptor in accordance with the trajectory control algorithm Δ=j _T -j. Moreover,

where N ₀ is the navigation parameter;

V _sb - approach speed;

ω is the angular velocity of the line of sight [1].

The disadvantage of this method is the impossibility of its implementation in the absence of information about the speed of approach and the angular velocity of the line of sight.

A method for guiding an interceptor to a target in the horizontal plane is known, which consists in the fact that the on-board radar station (BRLS) measures the bearing to the target ϕ _and , the range D _and to the target and the rate of its change V _sb.i , on the basis of which estimates of the range to are formed. the rate of its change bearing and the angular velocity of the line of sight based on these estimates, the discrepancy Δ ₁ between the required j _T1 and the current j acceleration of the interceptor is eliminated in accordance with the trajectory control algorithm Δ ₁ =j _T1 -j. Moreover,

where K _ϕ , K _ω are weighting coefficients;

- the difference between the estimates of the current and required bearing values, characterizing the guidance error by angle in the horizontal plane;

- the difference between the estimates of the current and required values of the angular velocity of the line of sight;

- distance to the control center [2].

The disadvantage of this method is the impossibility of its implementation in the absence of information about the speed of approach and the angular velocity of the line of sight.

The purpose of the invention is to develop a method for controlling an interceptor that can be implemented in the absence of information about the approach speed and the angular velocity of the sight.

The stated objective is achieved by the fact that in the method of guiding the interceptor to the target center in the horizontal plane, which consists in the fact that the radar measures the bearing to the target center ϕ _and , on the basis of which an estimate of the bearing is formed at the computer center, in the on-board computer, based on the estimated bearing values, the guidance errors by angle in the horizontal plane Δ _ψг are calculated, in addition, the rate of change of the guidance error is calculated in the on-board computer based on the calculated values of the pointing error Δ _ψг and the rate of its change the numerical value of the required control action u _tg on the interceptor in the horizontal plane is calculated in accordance with an expression of the form:

where ƒ(*) are the values of the membership function, reflecting the degree of membership of the vector of input parameters Δ _ψг and fuzzy gradations;

BO is the membership function index corresponding to the fuzzy gradation “large negative”;

O is the index of the membership function corresponding to the fuzzy gradation “negative”;

H is the index of the membership function corresponding to the fuzzy gradation “zero”;

P is the index of the membership function corresponding to the fuzzy gradation “positive”;

BP is the membership function index corresponding to the fuzzy gradation “large positive”;

w _1g , w _2g , w _3g , w _4g , w _5g , w _6g , w _7g , w _8g , w _9g - weight coefficients;

∧ - operation of finding the minimum;

∨ - operation of finding the maximum;

u _1g , u _2g , u _3g , u _4g , u _5g - the most possible values of the control action, within each of the gradations BO, O, N, P and BP.

The value of the required control action calculated in accordance with (3) taking into account (4) - (8) is transmitted to the automatic control system of the interceptor for control in accordance with the algorithm

where u _g is the current value of the control action in the horizontal plane, until the parameter Δ _g is equal to zero.

The new features that have a significant difference are:

1. Calculation in the on-board computer of the rate of change of the guidance error

2. Calculation based on the calculated values of the pointing error Δ _ψг and the rate of its change the numerical value of the required control action u _tg on the interceptor in the horizontal plane in accordance with expression (3).

3. Control of the interceptor in accordance with the algorithm (9). These features have significant differences, as they have not been found in known methods.

The peculiarity of expression (3) is that it is based on one of the directions of intelligent control - elements of fuzzy logic, which allows formalizing fuzzy gradations "BO, O, N, P, BP" of guidance errors Δ _ψg and the rates of their change in the membership function on the basis of which u _tg is calculated.

The use of new features, in combination with known ones, will allow the interceptor to be guided to the targeting center in the absence of information about the approach speed and angular velocity of the sighting.

Fig. 1 shows a structural diagram implementing the proposed method of intelligent control of the interceptor, where the following are indicated:

1 - interceptor; 2 - air target; 3 - antenna with measuring device; 4 - evaluation generator; 5 - on-board computer; 6 - interceptor automatic control system.

In Fig. 2 and Fig. 3, the results of the simulation are presented in the Cartesian coordinate system XOZ, where the following are indicated: 1 - the flight trajectory of the air defense system, 2 - the flight trajectory of the interceptor.

The method of intelligent control of the interceptor when it is aimed at the targeting center is implemented as follows. In the interceptor's 1 onboard radar (Fig. 1), after radar contact with the targeting center 2, the bearing measurements on the targeting center ϕ _and are carried out in the measuring device with antenna 3, which are fed to the estimation generator 4, where the bearing is estimated in the horizontal plane on the computer. In the on-board computer 5 (Fig. 1), based on the estimated bearing values, the guidance errors by angle in the horizontal plane are calculated Additionally, the rate of change of the guidance error is calculated in the on-board computer 5 (Fig. 1) Based on the calculated values of the pointing error Δ _ψг and the rate of its change in the on-board computer 5 (Fig. 1) the numerical value of the required control action u _tg on the interceptor in the horizontal plane is calculated in accordance with expression (3), taking into account (4) - (8). The value of the required control action calculated in the on-board computer 5 (Fig. 1) in accordance with (3) taking into account (4) - (8) is transmitted to the automatic control system of the interceptor 6 (Fig. 1) for control of the interceptor in accordance with algorithm (9).

As a result of the modeling, it was established that the implementation of the method of intelligent control of the interceptor will allow guidance to be carried out in the absence of information about the approach speed and the angular velocity of the line of sight, both during stationary flight of the interceptor (Fig. 2) and during its maneuvering (Fig. 4).

Sources of information

1. Aviation radio control systems. Vol. 2. Electronic homing systems / Ed. by A.I. Kanashchenkov and V.I. Merkulov. - M.: "Radio Engineering", 2003, p. 24, f-la 7.32. (analog).

2. Aviation radio control systems. Vol. 2. Electronic homing systems / Ed. by A.I. Kanashchenkov and V.I. Merkulov. - M.: "Radio Engineering", 2003, p. 39, f-la 7.74. (prototype).

Claims (21)

A method of intelligently controlling an interceptor when it is aimed at an aerial target, which consists in the fact that the onboard radar station of the interceptor measures the bearing to the aerial target ϕ _and , on the basis of which an estimate of the bearing is formed on an air target in the horizontal plane, in the on-board computer, based on the estimated bearing value, the guidance error in the horizontal Δ _ψг plane is calculated in accordance with the expression: Where - the required bearing value in the horizontal plane, characterized in that the on-board computer calculates the rate of change of the guidance error based on the calculated values of the pointing error Δ _ψг and the rate of its change the numerical value of the required control action u _tg on the interceptor in the horizontal plane is calculated in accordance with an expression of the form: where ƒ(*) are the values of the membership function, reflecting the degree of membership of the vector of input parameters Δ _ψг and fuzzy gradations; BO is the membership function index corresponding to the fuzzy gradation “large negative”; O is the index of the membership function corresponding to the fuzzy gradation “negative”; H is the index of the membership function corresponding to the fuzzy gradation “zero”; P is the index of the membership function corresponding to the fuzzy gradation “positive”; BP is the membership function index corresponding to the fuzzy gradation “large positive”; w _1g , w _2g , w _3g , w _4g , w _5g , w _6g , w _7g , w _8g , w _9g - weight coefficients; ∧ - operation of finding the minimum; ∨ - operation of finding the maximum; u _1g , u _2g , u _3g , u _4g , u _5g - the most possible values of the control action, within each of the gradations BO, O, N, P and BP, calculated in accordance with (2) taking into account (3)-(7), the value of the required control action is transmitted to the automatic control system of the interceptor for control in accordance with the algorithm where u _g is the current value of the control action in the horizontal plane, until the parameter Δ _g is equal to zero.