| 摘要 |
FIELD: aeronautical engineering; control systems of unmanned flying vehicles provided with target coordinator and passive homing system. ^ SUBSTANCE: proposed method consists in selection of tracking point inside target loop and measurement of parameters of motion of flying vehicle relative to this point. During autonomous flight of flying vehicle, its selective guidance is ensured by forming limited tracking zone around selected tracking point with many threshold magnitudes and respective time intervals. When tracking point gets beyond these thresholds, its position is restored by forced correction. In case tracking within this zone is unstable after several correction cycles, guidance in target loop is performed instead of selective guidance by making several correction cycles of tracking point. In case tracking is unstable again, target is considered to be lost. Homing is replaced by forced motion of flying vehicle in way of reference tracking point over rectilinear trajectory and fixing the axis of target coordinator in direction towards selected tracking point. Attempts are made for locking-on new tracking point inside target loop. In case of successful attempt, homing of flying vehicle to new tracking point is performed. In case of unstable tracking, target lock-on is considered to absent and fixed position of target coordinator axis is restored positively. As target range reduces, approximate linear deviation of tracking point is maintained constant inside target loop. ^ EFFECT: enhanced efficiency of flying vehicle due to selective guidance and retaining controllability in case of loss of target. ^ 6 cl, 6 dwg |
