CN107315415A - The fault-tolerant control system and control method of three bang-bang actuators - Google Patents

Abstract

The invention discloses a fault-tolerant control system of a three-position relay steering gear, which is arranged on a low-speed rolling terminal guided ammunition. The steering gear and the rudders on it work, and then control the movement attitude of the ammunition, wherein the fault-tolerant control system includes a rudder monitoring module, which is used to monitor the working state of the rudders on the steering gear, and analyze whether the rudders can work normally According to the working state of the steering gear, the steering gear command calculation module is notified to use different calculation methods to calculate and obtain the steering gear command, so as to control the steering gear. Even if a pair of rudders in the steering gear cannot work, the steering gear can basically achieve control Operation, so that the ammunition can basically hit the target.

Description

Fault-tolerant control system and control method of three-position relay steering gear

technical field

The invention relates to a control system and method for ammunition loading steering gear, in particular to a fault-tolerant control system and control method for a three-position relay steering gear.

Background technique

The actuator is an important part of the ammunition attitude control system, especially the missile attitude control system. The performance degradation caused by long-term storage or the severe vibration during the flight may cause the actuator failure. These failures It can cause the performance degradation of the missile attitude control system, and even cause the flight attitude to become unstable and self-destruct. At present, there are no good countermeasures. The main method is to eliminate potential safety hazards through pre-flight inspection simulation. Once an accident occurs during the flight, the ammunition that caused the accident is often abandoned, and the lack of quality is made up for by quantity; fault-tolerant control is to improve Therefore, it is very necessary to carry out fault-tolerant control for the failure of the missile actuator to improve the reliability of the missile attitude control system. The goal of fault-tolerant control is to make the performance of the reconfigured system as close as possible to the original system. The advantage is that it can make full use of the redundancy relationship of each component in the system to achieve optimal control under failure.

At present, the actuators on general ammunition include two pairs of rudders. When one pair of rudders fails to work normally, the possible deviation can be compensated by changing the working state of the other pair of rudders, so that the torque produced by the actuator is close to Expected value, so as to realize fault-tolerant control.

Due to the above reasons, the present inventor has done in-depth research on existing steering gear control systems and methods in order to design a control system and method that can solve the above problems.

Contents of the invention

In order to overcome the above-mentioned problems, the present inventor has carried out intensive research and designed a fault-tolerant control system, which is arranged on the low-speed rolling terminal guided ammunition. The fault-tolerant control system is used to receive the guidance instruction information on the ammunition, and according to This information controls the work of the steering gear and the rudder blades on it, and then controls the movement attitude of the ammunition. Wherein, the fault-tolerant control system includes a rudder blade monitoring module, which is used to monitor the working state of the steering blades on the steering gear, and analyze whether the rudder blades are It can work normally, and according to the working state of the steering gear, it notifies the steering gear command calculation module to select different calculation methods to calculate the steering gear command, so as to control the steering gear. Even if a pair of rudders in the steering gear cannot work, the steering gear will The control operation can be basically realized, so that the ammunition can basically hit the target, thereby completing the present invention.

Specifically, the object of the present invention is to provide the following aspects:

(1) A fault-tolerant control system of a three-position relay steering gear, the fault-tolerant control system is arranged on the low-speed rolling terminal guided ammunition, and the fault-tolerant control system is used to receive the guidance instruction information on the ammunition, and according to The information controls the steering gear and the rudder plate on it, and then controls the movement attitude of the ammunition. It is characterized in that the system includes:

The rudder monitoring module 001 is used to monitor the working state of the rudder on the steering gear, and transmits the working state information of the rudder to the steering gear command calculation module 002, wherein the working state information of the rudder includes that the rudder is working normally and rudder blades not working properly;

The steering gear command calculation module 002 is used to receive the guidance command information and the working status information of the rudder blades, and calculate and obtain the steering gear commands according to the received information. The working angle of the film;

The gyro signal receiving module 003 is used to receive the gyro signal, calculate and obtain the position information of the steering gear and the rotation period information of the missile body according to the received gyro signal, and transmit the obtained position information of the steering gear and the rotation period information of the missile body to the starting control time calculation module 004; and

The control start time calculation module 004 is used to receive the position information of the steering gear, the rotation period information of the projectile body and the command information of the steering gear, and calculate the control start time and working time length of the steering gear according to the received information.

(2) According to the fault-tolerant control system of the three-position relay steering gear described in the above (1), it is characterized in that, when the working status information transmitted by the steering gear monitoring module 001 includes two pairs of steering gears on the steering gear are all working Normally, every time the ammunition rotates one week, the rudder blades are ruddered 3 times; when the working state information transmitted by the rudder blade monitoring module 001 includes that one pair of rudder blades on the steering gear is working normally, and the other pair of rudder blades is working normally. When the work is not normal, the rudder blade will be ruddered 2 times every time the ammunition rotates once.

(3) According to the fault-tolerant control system of the three-position relay steering gear described in the above (2), it is characterized in that the two pairs of rudder discs on the steering gear work alternately.

(4) According to the fault-tolerant control system of the three-position relay steering gear described in the above (3), it is characterized in that, the said rudder means that any pair of rudder blades deflect to a preset angle, and after a preset time The working process of returning to the original position, wherein the preset angle is preferably the working angle of the rudder blade for each rudder steering, and the preset time is preferably the working time length of each rudder steering.

(5) According to the fault-tolerant control system of the three-position relay steering gear described in the above (2), it is characterized in that, when both pairs of rudder discs can work normally, the steering gear command calculation module 002 passes the following formula (1) , (2), (3) obtain the working angle of the rudder blade for each rudder,

in, with Respectively represent the working angle of the rudder blade when the rudder is driven for the first time, the working angle of the rudder blade when the rudder is driven for the second time, and the working angle of the rudder blade when the rudder is driven for the third time during the round of ammunition rotation _; The equivalent rudder deflection angle of the steering gear when the rudder is turned for the first time in the process of one revolution of the ammunition, δ ₂ represents the equivalent rudder deflection angle of the steering gear when the rudder is driven for the second time during the round of ammunition rotation, and δ ₃ represents the The equivalent rudder deflection angle of the steering gear when the rudder is turned for the third time during one revolution; Among them, δ _effectively represents the effective rudder deflection angle command.

(6) According to the fault-tolerant control system of the three-position relay steering gear described in the above-mentioned (5), it is characterized in that the control time calculation module 004 obtains each length of working time at the rudder,

in, Represents the rotation period of the projectile body, n represents the real-time rotational speed of the ammunition, t ₁ represents the working time of the first rudder during the round of the ammunition rotation, t ₂ represents the working time of the second rudder during the round of the ammunition rotation Working time length, t ₃ represents the working time length of the third rudder during the round of ammunition rotation;

Through the following formula (seven), (eight), (nine) obtain the control time of the steering gear of each rudder;

Among them, T ₁ , T ₁ , and T ₁ represent the start-up time of the steering gear for the first rudder, the start-up time of the second rudder, and the rudder for the third rudder, respectively, in the process of the round of ammunition rotation. Machine start control time; Respectively represent the moment when the projectile in the previous cycle is in the three positions of the steering gear.

(7) According to the fault-tolerant control system of the three-position relay steering gear described in the above (2), it is characterized in that, when one of the two pairs of steering discs can work normally, and the other pair cannot work normally, the steering gear command Calculation module 002 obtains the working angle of the rudder blade of each rudder through the following formulas (10) and (11),

Among them, δ _effectively represents the effective rudder deflection angle command.

(8) According to the fault-tolerant control system of the three-position relay steering gear described in the above (7), it is characterized in that the start-up time calculation module 004 obtains the rudder every time by the following formula (12) and (13). length of working hours,

Through the following formula (14), (15) obtain the starting control time of the steering gear of each rudder;

(9) A fault-tolerant control method of a three-position relay steering gear, characterized in that the method is realized by the fault-tolerant control system of the three-position relay steering gear as described in (1) to (8) above .

The beneficial effect of the control system provided according to the present invention is that the control mode can be adjusted in time in the case of a sudden failure of a pair of rudder blades, instead of continuing to guide according to a predetermined method, thereby basically realizing the control of two pairs of steering gears through a pair of steering gears. Control the operation so that the ammunition will not deviate too far from the target due to the failure of a pair of rudder blades, and eventually the ammunition can basically hit the target.

Description of drawings

Fig. 1 shows a schematic diagram of the overall structure of a fault-tolerant control system of a three-position relay steering gear according to a preferred embodiment of the present invention;

Fig. 2 shows the work flow diagram of the fault-tolerant control system of three relay steering gears according to a preferred embodiment of the present invention;

Fig. 3 shows the schematic diagram of PWM rudder command;

Figure 4 shows the rear view of the terminally guided projectile;

Figure 5 shows a schematic diagram of the control force of the rolling bomb;

Figure 6 shows the amount of miss when the target is maneuvering at 1g;

Figure 7 shows the amount of miss when the target is maneuvering at 2g.

Explanation of reference numbers:

001-rudder monitoring module

002-Steering gear command calculation module

003-Gyro signal receiving module

004-start control time calculation module

detailed description

The present invention will be further described in detail through the drawings and examples below. Through these descriptions, the features and advantages of the present invention will become more apparent.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or better than other embodiments. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

Since the terminal guided projectile is a low-speed rolling projectile, a three-position relay steering gear controlled by two channels is adopted. The pulse width modulation (PWM) command of the three-position relay steering gear has three states, and the corresponding rudder deflection angles are - δ _max , 0 and δ _max . At the initial moment of each modulation cycle, the PWM command system samples the analog command, calculates the width of the PWM command according to the polarity and size of the command, and generates a PWM command with the same fixed polarity at the central moment, as shown in Figure 3, the PWM cycle is T _C , whose instruction center time is τ. 0~T ₁ is the working period of the steering gear, T _d is the width of the PWM command, which is calculated by the command system, and the maximum PWM width is T ₁ ; T ₁ to T _C is the rest period of the steering gear, and the length of this period should be greater than the delay time of the steering gear twice of , during which the rudder angle remains zero;

The relay steering gear used in the terminal guided ammunition corresponds to the positive/negative/zero input signal, and can output +5°/-5°/0° rudder swing angle. Each working state makes reciprocating motion, and the length of time it stays in each working state is controlled by the command signal of the guidance and control system, so as to generate an average control force to manipulate the maneuvering of the ammunition, thereby realizing the linear proportional control of the ammunition; among them, specifically The control operation is realized by controlling the rudder slices through the steering gear, and when some rudder slices cannot work for some reason, the steering gear needs to control the remaining rudder slices to work with another control scheme to achieve the same or similar control effect.

Specifically, as shown in Fig. 1 and Fig. 2, according to the fault-tolerant control system of a three-position relay steering gear provided by the present invention, the fault-tolerant control system is set on the low-speed rolling terminal guided ammunition, so The above-mentioned fault-tolerant control system is used to receive the guidance command information on the ammunition, and control the steering gear and the rudder blades on it according to the information, and then control the movement attitude of the ammunition. The system includes:

The rudder monitoring module 001 is used to monitor the working state of the rudder on the steering gear, and transmits the working state information of the rudder to the steering gear command calculation module 002, wherein the working state information of the rudder includes that the rudder is working normally and rudder blades are not working properly;

The steering gear command calculation module 002 is used to receive the guidance command information and the working status information of the rudder blades, and calculate and obtain the steering gear commands according to the received information. The working angle of the film;

The gyro signal receiving module 003 is used to receive the gyro signal, calculate and obtain the position information of the steering gear and the rotation period information of the missile body according to the received gyro signal, and transmit the obtained position information of the steering gear and the rotation period information of the missile body to the starting control Time calculation module 004;

The control start time calculation module 004 is used to receive the position information of the steering gear, the rotation period information of the projectile body and the command information of the steering gear, and calculate the control start time and working time length of the steering gear according to the received information.

Wherein, the rudder blade monitoring module 001 includes a rudder angle sensor, which is used to detect the rudder angle of the steering gear, and compares whether the angle is correct, and feeds back two kinds of status information, one of which is that the steering gear is working normally, and the other is that the steering gear is working normally. The reason is that the steering gear is not working properly. The abnormal working of the steering gear includes the situation that the steering gear is not working at the correct rudder angle or not.

The guidance command information received by the steering gear command calculation module 002 is sent by the control system on the ammunition, and the control system obtains the current position information, speed information, angle information and target position information of the ammunition through the measuring element, and Based on this, the directional angle that needs to be adjusted in order to hit the target ammunition is calculated. If a predetermined angle needs to be adjusted in the pitch direction and a predetermined angle is adjusted in the yaw direction, the guidance instruction information includes the directional angle that needs to be adjusted.

In a preferred embodiment, when the working status information transmitted by the rudder monitoring module 001 includes that both pairs of rudders on the steering gear are working normally, the rudders are ruddered 3 times for each round of ammunition rotation; The working status information transmitted by the piece monitoring module 001 includes that one of the two pairs of rudder pieces on the steering gear is working normally, and when the other pair is not working normally, the rudder pieces are ruddered 2 times for each rotation of the ammunition; Two pairs of rudder pieces work alternately, and the rudder refers to the working process that any pair of rudder pieces deflects a preset angle and returns to the original position after a preset time, wherein the preset angle is preferably each time the rudder is turned. The working angle of the rudder blade of the rudder, the preset time is preferably the working time length of each rudder.

Specifically, when the projectile coordinate system coincides with the quasi-projectile coordinate system, the rear view of the terminally guided projectile is shown in Figure 4. The shell rotates clockwise, and the four servos are distributed in the order of 1-2-3-4 counterclockwise along the direction of the shell. Among them, (1-3) rudders are a pair of co-moving rudders, defined as shown in Figure 4 when the two coordinate systems coincide with each other, when the rudders are positively driven, the force in the direction of Oy ₄ will be generated, and vice versa for negative rudders; (2-4) rudders are A pair of co-moving rudders, define the force in the negative Oz ₄ direction when the two coordinate systems overlap as shown in the figure.

It can be seen from the working principle of the relay steering gear that the control force F generated by the relay steering gear acts on a certain area centered on the desired control direction when the shell rolls, so there must be incomplete rudder control force In terms of efficiency in the desired direction, assuming that the projectile needs to generate an upward control force in the inertial space, the control force of the projectile is shown in Figure 5. In Figure 5, the roll angle γ of the projectile is from -90° to +90° In half a cycle of change, the range of control force is (The rudder swing angle of the steering gear is +5°). In other positions, the rudder swing angle of the steering gear is 0°, that is, no control force is generated. Within the variation range of γ, the control force duty cycle is:

When considering that the efficiency of the control force is reduced due to the incorrect direction, the steering gear is at this time The average control force generated during the action time is:

In the formula, R is the radius of the projectile, and the efficiency coefficient is defined as Then when the shell rolls -90°～+90°, the total average force is:

Then the average force produced by the steering gear at a fixed +5° rudder swing angle can be regarded as the equivalent force produced by the effective rudder rotation angle for one week (2π), and the expression of the effective rudder rotation angle is:

In a preferred embodiment, when the two pairs of rudder blades are all working normally, the steering gear command calculation module 002 obtains the working angle of the rudder blades of each rudder through the following formulas (1), (2), and (3),

in, Indicates the working angle of the rudder blade when the rudder is turned for the first time during the round of ammunition rotation, Indicates the working angle of the rudder when the rudder is turned for the second time during the round of ammunition rotation, Indicates the working angle _of the rudder when the rudder is turned for the third time during the round of ammunition rotation _; The equivalent rudder deflection angle of the steering gear when the rudder is turned for the second time in the process of one round of rotation, δ ₃ represents the equivalent rudder deflection angle of the steering gear when the rudder is hit for the third time during the round of ammunition rotation, Among them, δ _effectively represents the effective rudder rotation angle command converted from the precession angular velocity measured by the seeker, which is referred to as the effective rudder deflection angle command.

According to the working principle of proportional guidance and guidance at the end of the terminal guided projectile, the _effective rudder rotation angle command δ and the precession angular velocity of the seeker can be obtained The relationship can be obtained, In the formula, K _δ is the utilization coefficient of the rudder angle command, and the effective rudder angle command caused by the precession angular velocity of the seeker is obtained, as shown in the following formula,

in, Indicates the precession angular velocity of the seeker, which is obtained from the measurement of the seeker

In a preferred embodiment, the control time calculation module 004 obtains the working time length of each rudder through the following formulas (four), (five), and (six),

in, It represents the rotation period of the projectile body, where n represents the real-time rotational speed of the ammunition, t ₁ represents the working time of the first rudder steering during the round of the ammunition rotation, and t ₂ represents the second rudder steering during the round rotation of the ammunition. The length of the working time of the rudder, _t3 represents the working time of the third rudder during the round of ammunition rotation;

Preferably, the steering gear start-control time of each rudder is obtained by following formula (seven), (eight), (nine);

Among them, T ₁ represents the start-up time of the steering gear for the first rudder during the round of ammunition rotation, T ₂ represents the start-up time of the steering gear for the second rudder during the round of ammunition rotation, T ₃ represents The start-up time of the steering gear for the third rudder during the round of ammunition rotation; Indicates the moment when the projectile in the previous cycle is at the rudder position for the first time, Indicates the moment when the projectile in the previous cycle is at the second rudder position of the steering gear, Indicates the moment when the projectile in the previous cycle is at the third rudder position of the steering gear. When the speed of the ammunition is 6.6r/s, the rolling period of the terminal guided projectile is about 150ms, and the laser signal emitted by the laser target indicator has a period of 50ms, which just divides a rolling period into 3 parts. Therefore, the first rudder The center position is the roll angle of 0 degrees, the center position of the second rudder stroke is the roll angle of 120 degrees, and the center position of the third rudder stroke is the roll angle of 240 degrees.

In the terminal guidance process of the terminal guided projectile, the laser signal emitted by the laser target indicator is a discrete signal with a period of 50ms and a duty ratio of 4:1. The ratio is 40/50＝0.8, and the rolling rate of the terminal guidance section is basically stable at 6.6 revolutions/second under the condition of no interference of the terminal guidance projectile, then the maximum working angle of the steering gear in one cycle is 40ms×6.6×360°≈ 96°, according to the previous formula for calculating the effective rudder angle of the terminal guided projectile, the efficiency coefficient can be obtained as:

Then the effective duty cycle of the steering gear is: 0.89×0.8＝0.712;

The maximum effective rudder angle corresponding to the single-axis steering gear working in one cycle is:

δ′ _max =5°×0.712=3.56°

The round time of the shell rolling is 1/6.6≈150ms. After the terminal guided projectile receives the target reflected laser pointer signal, the steering gear works, and the steering gear can work 150/50=3 times after the shell rolls a circle.

Since the terminal guided projectile has two pairs of steering gears perpendicular to each other, it can work through the two pairs of steering gears to generate the required resultant force. The average maximum effective rudder angle of the steering gear is obtained by analyzing the working conditions of the steering gear when the shell rolls a circle.

Assuming that the overload direction of the steering gear to be generated is upward, within one round of the shell rolling, it works three times, and the effective rudder rotation angles in the upward direction generated by the three times are respectively maximum:

Then the maximum average effective rudder angle of the projectile rolling one week is:

In the final guidance section of the proportional guidance of the terminal guided projectile, the calculated effective rudder angle is the average value of the work integral of the steering gear during the roll of the projectile body, so its maximum value should not exceed 4.58°, and the effective rudder angle of the steering gear is the nonlinear saturation threshold. is ±4.58°.

In a preferred embodiment, when the rudder deflection sensor detects that the steering gear fails, only one pair of rudders works for the terminally guided projectile, and the pitch and yaw are controlled simultaneously. The other pair of steering gears are stuck at a certain position. Due to the rolling characteristics of the terminal guided projectile, the equivalent force produced by the steering gears is zero during the rolling period. By analyzing the working conditions of the steering gear when the shell rolls one week, the average maximum effective rudder angle of the steering gear is obtained;

Specifically, when one of the two pairs of rudder blades works normally and the other pair does not work normally, the steering gear command calculation module 002 obtains the working angle of the rudder blades for each rudder through the following formulas (10) and (11) ,

Preferably, the control time calculation module 004 obtains the working time length of each rudder through the following formula (12), (13),

Through the following formula (14), (15) obtain the starting control time of the steering gear of each rudder;

Assuming that the overload direction of the steering gear to be generated is upward, within one round of the cannonball roll, it works twice, and the effective rudder rotation angles in the upward direction generated by the two times are respectively maximum:

Then the maximum average effective rudder angle of the projectile rolling one week is:

In the final guidance section of the proportional guidance of the terminal guided projectile, the effective rudder angle is calculated as the average value of the work integral of the steering gear for one circle of the projectile body, so its maximum value should not exceed 3.56°, and the effective rudder angle of the steering gear is the nonlinear saturation threshold. is 3.56°.

When two pairs of steering gears work at the same time, the projectile rolls a circle, and when the average maximum effective steering angle of the steering gear is 4.58°, the maximum available normal overload n _max of the terminal guided projectile is 2.51g;

When a pair of steering gears are working, the projectile rolls a circle, and when the average maximum effective rudder angle of the steering gear is 3.56°, the maximum available normal overload of the terminal guided projectile n _max = 1.95g;

Specifically:

The aerodynamic coefficient of the terminal guided projectile does not change much in the terminal guidance section of the terminal guided projectile, so the maximum lift force in the terminal guidance section can be obtained through the maximum equilibrium angle of attack α _b :

Maximum available normal overload:

Combined with the flight trajectory and atmospheric parameters of the terminal guided projectile, the maximum available normal overload of the terminal guided projectile can be obtained: mass m=50.8Kg, reference area S=0.01815m ² , atmospheric density ρ=1.16kg/m ³ ;

The speed of the final guidance section does not change much, take v=220m/s, the partial derivative of the lift coefficient with respect to the angle of attack Partial derivative of lift coefficient with respect to rudder deflection angle Proportional coefficient between attack angle and rudder angle A=2, α=A×δ;

When two pairs of steering gears are working at the same time, the projectile rolls a circle, and when the average maximum effective steering angle of the steering gear is 4.58°, the maximum available normal overload n _max of the final guided projectile is obtained = 2.51g;

When a pair of steering gears are working, the projectile rolls a circle, and when the average maximum effective rudder angle of the steering gear is 3.56°, the maximum available normal overload n _max = 1.95g of the final guided projectile is obtained.

That is, when the target is maneuvering at an acceleration of 1g, the amount of miss is zero when the final guidance time is long enough; when the target is maneuvering at an acceleration of 2g, the amount of miss is zero when the two pairs of rudders are working under the condition that the final guidance time is long enough. is zero, and the miss amount is not zero when a pair of rudders are working.

By simulating the change of the number of control steering gear and the amount of miss when the target maneuvers are different, the amount of miss when the target is maneuvering at 1g and the amount of miss when the target is maneuvering at 2g are obtained, as shown in Figures 6 and 7. When the terminal guidance time is ensured to be long enough, the miss amount is zero; when the target is maneuvering with an acceleration of 2g, and the terminal guidance time is ensured to be long enough, the miss amount is zero when the two pairs of rudders are working, and the one pair of rudders is working When the amount of miss is not zero, it can be seen that when a pair of steering gear fails, by changing the control method, the use of a pair of steering gear can basically realize the control of the terminal guided projectile.

A fault-tolerant control method for a three-position relay steering gear according to the present invention is characterized in that the method is realized by the fault-tolerant control system for a three-position relay steering gear as described above.

The present invention has been described above in conjunction with preferred embodiments, but these embodiments are only exemplary and serve as illustrations only. On this basis, various replacements and improvements can be made to the present invention, all of which fall within the protection scope of the present invention.

Claims (9)

1. The utility model provides a fault-tolerant control system of tribit relay formula steering wheel, fault-tolerant control system sets up on the last guidance ammunition of low-speed roll, fault-tolerant control system is used for receiving guidance instruction information on the ammunition to according to this information control steering wheel and the rudder piece work on it, and then the motion gesture of control ammunition, its characterized in that, this system includes:

the rudder piece monitoring module (001) is used for monitoring the working state of a rudder piece on a steering engine and transmitting the working state information of the rudder piece to the steering engine instruction calculating module (002), wherein the working state information of the rudder piece comprises normal working of the rudder piece and abnormal working of the rudder piece;

the steering engine instruction calculation module (002) is used for receiving guidance instruction information and the working state information of the rudder pieces and calculating to obtain a steering engine instruction according to the received information, wherein the steering engine instruction comprises the working angle of each pair of rudder pieces on ammunition when the ammunition rotates for one circle;

the gyro signal receiving module (003) is used for receiving gyro signals, calculating to obtain steering engine position information and projectile body rotation period information according to the received gyro signals, and transmitting the obtained steering engine position information and projectile body rotation period information to the control starting time calculating module (004); and

and the control starting time calculation module (004) is used for receiving the steering engine position information, the projectile body rotation period information and the steering engine instruction information and calculating and obtaining the control starting time and the working time length of the steering engine according to the received information.

2. The fault-tolerant control system of the three-position relay steering engine according to claim 1, wherein when the operating state information transmitted by the rudder piece monitoring module (001) comprises that two pairs of rudder pieces on the steering engine work normally, the rudder pieces steer for 3 times every time an ammunition rotates for one circle; when the working state information transmitted by the rudder piece monitoring module (001) comprises that one pair of rudder pieces in two pairs of rudder pieces on the steering engine work normally, and the other pair of rudder pieces work abnormally, the rudder pieces steer for 2 times when ammunition rotates for one circle.

3. The fault-tolerant control system of the three-position relay steering engine according to claim 2, wherein two pairs of rudder pieces on the steering engine are alternately steered.

4. The fault-tolerant control system of the three-position relay type steering engine according to claim 3, wherein the steering is performed by any one pair of rudder pieces through a preset deflection angle and a return operation process after a preset time, wherein the preset deflection angle is preferably a rudder piece operation angle of each steering, and the preset time is preferably a rudder piece operation time length of each steering.

5. The fault-tolerant control system of the three-position relay steering engine according to claim 2, wherein when two pairs of rudder pieces can work normally, the steering engine command calculation module (002) obtains the rudder piece working angle of each time of steering through the following formulas (one), (two) and (three),

wherein,the operating angle of the rudder piece when the ammunition is ruddered for the first time in the process of one circle of rotation,The rudder sheet working angle at the second helm striking in the process of one rotation of the ammunition is shown,the working angle of the rudder blade is shown when the ammunition is ruddered for the third time in the process of one rotation;₁the equivalent rudder deflection angle of the steering engine when the rudder is turned for the first time in the process of one circle of ammunition rotation is shown,₂shows the equivalent rudder deflection angle of the steering engine when the rudder is turned for the second time in the process of one circle of ammunition rotation,₃shows the equivalent rudder deflection angle of the steering engine when the rudder is turned for the third time in the process of one rotation of ammunition, wherein,_{is effective}Representing an effective rudder deflection angle command.

6. The fault-tolerant control system of the three-position relay steering engine according to claim 5, wherein the control starting time calculation module (004) obtains the length of the operating time of each steering by the following formulas (four), (five) and (six);

wherein,which represents the rotation period of the projectile, where n represents the real-time rotation speed of the ammunition, t₁Indicating the length of operation of the first helm during one revolution of the ammunition, t₂Indicating the length of operation of the second helm during one revolution of the ammunition, t₃Represents the length of the third helm operation time during one rotation of the ammunition;

and (3) obtaining the starting control time of the steering engine for each steering through the following formulas (seven), (eight) and (nine):

wherein, T₁Shows the starting control time of the steering engine for the first time of steering in the process of one circle of ammunition rotation, T₂Shows the starting control time, T, of the steering engine for the second helm striking in the process of one rotation of ammunition₃The starting control time of the steering engine for third helm striking in the process of one circle of ammunition rotation is shown;showing the moment when the projectile in the last period is in the first helm-turning position of the steering engine,showing the moment when the projectile in the last period is in the second helm-hitting position of the steering engine,showing the time when the projectile of the previous cycle is in the third helm-hitting position of the steering engine.

7. The fault-tolerant control system of the three-position relay steering engine according to claim 2, wherein when one of the two pairs of rudder pieces can work normally and the other pair can not work normally, the steering engine command calculation module (002) obtains the rudder piece working angle of each rudder turning through the following formulas (ten) and (eleven),

wherein,_{is effective}Indicating a valid rudder deflection angle command.

8. The fault-tolerant control system of the three-position relay type steering engine according to claim 7, wherein the control starting time calculation module (004) obtains the working time length of each steering by the following formulas (twelve) and (thirteen),

obtaining the starting control time of the steering engine for each steering through the following formulas (fourteen) and (fifteen);

9. a fault-tolerant control method of a three-position relay steering engine is characterized by being achieved through the fault-tolerant control system of the three-position relay steering engine according to the claims 1-8.