IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0703428
(2003-11-10)
|
우선권정보 |
FR-0014073 (2002-11-08) |
발명자
/ 주소 |
|
출원인 / 주소 |
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
5 인용 특허 :
10 |
초록
▼
A method of projectile control provides a control order for an organ allowing the yaw piloting of a spinning projectile. The control order causes a modification of a yaw piloting parameter of the projectile, the parameter that needs to be controlled being fin deflection. The angular rate of roll of
A method of projectile control provides a control order for an organ allowing the yaw piloting of a spinning projectile. The control order causes a modification of a yaw piloting parameter of the projectile, the parameter that needs to be controlled being fin deflection. The angular rate of roll of the projectile is measured. At least one corrective coupling term is introduced into the evaluation of the control order modifying the yaw piloting parameter. The corrective coupling term is proportional to the angular rate of roll and also to the drift over time of the pitch piloting parameter to provide projectile piloting orders control fin motors.
대표청구항
▼
1. A method for controlling a spinning projectile that revolves about a first axis of three orthogonal axes at a roll angular velocity, the method providing a control order that modifies a parameter of one of second and third orthogonal axes of the projectile, the parameter being controlled for the
1. A method for controlling a spinning projectile that revolves about a first axis of three orthogonal axes at a roll angular velocity, the method providing a control order that modifies a parameter of one of second and third orthogonal axes of the projectile, the parameter being controlled for the one orthogonal axis, process in which the control order is evaluated as the sum of a static term, the method comprising:measuring position intensities to obtain a measured acceleration parameter for the one orthogonal axis; determining a required acceleration term to obtain an acceleration index value for the one orthogonal axis; determining a static gain to the measured acceleration term and a phase lead gain to the acceleration index value; multiplying the static gain by the measured acceleration parameter to yield a correction term; multiplying the phase lead gain by the acceleration index value to yield a phase lead term; subtracting the correction term from the phase lead term to yield a static term; determining an angular spin rate about the one orthogonal axis; multiplying a minus dynamic gain by the angular spin rate to yield a dynamic term for the one orthogonal axis; determining a drift through time of a deviation parameter between the acceleration index value and the measured acceleration term for the one orthogonal axis; integrating deviation parameters through time to yield an integral solution for the one orthogonal axis; multiplying an integral gain by the integral solution to yield an integral term for the one orthogonal axis; summing the integral term, the static term and the dynamic term to yield an angular deflection parameter for the one orthogonal axis as a piloting parameter for the one orthogonal axis; evaluating at least one corrective coupling term based on the other of the second and third orthogonal axes and including in the piloting parameter of the one orthogonal axis; modifying the piloting parameter of the one orthogonal axis to be proportional to the roll angular velocity and also proportional to a drift through time of the piloting parameter for the other orthogonal axis. 2. The method for providing the control order according to claim 1, wherein, at least an integral corrective coupling term is included into the integral term for the one orthogonal axis that is proportional to the roll angular velocity and to the piloting parameter for the other orthogonal axis, when the control order comprises an integral term proportional to an integral as a function of the time of the deviations between the position intensities measured and indexed of the parameter for the one orthogonal axis to be controlled.3. The method for providing the control order according to claim 2, wherein the control order is a deflection angle index value (δLC, δTC) for piloting fin for the one of the second and third orthogonal axes, modifying the deflection angle index value causing a corresponding modification of a piloting parameter wherein the piloting parameter is the angular acceleration (γL, γT) of the projectile according to the one orthogonal axis at a reference linked to the projectile deviations over time of said accelerations being the projectile's spin rate (r, q) about the second and third orthogonal axes that correspond to a yaw and pitch, respectively, the deflection angle index values are thus expressed as follow:yaw deflection angle index value: δLC=H S(γL)+KCγLC?K γL?(μr+υppq) pitch deflection angle index value δTC=H S(γT)+KCγTC?K γT?(μq+υppr) variables S(γL) and S(γT) of the integral terms being obtained via an integration of functions: dS(γL)/dt=γLC?γL+p S(γT) dS(γT)/dt=γTC?γT+p S(γL) expressions in which: H, KC, K, μ and υp are constants that depend on a geometry of the projectile and its flight conditions, γLC and γTC being acceleration index values to be transmitted to the projectile according to the one and the other orthogonal axes, index values being supplied by a guidance rule. 4. The method for providing the control order according to claim 2, wherein the control order is an electrical control voltage (uL, uT) for a back-geared motor driving a piloting fin for the one orthogonal axis of the second and third orthogonal axes that correspond to yaw and pitch, respectively, modification of the control voltage causing a corresponding modification of the piloting parameter that is a deflection angle (δL, δT) of the piloting fin for the one orthogonal axis, drift through time of said deflection angle (δ′L,δ′T) being integrated through time, a static corrective coupling term is proportional to the roll angular velocity and also proportional to a deflection angle for the other orthogonal axis is included into the electrical control voltage for a piloting fin for the one orthogonal axis, and a corrective coefficient of the static gain-proportional to the roll angular velocity squared and to the deflection angle of the one orthogonal axis is included into the static term, the control voltages are expressed as follows:control voltage of a yaw piloting fin: uL=H S(δL)+KCδLC?(K?λp2)δL+p(KE+μG)δT?μGδ′L+2λpδ′T control voltage of a pitch piloting fin: uT=H S(δT)+KCδTC?(K?λp2)δT+p(KE+μG)δL?μGδ′T+2λpδ′L the variables S(δL) and S(δT) of the integral terms being obtained by integrating following functions: dS(δL)/dt=δLC?δL+p S(δT) dS(δT)/dt=δTC?δT+p S(δL) expressions in which H, KC, K, μG, KE and λ are constants that depend on a back-geared motor and inertia of the projectile being controlled, δLC and δTC being deflection angle index values to be controlled for the one orthogonal axis, the index values being supplied by index value formulation means. 5. The method for providing the control order according to claim 4, wherein the deflection angle index values δLC, δTC are controlled for a piloting fin for the one orthogonal axis, modifying the deflection angle index value causing a corresponding modification of a piloting parameter, wherein the piloting parameter is the angular acceleration (γL, γT) of the projectile according to the one orthogonal axis at a reference linked to the projectile, deviations over time of said accelerations being the projectile's spin rate (r, q) about the second and third orthogonal axes that correspond to yaw and pitch, respectively, the deflection angle index values are thus expressed as follows:yaw deflection angle index value: δLC=H S(γL)+KCγLC?KγL?(μr+υppq) pitch deflection angle index value δTC=H S(γT)+KCγTC?KγT?(μq+υppq) variables S(γL) and S(γT) of the integral terms being obtained via an integration of functions: dS(γL)/dt=γLC?γL+p S(γT) dS(γT)/dt=γTC?γT+p S(γL) expressions in which: H, KC, K, μ and υp are constants that depend on a geometry of the projectile and its flight conditions, γLC and γTC being acceleration index values to be transmitted to the projectile according to the one and the other orthogonal axes, the index values being supplied by a guidance roll.
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