CN107315415A - The fault-tolerant control system and control method of three bang-bang actuators - Google Patents
The fault-tolerant control system and control method of three bang-bang actuators Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The invention discloses a kind of fault-tolerant control system of three bang-bang actuators, it is arranged on the Terminal Guidance Ammunition of low speed rolling, the fault-tolerant control system is used to receive to guidance command information on ammunition, and rudder piece according to information control steering wheel and thereon works, and then control the athletic posture of ammunition, wherein, the fault-tolerant control system includes rudder piece monitoring modular, it is used to monitor the working condition of rudder piece on steering wheel, and analyze rudder piece whether being capable of normal work, notify steering wheel instruction calculation module is calculated from different computational methods to obtain steering wheel instruction according to the working condition of its rudder piece, so as to be controlled to steering wheel, even if a pair of rudders in steering wheel can not work, steering wheel can also realize control operation substantially, enable the basic hit of ammunition.
Description
Technical Field
The invention relates to a control system and method for a steering engine on ammunition, in particular to a fault-tolerant control system and method for a three-position relay type steering engine.
Background
The actuator is an important component of an ammunition attitude control system, in particular to an important component of a missile attitude control system, performance degradation caused by long-time storage or severe vibration in the flight process can cause actuator faults, and the faults can cause the performance degradation of the missile attitude control system and even cause flight attitude instability and self-destruction. At present, no good counter measures exist, the potential safety hazard is avoided mainly through pre-flight inspection simulation, once an accident occurs in the flight process, the unexpected ammunition is often abandoned, and the quality deficiency is made up through the quantity; fault-tolerant control is an important means for improving the reliability of an attitude control system, so that fault-tolerant control on the fault of a missile actuating mechanism is necessary for improving the reliability of the missile attitude control system. The fault-tolerant control aims to ensure that the performance of the reconstructed system is as close as possible to the original system, and has the advantages of fully utilizing the redundancy relation of each component in the system and realizing the optimal control under the fault.
At present, actuating mechanisms on common ammunition comprise two pairs of rudders, and when one pair of rudders cannot work normally, possible deviation can be made up by controlling and changing the working state of the other pair of rudders, so that the torque generated by the actuating mechanisms is close to a desired value, and fault-tolerant control is realized.
For the above reasons, the present inventors have made intensive studies on the conventional rudder control system and method in order to design a control system and method capable of solving the above problems.
Disclosure of Invention
In order to overcome the problems, the inventor of the invention has conducted intensive research and designs a fault-tolerant control system which is arranged on a last guided ammunition rolling at a low speed and is used for receiving guidance instruction information on the ammunition and controlling a steering engine and a rudder sheet on the steering engine to work according to the information so as to control the motion attitude of the ammunition, wherein the fault-tolerant control system comprises a rudder sheet monitoring module which is used for monitoring the working state of the rudder sheet on the steering engine, analyzing whether the rudder sheet can work normally or not and informing the steering engine instruction calculation module of calculating the steering engine instruction by different calculation methods according to the working state of the rudder sheet, so that the steering engine is controlled, even if a pair of rudders in the steering engine cannot work, the steering engine can basically achieve control operation, and the ammunition can basically hit a target, and the invention is completed.
Specifically, the present invention aims to provide the following:
(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 the working state of the rudder piece and the working state of the rudder piece; (ii) a
The steering engine instruction calculation module 002 is used for receiving guidance instruction information and 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 each 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 rotation period information according to the received gyro signals, and transmitting the obtained steering engine position information and projectile 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 type steering engine in the step (1) is characterized in that when the working state information transmitted by the rudder piece monitoring module 001 includes that two pairs of rudder pieces on the steering engine work normally, the rudder pieces steer for 3 times every time ammunition rotates for one circle; when the operating condition information that rudder piece monitoring module 001 transmitted includes that one pair of rudder piece works normally in two pairs of rudder pieces on the steering engine, when the other pair of rudder piece works abnormally, every rotation of ammunition is a week, the rudder piece is steered for 2 times.
(3) The fault-tolerant control system of the three-position relay type steering engine in the step (2) is characterized in that 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 in the step (3) is characterized in that steering is performed by any pair of rudder pieces through a preset deflection angle and returns to an original position after preset time, wherein the preset deflection angle is preferably a rudder piece working angle for steering at each time, and the preset time is preferably a working time length for steering at each time.
(5) The fault-tolerant control system of the three-position relay type steering engine in the step (2) is characterized in that when two pairs of rudder pieces can work normally, the steering engine instruction calculation module 002 obtains the rudder piece working angle of each time of steering through the following formulas (one), (two) and (three),
wherein,andrespectively representing a rudder sheet working angle during the first time of helm striking, a rudder sheet working angle during the second time of helm striking and a rudder sheet working angle during the third time of helm striking in the process of one circle of ammunition 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,3the equivalent rudder deflection angle of the steering engine is shown when the rudder is driven for the third time in the process of one circle of ammunition rotation; wherein,is effectiveRepresenting an effective rudder deflection angle command.
(6) The fault-tolerant control system of the three-position relay type steering engine in the above (5) is characterized in that 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,representing the revolution period of the projectile, n representing the real-time rotation speed of the ammunition, t1Indicating the length of operation of the first helm during one revolution of the ammunition, t2Indicated in ammunition rotationWorking time length of second helm steering in the course of one week, t3Represents the length of the third helm operation time during one rotation of the ammunition;
obtaining the starting and controlling time of the steering engine for each steering through the following formulas (seven), (eight) and (nine);
wherein, T1、T1、T1Respectively representing the starting control time of a steering engine for the first time of steering, the starting control time of a steering engine for the second time of steering and the starting control time of a steering engine for the third time of steering in the process of one circle of ammunition rotation;respectively showing the time when the projectile body of the previous period is at the three positions of the steering engine.
(7) The fault-tolerant control system of the three-position relay type steering engine in the above (2) is characterized in that when one pair of two pairs of rudder pieces can work normally and the other pair can not work normally, the steering engine instruction calculation module 002 obtains the rudder piece working angle of each rudder turning through the following formulas (ten) and (eleven),
wherein,is effectiveIndicating a valid rudder deflection angle command.
(8) The fault-tolerant control system of the three-position relay type steering engine in the above (7) is characterized in that the control starting time calculation module 004 obtains the length of the operating time of each steering according to 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 type steering engine is characterized by being realized by the fault-tolerant control system of the three-position relay type steering engine in the above (1) to (8).
The control system provided by the invention has the beneficial effects that the control mode can be timely adjusted under the condition that one pair of rudder pieces suddenly fails, and the guidance is not continued according to a preset mode, so that the control operation of two pairs of steering engines can be basically realized through one pair of steering engines, the phenomenon that ammunition deviates too far from a target due to the failure of one pair of rudder pieces is avoided, and finally the ammunition basically hits the target.
Drawings
Fig. 1 is a schematic diagram illustrating an overall structure of a fault-tolerant control system of a three-position relay type steering engine according to a preferred embodiment of the invention;
FIG. 2 is a flow chart illustrating the operation of a fault tolerant control system for a three position relay type steering engine in accordance with a preferred embodiment of the present invention;
FIG. 3 shows a PWM rudder command diagram;
FIG. 4 shows a rear view of a terminal guided projectile;
FIG. 5 illustrates a roll spring control force diagram;
FIG. 6 shows the amount of miss for a target 1g maneuver;
FIG. 7 shows the amount of miss for a target 2g maneuver.
The reference numbers illustrate:
001-rudder piece monitoring module
002-steering engine instruction calculation module
003-gyro signal receiving module
004-control starting time calculation module
Detailed Description
The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.
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 preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
Because the terminal guided projectile belongs to a low-speed rolling projectile, the three-position relay type steering engine controlled by double channels is adopted,the Pulse Width Modulation (PWM) instruction of the three-position relay type steering engine has three states, and the corresponding rudder deflection angles are respectively-max0, andmax. At the initial time of each modulation period, the PWM command system samples the analog command, calculates the width of the PWM command according to the command polarity and magnitude, and generates a PWM command with a fixed center time and the same polarity, as shown in fig. 3, where the PWM period is TCThe command center time is τ.0 to T1For the steering gear working period, TdCalculated by an instruction system for PWM instruction width, and the maximum PWM width is T1；T1～TCIn the steering engine rest period, the length of the period is more than twice of the lag time of the steering engine, and the rudder deflection angle is kept to be zero in the period;
the relay type steering engine adopted by the terminal guided ammunition can output a rudder swing angle of +5 degrees/0 degrees corresponding to a positive/negative/zero input signal, the working state of the rudder wing reciprocates in three working states of the rudder swing angle, and the stay time of the rudder wing in each working state is controlled by an instruction signal of a guidance and control system, so that an average control force is generated to operate the ammunition to maneuver, and the linear proportional control of the ammunition is realized; the specific control operation is realized by controlling the rudder blade through the steering engine, and when some rudder blades cannot work due to reasons, the steering engine needs to control the rest rudder blades to work by adopting another control scheme so as 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 type steering engine provided by the present invention, the fault-tolerant control system is arranged on terminal guided ammunition rolling at a low speed, and the fault-tolerant control system is configured to receive guidance instruction information on the ammunition, and control the steering engine and a rudder piece thereon to operate according to the information, so as to control the motion attitude of the ammunition, and the 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 the working state of the rudder piece and the working state of the rudder piece;
the steering engine instruction calculation module 002 is used for receiving guidance instruction information and 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 each 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 rotation period information according to the received gyro signals, and transmitting the obtained steering engine position information and projectile rotation period information to the control starting time calculating module 004;
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.
The rudder piece monitoring module 001 comprises a rudder deflection angle sensor, the rudder deflection angle sensor is used for detecting the rudder hitting angle of a steering engine, comparing whether the angle is correct or not, and feeding back two state information, wherein one state information is that the steering engine works normally, the other state information is that the steering engine works abnormally, and the steering engine works abnormally and comprises the conditions that the rudder hitting angle of the steering engine is incorrect, the rudder hitting is not performed, and the like.
The guidance instruction information received by the steering engine instruction calculation module 002 is sent by a control system on the ammunition, the control system obtains the current position information, the speed information, the angle information, the target position information and the like of the ammunition through a measuring element, and calculates the direction angle which needs to be adjusted in order to hit the target ammunition according to the information, if the preset angle needs to be adjusted in the pitching direction, the preset angle is adjusted in the yawing direction, and the guidance instruction information includes the direction angle which needs to be adjusted.
In a preferred embodiment, when the operating state information transmitted by the rudder piece monitoring module 001 includes that both pairs of rudder pieces on the steering engine operate 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 of the two pairs of rudder pieces on the steering engine works normally, and the other pair of rudder pieces on the steering engine works abnormally, the rudder pieces steer for 2 times when ammunition rotates for one circle; the steering engine is characterized in that the two pairs of rudder pieces on the steering engine alternately steer, wherein steering means that any one pair of rudder pieces deflects by a preset angle and returns to the original position after preset time, the preset angle is preferably the rudder piece working angle of steering at each time, and the preset time is preferably the working time length of steering at each time.
Specifically, when the projectile coordinate system coincides with the quasi-projectile coordinate system, a rear view of the terminal guided projectile is shown in FIG. 4. The cannonball rotates clockwise, and the four steering engines are distributed along the direction of the cannonball body in a 1-2-3-4 sequence according to the anticlockwise sequence. Wherein the (1-3) rudders are a pair of co-acting rudders, and define that Oy is generated when the rudders are steered at the coincident positions of two coordinate systems as shown in FIG. 44The force in the direction is opposite to the negative rudder; (2-4) the rudders are a pair of co-acting rudders, and the negative Oz is generated by striking a positive rudder at the coincident position of the two coordinate systems as shown in the figure4A directional force;
it can be seen from the working principle of the relay type steering engine that the control force F generated by the relay type steering engine acts in a certain area centered on the required control direction when the shell rolls, so that the problem of efficiency that the control force of the rudder is not completely in the required direction certainly exists, and if the shell is required to generate an upward control force in the inertia space, the control force of the shell acts as shown in fig. 5, the roll angle gamma of the shell varies from-90 DEG to +90 DEG within a half cycle, and the action range of the control force is within the range of-90 DEG to +90 DEG(the steering engine rudder has a tilt angle of +5 degrees), and the steering engine rudder has a tilt angle of 0 degree at other positions, namely, no control force is generated. In the variation range of gamma, the control force duty ratio is as follows:
when considering the reduction of the efficiency of the control force due to incorrect orientation, thenThe steering engine is at the momentThe average control force generated over the action time is:
wherein R is the radius of the projectile and defines an efficiency factor ofThen when the projectile rolls from-90 to +90, the total average force is:
then can regard as the average effort that steering wheel fixed +5 rudder pivot angle work produced equivalently as the equivalent effort that effective rudder corner work a week (2 pi) produced, its expression of effective rudder corner is:
in a preferred embodiment, when both pairs of rudder pieces work normally, the steering engine command calculation module 002 obtains the rudder piece working angle of each rudder turning 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 effectiveAnd the effective rudder turning angle instruction obtained by converting the precession angular speed measured by the seeker is expressed, and is referred to as an effective rudder deflection angle instruction for short.
According to the terminal proportion guidance working principle of the terminal guided cannonball, an effective rudder turning angle instruction can be obtainedIs effectiveAngular velocity of precession with the seekerThe relationship (c) can be obtained by,in the formula K The coefficient is utilized for the rudder angle command to obtain an effective rudder angle command caused by the precession angular velocity of the seeker as shown in the following formula,
wherein,representing angular rate of precession of the seeker, measured by the seeker
In a preferred embodiment, the control starting time calculation module 004 obtains the length of the operating time of each helming operation through the following formulas (four), (five), (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;
preferably, the starting control time of the steering engine for each steering is obtained 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. When the rotation speed of the ammunition is 6.6r/s, the rolling period of the last guided ammunition is about 150ms, the period of a laser signal emitted by the laser target indicator is 50ms, and just 3 rolling periods are equally divided, so that the central position of the first steering is a rolling angle of 0 degree, the central position of the second steering is a rolling angle of 120 degrees, and the central position of the third steering is a rolling angle of 240 degrees.
In the terminal guidance process of the terminal guided projectile, a laser signal emitted by a laser target indicator is a discrete signal with a period of 50ms and a duty ratio of 4:1, the maximum working time of a steering engine in one period is 40ms, the maximum duty ratio of the steering engine is 40/50 ═ 0.8, the rolling rate of the terminal guided projectile in the case of no interference is basically stabilized at 6.6 revolutions per second, the maximum working angle of the steering engine in one period is 40ms multiplied by 6.6 multiplied by 360 degrees approximately equals to 96 degrees, and the efficiency coefficient is obtained according to the formula when the effective steering angle of the terminal guided projectile is calculated in the front:
then the effective duty cycle of steering wheel work is: 0.89 × 0.8 ═ 0.712;
the maximum effective rudder turning angle corresponding to the work of the single-shaft steering engine in one period is as follows:
′max＝5°×0.712＝3.56°
the projectile rolls for a week for 1/6.6 ≈ 150 ms. And after the terminal guided projectile receives the target reflected laser indicator signal, the steering engine works, and the projectile rolls for a circle and the steering engine can work for 150/50 times.
Because the terminal guided projectile is provided with two pairs of steering engines in the mutually vertical direction, the terminal guided projectile can work through the two pairs of steering engines to generate required resultant force. And obtaining the average maximum effective rudder turning angle of the steering engine by analyzing the working condition of the steering engine when the shell rolls for a circle.
Supposing that the direction of overload required to be generated by the steering engine is upward, the steering engine works for three times within one circle of the rolling of the shell, and the effective rudder turning angles in the upward direction generated for three times are respectively maximum:
the maximum average effective rudder turning angle of the projectile after the projectile rolls for one circle is as follows:
and in the last guided projectile proportion guide section, calculating the effective rudder rotation angle as the average value of the work integral of the steering engine for one circle of projectile rolling, so that the maximum value of the effective rudder rotation angle does not exceed 4.58 degrees, and the nonlinear saturation threshold value of the effective rudder rotation angle of the steering engine is +/-4.58 degrees.
In a preferred embodiment, when the rudder deflection angle sensor detects that the steering engine is out of order, only one pair of rudders works for the last guided projectile, and the pitching and yawing are controlled simultaneously. The other pair of steering engines are blocked at a certain position, and the equivalent force generated by the steering engines is zero in a rolling period due to the rolling characteristic of the last guided projectile. The average maximum effective rudder turning angle of the steering engine is obtained by analyzing the working condition of the steering engine when the shell rolls for a circle;
specifically, when one of the two pairs of rudder pieces works normally and the other pair works abnormally, the steering engine instruction calculation module 002 obtains the rudder piece working angle of each time of rudder turning through the following formulas (ten) and (eleven),
preferably, the control starting time calculation module 004 obtains the length of the working time of each helming 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);
supposing that the steering engine needs to generate an upward overload direction, the operation is performed twice within one circle of the rolling of the cannonball, and the effective rudder turning angles generated twice and in the upward direction are respectively the maximum:
the maximum average effective rudder turning angle of the projectile after the projectile rolls for one circle is as follows:
in the last guided projectile proportion guide last guide section, the effective rudder rotation angle is calculated to be the average value of the steering engine work integrals when the projectile rolls for one circle, so the maximum value of the effective rudder rotation angle does not exceed 3.56 degrees, and the nonlinear saturation threshold value of the effective rudder rotation angle of the steering engine is 3.56 degrees.
When two pairs of steering engines work simultaneously, the cannonball rolls for a circle, and when the average maximum effective rudder angle of the steering engines is 4.58 degrees, the maximum available normal overload n of the terminal guided cannonball is achievedmax＝2.51g；
When a pair of steering engines work, the cannonball rolls for a circle, and when the average maximum effective rudder angle of the steering engines is 3.56 degrees, the maximum available normal overload n of the terminal guided cannonball is achievedmax＝1.95g；
Specifically, the method comprises the following steps:
the last guided projectile is in the last guide section, the aerodynamic coefficient of the last guided projectile does not change greatly, and the last guided projectile passes through the maximum balance attack angle αbThe following can be obtained: maximum lift at the final guide section:
maximum available normal overload:
and (3) combining the flight trajectory and atmospheric parameters of the terminal guided projectile to obtain the maximum available normal overload of the terminal guided projectile: mass m 50.8Kg, reference area S0.01815 m2Atmospheric density ρ of 1.16kg/m3；
The speed of the final guide section does not change greatly, v is 220m/s, and the partial derivative of the lift coefficient to the attack anglePartial derivative of lift coefficient to rudder deflection angleThe proportionality coefficient A between the attack angle and the rudder turning angle is 2, and α is A ×;
when two pairs of steering engines work simultaneously, the cannonball rolls for a circle, and when the average maximum effective rudder angle of the steering engines is 4.58 degrees, the maximum available normal overload n of the terminal guided cannonball is obtainedmax＝2.51g；
When a pair of steering engines work, the cannonball rolls for a circle, and when the average maximum effective rudder angle of the steering engines is 3.56 degrees, the maximum available normal overload n of the terminal guided cannonball is obtainedmax＝1.95g。
That is, when the target 1g is maneuvered with acceleration, the miss distance is zero while ensuring that the last guidance time is long enough; when the target 2g acceleration is maneuvering, under the condition of ensuring that the last guidance time is long enough, the miss distance of the two pairs of rudders is zero when the two pairs of rudders work, and the miss distance of the one pair of rudders does not become zero when the two pairs of rudders work.
The target miss distance of 1g of target during maneuvering and the target miss distance of 2g of target during maneuvering are obtained by simulating the change situation that the number of the control steering engines and the target maneuvering are different, as shown in fig. 6 and 7, wherein when the target 1g of acceleration maneuvers, the miss distance is zero under the condition that the last guidance time is ensured to be long enough; when the target 2g acceleration motor is operated, under the condition that the last guidance time is ensured to be long enough, the miss distance of the two pairs of rudders is zero when the two pairs of rudders work, and the miss distance of the one pair of rudders does not become zero when the two pairs of rudders work, so that the control of the last guidance cannonball can be basically realized by using the pair of steering engines through changing a control method after the one pair of steering engines break down.
The fault-tolerant control method of the three-position relay type steering engine is characterized by being realized by the fault-tolerant control system of the three-position relay type steering engine.
The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the 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 effectiveRepresenting 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 effectiveIndicating 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.
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