The control system (SC) is intended for preparation for launch, execution of launch and flight control of the rocket. The control system includes: on-board control equipment with electrical equipment (autonomous control system); test and launch equipment of technical position; test and launch equipment of the launch position.
The autonomous control system is designed to control the missile's flight on the active section of the trajectory and consists of:
- of traffic stabilization systems,
- of the range control device,
- switching devices,
- of electrical equipment.
Missile Stability System
The missile motion stabilization system performs the following functions:
- stabilization of the missile's angular position in space relative to three mutually perpendicular axes:
- the axis of rotation, the longitudinal axis of the missile;
- yaw axes - the transverse axis located in the plane of stabilizers I and III;
- axis of pitch - transverse axis located in the plane of stabilizers II and IV;
- control of lateral motion of the missile's mass centre;
- program change of position of the longitudinal axis of the missile during guided flight (program turn).
The stabilization system affects the missile's executive controls (steering machines) through three channels:
- through a channel that stabilizes the missile's movement in the firing plane (at the pitch angle);
- on the channel providing stabilization of lateral movement (on yaw angle and lateral deviation);
- along the channel that stabilizes the missile's movement around its longitudinal axis (along the angle of rotation).
All instruments included in the missile's motion stabilization system can be divided into four groups:
- sensors (1SB9 and 1SB10 gyro devices are used as sensors to provide command signals proportional to the missile's deflection from a given position and the lateral component of the missile's mass acceleration center);
- a resolver (the 1SB13 stabiliser's resolver is used to convert, sum and amplify the command signals taken from sensors);
- executive bodies (the 1SB14 gas-jet steering wheels of the missile are rotated);
- feedback potentiometers (designed to improve the stability of operation and to ensure low dependence of the static gain of the stabilization machine on the perturbations of the steering machine and the counting and solving device are covered by external negative feedback. Feedback signals are taken from 9B312 feedback potentiometers).
Gyro horizon 1SB9 produces the current values of the program angle of rotation of the missile by the given function of time, as well as command signals proportional to the angular deviations of the longitudinal axis of the missile in the guidance plane from the direction given by the program (deviation on the angle of pitch). Besides, the 1SS9 gyro device generates a command to the APR system in case the deviation from the given trajectory along the pitch angle exceeds 10°.
The 1SB10 gyro device is a combination of two devices and is designed to generate command signals in the form of stresses proportional to: angular deviation of the missile's longitudinal axis from the firing plane - yaw angle; rotation of the missile around the longitudinal axis - rotation angle; projections of the missile's velocity in the direction perpendicular to the firing plane. In addition, it develops a command for the APR system when the missile's yaw angle or angle of rotation reaches 10°±1°.
The 1SB13 stabilisation rifle has the following functions:
- Conversion of command signals received from gyro sensors, according to a certain mathematical law in accordance with the requirements of the dynamic stability of the missile's movement in the active part of the trajectory and providing a given heap of firing.
- Summation in necessary combinations of transformed signals on channels of pitch, yaw, rotation, lateral stabilization and external negative feedback.
- Reinforcement of the power of the command signals received by the control windings of the steering machine relay.
- Steering machine operation control.
The 1SB14 helmsmen are the power executives of the 8K14 rocket stabilization machine and are designed to rotate the steering wheel in accordance with the incoming command current.
Gyroscopic integrator of longitudinal accelerations 1SB12 is designed for use in the onboard control system of the rocket in order to ensure its flight at a given range by automatically giving signals to turn off the engine when the rocket acquires the speed necessary for free flight from the point of engine shutdown to the target. Measurement of the missile's flight speed in 1SB12 is based on the principle of integrating acceleration.
The 1SB11 gyroplane is a reference plane for the 1SB9, 1SB10 and 1SB12 devices. The upper plane of the gyroplane has mounting platforms for gyro devices and base fingers for fixing the devices on the board. The 1SB12 device is installed in such a way that the gyrogram has a 5°50' angle with the longitudinal axis of the missile - this reduces the influence of longitudinal wind on the missile's range.
Range control device.
The 1SB12 longitudinal acceleration gyroscopic integrator is used as a range control device, which generates a command to switch the engine off when the missile reaches a given range.
Switching equipment of the SU
1SB15 time mechanism is an electromechanical device designed for switching electrical circuits of the control system according to a given time program.
The 1SB16 switching box is intended for switching of interdevice circuits and necessary switching of the scheme connected with preparation of a rocket for start and work of onboard devices, and also electroautomatics of engine installation on an active site of flight of a rocket.
Onboard shutdown device C-229 is designed to cut off the power supply to control system devices from the bus onboard battery +B in case of passage of the command for emergency shutdown of the engine.
The onboard cable network of control system 1SB20 of 8K14 rocket is intended for:
- the connection of individual on-board units and components of the electric automation of the propulsion system to each other;
- communication of the control system with the emergency rocket detonation system and head-end equipment;
- connection of on-board electrical equipment with test and launch equipment.
The 8K14 missile's onboard cable network is divided by its purpose:
- 1SB20 main battle cable set
- 1SB48 warhead cable set (In case the missile is used with a telemetrical rather than a warhead, 1SB49 cables are used instead of 1SB48 cables).
- The 1 SS21 replacement cable set is designed to connect the missile to the test and launch equipment.
Onboard electrical equipment.
The on-board electrical equipment consists of the primary chemical DC power supply and the secondary three-phase AC power supplies of 500 and 1000 Hz frequency and provides the power supply to the on-board control system devices. Onboard instruments, electrical equipment and switching equipment are mainly located in the instrument compartment and partially in the head and tail parts of the missile. The cables connecting the instrument compartment with the tail end are located on the outside of the rocket tanks under the fairings. The onboard equipment of the missile control system is connected to the test launcher through three 86-pin connectors of S-589 type (Sh37, Sh38 and Sh39).
The 1SB18 (1SB18M) Ampoule Battery of the Control System is the primary power source on board the missile and is a chemical source of disposable ampoule-type current. The electrochemical power source is driven by an overflow electrolyte in the ampoules into the element monoblock under the action of compressed air at a pressure of 10±2atm. (for 1SB18M - 11±1atm). As a result of electrochemical reaction the battery is activated and in 7 s after supply of compressed air pulse it can be loaded with nominal current. Electrolyte filled current source at connection of the load is operable during 100s at discharge current 110A and voltage at the end of discharge not less than 24.8V. For normal operation of 1SB18 battery the ambient temperature should not be lower than +25°C, for 1SB18M battery - not lower than -15°C. In this connection, an electric heater with a thermoregulator is located in the battery case.
The set of 1SB47 converter with precision frequency regulator PRCH-30B is used on board the rocket as a source of alternating current. It is designed to convert a direct current of 27 V to a three-phase alternating current of 40 V with a frequency of 500 and 1000 Hz and to obtain current pulses of 50 and 12.5 Hz. The frequency regulator, working in a complete set with the converter, serves for maintenance of a constant frequency of a three-phase current and frequency of current impulses within the set limits at fluctuations of voltage of a supply network and change of loading. From the generator 500 Hz converter 1SB47 gyromotors of automatic range, gyroverticant and gyro horizon are supplied. The generator 1000 Hz is used to supply the side stabilizer gyromotors 1SB10 and the counting-solver device of the 1SB13 stabilizer automat. Pulsating voltage of 50 Hz converter is used to supply stepper motors of gyro-horizon software mechanism and on-board temporary mechanism, as well as to supply stepper electromagnet of range automat at range setting. The pulsating voltage 12.5 Hz is used to supply the stepper electromagnet of the range automat during the flight.
The electro-automatics of the pneumohydraulic scheme includes the following elements:
- electro-pneumatic valve (onboard) EPC;
- pressure switches SD1, SD2, SD3;
- 28 pyropatrons: GP, AP, PC, PPS.
Pyropatrons of DP-1 type are used in electric automation of remote control.