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Missile rudder fault-tolerant control method based on analytical redundancy

A fault-tolerant control and steering gear technology, applied in self-propelled projectiles, projectiles, offensive equipment, etc., can solve the problem of not being able to fully tap the control capability of the pitch channel, and achieve the effect of eliminating deviations

Active Publication Date: 2015-12-16
SICHUAN AEROSPACE SYST ENG INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The method proposed in this paper solves the problem of fault-tolerant fault-tolerant control of single-chip steering gear stuck in ×-type layout, but it cannot be directly applied to the fault-tolerant control of single-chip servo stuck fault in +-type layout
For most ballistic missiles, the required control amount of the pitch channel is much larger than the control amount of the yaw and roll channels. The fault-tolerant control method proposed in this paper cannot fully exploit the control capability of the pitch channel when the steering gear fails.

Method used

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  • Missile rudder fault-tolerant control method based on analytical redundancy
  • Missile rudder fault-tolerant control method based on analytical redundancy
  • Missile rudder fault-tolerant control method based on analytical redundancy

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0082] Assume that the tail X-shaped layout was adopted before the missile failure, such as figure 1 shown.

[0083] The distribution formula of the rudder deflection of the X-type layout tail rudder is

[0084]

[0085] In the formula: is the missile pitch channel control quantity; δ ψ is the control value of the yaw channel; δ γ Control volume for roll channel; δ ψ and δ γ is given by the attitude control algorithm of the missile; δ 1 is the rudder command of the first steering gear 1 of the missile; δ 2 is the rudder command of the second steering gear 2; δ 3 is the rudder command of the third steering gear 3; δ 4 is the rudder command of the fourth steering gear 4 .

[0086] The synthetic formula of the rudder deflection of the X-shaped layout rudder is

[0087]

[0088] Assuming that the first steering gear 1 fails during the flight, δ 1 = δ 0 , that is, the angle at which the first steering gear 1 is stuck is δ 0 . In this case, the implementation ...

Embodiment 2

[0101] Assume that the tail X-shaped layout was adopted before the missile failure, such as figure 1 As shown, the distribution formula of rudder deflection is the same as formula (1). During the flight, the second steering gear 2 failed, δ 2 = δ 0 , that is, the angle at which the second steering gear 2 is stuck is δ 0 . In this case, the implementation steps of the present invention are as follows:

[0102] 1. Control the missile roll channel to rotate 45° clockwise;

[0103] In the process of controlling the roll of the missile, the commands of the first steering gear 1, the third steering gear 3 and the fourth steering gear 4 are:

[0104]

[0105] In the formula: Δδ 2 The physical meaning of is the disturbance rudder offset generated on the second steering gear 2. By changing the rudder commands of the other three steering gears through formula (6), the interference generated by the second steering gear 2 can be compensated.

[0106] 2. Use the + type layout ...

Embodiment 3

[0114] Assume that the tail X-shaped layout was adopted before the missile failure, such as figure 1 As shown, the distribution formula of rudder deflection is the same as formula (1). During the flight, the third steering gear 3 failed, δ 3 = δ 0 , that is, the angle at which the third steering gear 3 is stuck is δ 0 . In this case, the implementation steps of the present invention are similar to Embodiment 1, and the missile is controlled to rotate counterclockwise by 45°, so that the third steering gear 3 of the fault is directly above, and the synthetic formula of the rudder deviation is the same as formula (4), and the distribution formula of the rudder deviation is now:

[0115]

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Abstract

The invention discloses a missile rudder fault-tolerant control method based on analytical redundancy. The method comprises the following steps: step I, judging whether a missile rudder has faults or not, and judging that the rudder has faults when difference between a rudder order and rudder feedback of certain rudder exceeds a predetermined error range; step II, controlling a pitching channel of a missile, and regulating the rudder with faults to a longitudinal plane of a missile shaft coordinate system by virtue of rolling movement of the missile; and step III, re-distributing each rudder deviation by utilizing a + type layout rudder deviation synthesis and distribution formula, thereby realizing fault-tolerant control. According to the missile rudder fault-tolerant control method based on analytical redundancy, the application range, in fault-tolerant control, of a redundancy analyzing method is expanded; the method is applicable no matter the missile rudder adopts + type layout or x type layout; the method can be adopted to sufficiently give full play to control capacity of the missile pitching channel, so that after certain rudder has faults, the capacity of continuously completing an attack task of the missile is maximized.

Description

technical field [0001] The invention relates to the technical field of missile control, in particular to a fault-tolerant control method for missile steering gear based on analytical redundancy. Background technique [0002] The steering gear is the executive mechanism of the missile control system, which controls the flight and stability of the missile according to the control signal of the missile. When the steering gear fails, it may lead to the loss of control of the missile, so it is necessary to implement fault-tolerant control of the steering gear. Fault-tolerant control is divided into two methods: hardware redundant fault-tolerant control and analytical redundant fault-tolerant control. Hardware redundancy fault tolerance control is to improve fault tolerance by backing up important components or components that are prone to failure. Analytical redundancy fault-tolerant control is to use the functional relationship between the systems or between the components of ...

Claims

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Application Information

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IPC IPC(8): F42B15/01
Inventor 张华李富裕胡洲向静波黄鹏伊鑫
Owner SICHUAN AEROSPACE SYST ENG INST
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