| 摘要 |
PURPOSE:To lead a flying material to its destination accurately, by calculating the attitude angle of the flying object in an acceleration time on a basis of the angular velocity detected by a rate gyro and controlling the flying object so that this attitude angle becomes a set reference attitude angle. CONSTITUTION:Detection signals of angular velocities (p), (q), and (r) around (x), (y), and (z) axes of the machine body coordinate system which are detected by rate gyros 1, 2, and 3 are selected successively by a multiplexer 5 and are converted to digital quantities by an A/D converter 6. A microcomputer 7 performs the coordinate conversion from angular velocities (p), (q), and (r) to angular velocities of the inertia coordinate system and performs the time integration for an acceleration time (motor combustion time) of a rocket to obtain a roll angle, a pitch angle, and a yaw angle of the rocket in the inertia coordinate system. The microcomputer 7 compares this attitude angle of the rocket with a set reference attitude angle to issue a control signal to an attitude controller 9. |
