DE2254626C3 - Device for position control of a missile with four control engines - Google Patents

Description

the control signals (a, b, c, d) for the control engines are formed.

2. Apparatus according to claim 1, characterized in that the first binary signal (α) is assigned to the control of an angular movement of the missile about the longitudinal axis and that the two other signals (ß and γ) each control a combined pitch-yaw movement correspond in the area of one of the two bisecting planes of the two main planes.

3. Apparatus according to claim 1, characterized in that four groups (20 to 23) of electrical circuits are each assigned a control signal (a, b, c, d) leading output line and that the input signals (λ, β, γ) these electrical Circuits via three control lines (25, 26, 27) are fed and on each output signal line a signal of the form before the two inversion gates are formed that each intermediate gate (42) receives the output signal of an associated primary gate (55) and its output to an associated Output gate (32) supplies and that each output gate (32) receives as an input signal the signal of a primary gate (52) which is crossed with respect to the associated intermediate gate (42).

9. The device according to claim 1, characterized in that the individual organs from pneumatic Organs exist and the logic switching device is also designed as a pneumatic circuit.

10. Apparatus according to claim 9, characterized in that the logic switching device Has step distributor (100).

provided.

4. Apparatus according to claim 3, characterized in that in each of the four groups of electrical Schaltungen_ (20 to 23) any one of the signal lines βγ, βγ, βγ and βγ is present to the exclusion of the other.

5. Apparatus according to claim 4, characterized in that any line (8) _paral-

IeI is connected to two lines (9 and 10) (xß, αγ), (αβ. «Y), (<xβ, <χγ) or (« ^ af) .

6. The device according to claim 1, characterized in that the logic switching device so is made up of AND gates or OR gates.

7. Apparatus according to claim 1, characterized in that the logic switching device is constructed on the basis of a single NOR gate (32 to 37).

8. Electronic device according to claim 5, characterized in that four output gates (32 to 35), four intermediate gates (42 to 45), four primary gates (52 to 55) and two inversion gates (56 and 57) are provided that the signal α one input of each of the four intermediate gates (42) feeds that the symmetrical signals β and γ simultaneously feed a first primary gate (52) and each an inversion gate (56), that a second (53) and a third (54) primary gate each feed the signals βγ and βγ receive and the fourth primary gate (55) receives the inputs / 5 \ md γ , wel-The invention relates to a device for position control of a missile with four control engines, with which the position of the missile with respect to its three main axes can be changed as desired, as well as with three transducers serving to detect the position of the missile.

The control engines can be either ejector nozzles or aerodynamic tail units act, which are arranged either in front of or behind the center of gravity of the missile.

From US-PS 30 70 330 a device of the type mentioned is known in which the Thrust of four control engines is changed so that the desired control torque to the Center of gravity of the missile is reached. The function between the signals of the transducers, with which the positional deviations are detected, and the thrust of each control engine is included essentially continuous, although not necessarily linear. A disadvantage of this known device is above all their relatively complicated structure and the resulting susceptibility to failure, which in turn can only be kept within the required limits by further increasing the effort.

From US-PS 32 49 325 a mechanically pneumatic device is known that a position control with respect to two axes. This known, working with mechanical elements arrangement can demand any change in the position of a missile with respect to its three Main axes do not meet.

From DT-PS 11 09 534 is a method for control and stabilization of missiles with crossed wings are known, each Wing has a control element for influencing the flight path. There is also a facility for Reception of remote signals and a stabilization device for rotary movements around the longitudinal axis intended. The controls provided on each wing for influencing the flight path are thereby constantly driven and operated, with the frequency and amplitude of the deflections of these control organs over a wireline can be controlled.

From the magazine "Electronics" of October 21, 1960, pp. 60 to 64, there is an autopilot system for missiles known, which works analog and to achieve weight savings from micromodule units.

is jaut. Even this well-known Syrian is stupid, however, two positions which appear in the beam of each tail unit.

is extremely complex and therefore in principle ordered, steers depending on whether it is in the

prone to interference. one or in the other position is arranged, the

The object of the invention is to provide a device for the force of the beam either in the direction of the in

Position control of a missile of the arrow / 1 shown at the beginning with a solid line or in

called type, which at extraordinarily the opposite direction of the dashed

simple and robust construction at the same time a special arrow / 2.

This ensures exact and reliable position control

controlled binary signal, for example the signal 1 for

According to the invention, this object is achieved by the position of the arrow / 1, the signal 0 for the position

triggers that the transducers the roll, pitch and yaw of the arrow / 2.

It can be seen that the tail units 2 to 5 preferential signals can be supplied in binary form to a logical switching device at the four corners of the missile, in which squares linked by a Boolean are arranged, with the direction of the shape 15 processing rays preferably arranged normal with respect to the α {β + γ) + (β · γ) corresponding main plane of the missile

which pass through the deflector

the control signals for the control engines are formed.

will. According to one embodiment of the invention,

By the measure, of the three required 20 only eight combinations of directional beams

Transmitters used via an appropriate logic by pairing a first and a third

Circuit up to the control engines with purely binary tail unit is arranged by tilting the

To work coded measurement and control signals, the missile axis is in one or the other

with a minimum of technical equipment set direction in one of two orthogonal

and by means of particularly robust and reliable EIe-25 main planes, which with the missile

a high level of accuracy is achieved. Connected by the er-, the second and fourth lead-

According to the finding, a Vorwerk, which is less prone to failure, is controlled in each of the four tilting states

Direction created, the highest level of reliability in such a way that in one sense or the other around

speed and robustness guaranteed and due to the axis of the missile a rotational moment

Used extremely simple technology economy- 30 is exercised in order to relate in a proper manner

can be lent manufactured. on a reference plane in the room, the specified

Particularly advantageous configurations of the inventive positions for these main planes of the missile

application are specified in the subclaims. to adjust.

The invention is described below, for example, in the cases of FIG. 3, 5, 7 and 9 can be seen,

Hand of drawing described; in this 35 shows that the parallel and in the same direction

F i g. 1 a schematic front view of the forces pointing on / 3, / 5, / 7 and / 9 to a resultant

Order of the tail units on a missile in one, which each rotate the missile

first execution form pers to effect to the left, to a turn to the right

Fig. 2 is a side view according to H-II of Fig. 1, to effect or a straightening, if the plane

F i g. 3 to 10 functional diagrams of a tail unit 4 ° {XX ') (ZZ') runs vertically, while the two other

arrangement in a first embodiment, ren forces each arrangement of the four tail units in the

F i g. 11 is a diagram of the electrical control switch case of FIG. 3, 5, 7 and 9 a torque in one

arrangement of the establishment of FIG. 1, first direction of rotation about the axis XX ' , which

F i g. 12 is an analogous schematic of an electronic the axis of symmetry of the missile, and in the case

Circuit, 45 of the corresponding FIG. 4, 6, 8 and 10 one torque

F i g. 13 an analogous scheme of a pneumatic ment in a second, opposite direction loading

or hydraulic circuit.

F i g. 14 an elevation of a missile in an eight quadruple arrangement of the four corresponding second embodiment in the downward flight, binary output signals a, b, c, d control the tail units; Fig. 14 in a right-hand bend on the track, binary input control signals α, β and γ correspond to F i g. 16 to 19 schematic front views can be obtained, as measured in principle from Table I III-III of FIG. 14 the arrangement of the beam is visible.

baffles, a first embodiment of the invention is shown in FIG

FIGS. 20 to 23 show similar views in the roller bed 55 of the electrical circuit of FIG. 11 shown, wel-

movement, in clockwise direction and before that in FIG. 10 shown state of the control

F i g. 24 corresponds to an illustration of an electrical control unit.

circuit according to the second embodiment. A power source 24 between lines 6 and 7

In a first embodiment, FIG. 1 feeds the flip-flops of the tail units 2, 3, 4 and 5, welein Missile 1 shown, which four nozzle guide 60 before may or may not be of the passage type

works 2 to 5, each of which is independent and transmissive type, over twelve circuits

in any way in one or the other 8 to 19, which are divided into four groups 20 to 23

Senses around the axis XX 'of the missile are a rotation.

moment can exercise. There are three lines 25, 26 and 27 of pairs The tail units can be seen in a plane (YY ') (ZZ') arranged breakers, which in the

ordered, which passes through a point O , which circuits 8 to 19 are arranged as it

for example, behind the center of gravity G of the missile is explained in detail below,

ners eelected. A beam deflector according to the position of the reference numerals 29, 30 and

before the designation yes or the designation no , the four groups 20 to 23 of the electrical circuits in FIG. 11 is fed a signal of the form (λ, β, γ).

In the position of the three reference symbols in front of the designations Yes in FIG. 11 one obtains the arrangement according to Table II, which corresponds to the excitations α ', β' and y 'on each group 20 to 23 of FIG. 10 corresponds.

In contrast to this, in the position of the reference numerals 29, 30 and 31, which is shown in dashed lines, before the designation No, all switches are in the reversed position, and the opposite arrangement according to Table III is obtained.

By combining the elements that are provided by Tables II and III, by further naming α, β and γ the commands 0 (which correspond to the designation Yes ) or 1 (corresponding to the designation No), one obtains for all possible ones Arrangements of the three lines 25, 26 and 27 arranged in pairs, see Table IV.

With the Boolean notation, this control system with the four signals a, b, c and rf, which are given to the tail units 2, 3, 4 and 5, can be expressed using the following formula:

ö "= 0 if α = 1

With the Boolean notation, this control system of the four signals a, b, c and rf, which are respectively given to the tail units 2, 3, 4 and 5, can be expressed by the following formulas:

α = b = c =
rf =

4 °

45

where the negative sign means the complement, i.e .:

/ 9 = 1 _> ß = O, ß = O- * J = l, y = l-> y = 0 and

y = 0- * y = 1,

where the multiplication sign means the product and the pias sign means the Boolean addition:

β + γ = 0 only if both β and y are equal to 0, and

β + γ - 1 in the three remaining cases.

In the case of FIG. Namely, 10 and 11 (Table II) is the application of the formulas of Boolean algebra given:

a = « (β + γ) + OTy) = O b =« (J? + y) + (ßj) = 0 c = α (β + γ) +

In the case of the other arrangements, the following also applies:

Fig. 3 α = »(β + γ) + (βγ) = 1

c = «OJ + y) + OSy) = O

d = « (β + 50 + OSy) = 1 Fig. 4 a = λ (£ + y) + (/ Jy) = I

b = λ 09 + γ) + (βγ) = 0

rf = ä (/ 9 + y) + (βγ) = 0

F i g. 5 a = α (β_ + γ) + (βγ) = 1

b = « (β + γ) + (βγ) = 1

rf = «0S" + y) + 0? y) = 0

Fig. 6 σ = «0? + y) + OJy) = O A = λ (β_ + γ) + OSy) = IC = « (β + γ) + OSy) = O rf = λ (β + γ) + OSy) = O

Fig. 7 α = a (β + y) + (βy) = 0 b = <χ (β_ + γ) + (βγ) = 1 C = «(/ J + γ) + (βγ) = 1

rf = «OS + γ) + (βγ) = 1

F i g. 8 α = 5 "(ρ + y) + OSy) = 0 ft =« 09+ 50 + OSy) = OC = «09 + γ) + OPy) = I

rf = «09 + ν) + OSy) = 0

Fig. 9 α = λ 01 + y) +050 = 1

ft = «OS + JO + 0 *) 0 = 0 C = oc (β_ + γ) + (βγ) = 1 d = <χ (β + γ) + (/ Sy) = 1

The value of the signals a, b, c and d in the arrangement corresponding to each figure can also be expressed by means of the table V of which α is a scroll command signal.

From Table V it can be seen that the determinants \ a, b, c, d \, which correspond to each value of «, are constructed symmetrically with respect to the diagonals, with each of the signals b, c, a, rf each being the one of the four diagonals.

It can also be seen that the signal:

55

6ο has the form:

ET + OU (a = [« ET (ßOUy] OUlfiETyJ) because it is sufficient that

JiF +7 = 0 so that a = 0

and that

β or y = 0

so that a - oil holds

An electronic computer can thus be achieved by using OR gates and AND gates in a suitable manner They can be combined with one another in a wise manner, or it can be combined with one another in a way that

This can be achieved by arranging a plurality of gates of a unitary type, namely NOR gates, in series and in parallel, which control each other so as to solve the control of eight combinations among the sixteen possible quadrupoles for four tail units in two positions with the help of eight triplets of three binary command signals α, β and y.

The eight switches of the example in FIG. 11 can thus advantageously replaced by the combination of the fourteen NOR gates, i.e. H. for example by gates polarized in such a way that the output is blocked when an input is energized (or in reverse, that the output is energized when the two gates are blocked).

It can be seen that the example of the circuit of FIG. 12, where the appropriate signals on all lines are given, namely for the combination of the input signals: _

(ο

on outputs 2, 3, 4 and 5 of the position of the tail units of FIG. 7 corresponds.

It is sufficient to feed the signals of the four intermediate gates 42, 43, 44 and 45 on the four output gates 32, 33, 34 and 35, the other input signal being the output signal of one of the four corresponding primary gates 52, 53, 54 and 55 is, the intermediate gates each receiving the signal α on one input and the crossed output signals of the corresponding primary gates 55, 54, 53 and 52 on the other input.

The input signals from either of the two opposite primary gates 52 or 55 are the signals /! and ■ /, and the inputs of the other opposite primary gate 55 or 52 are the opposite signals β and ψ which are supplied by the inverted polarization gates 56 and 57, and the inputs of the two staggered gates 53 and 54 are inverted as β and γ, respectively βγ.

A third embodiment which is a pneumatic or hydraulic circuit is used in FIG. 13 shown.

It comprises four stage valves or distributors 100, each of which has four slidable sealing connections 112, 116, 118 and 120 , the successive diameters of which of the displaceable parts, if that which corresponds to the upper movable part 112 is taken as the reference diameter, respectively for the part below in the ratio \ 2, V3 and yijS stand.

For the four distributors 100, the cavities, which between the upper wall 113 of the fixed part, the upper part 114 of the movable part and the upper surface of the upper sealing joint 112, either exposed to the atmosphere if the value of the binary input signal is equal 0, or they are acted upon by a source with a relative pressure P when the control signal α corresponds to the value 1. Systems are known which use ball valves, for example, which are used for this purpose in are able to connect the same pipe either with the free atmosphere or with a pressure depending on a binary input signal.

The binary input signal at each distributor causes different binary output signals a, b, c and d, a- tail sanero, for example, loaders di rectly connected with levers, the distribution will be acting on the mechanical control organs of the control surfaces.

The cavities 115, which are arranged immediately below the cavity in which the pressure prevails, which is determined by the binary signal λ, that is, which is limited by the underside of the upper sealing connection 112 with the reference diameter and by the upper side of the sealing connection 116, whose Diameters in the ratio \ 2 with respect to that of the sealing connection 112 are acted upon either by the source with the pressure P or by the free atmosphere, according to the value of the binary control signal β in the following way: The corresponding cavities 115 of the manifolds 100 , the position of which determines the binary outputs α and c , are fed when β = I, and are connected to the free atmosphere when β == 0, and the corresponding cavities of the-

ao those distributors whose position determines the binary outputs b and d , on the other hand, are fed when / 3 = 0, and connected to the free atmosphere when β == 1, using known systems, for example with the above-mentioned ball valves .

The cavities 117, which are arranged immediately below the preceding cavities 115 , where the pressure prevails which is determined by the binary signal β , that is, which are limited by the underside of the sealing connection 116 , the diameter of the slidable part in the ratio y 2 is in relation to the upper reference sealing connection 112 , and are further limited by the top of the sealing connection 118 , the diameter of the slidable part is in the ratio y T with respect to the sealing connection 112 , these cavities are respectively according to the value 0 or 1 of the variable binary Input signal γ applied: The corresponding cavities of the distributors, the position of which determines the binary output signals α and b , are fed by the pressure source if γ = 1, and are exposed to the free atmosphere if γ = 0. On the other hand, the corresponding cavities on the Distributors, the position of which determines the binary outputs c and d , the free one exposed to n atmosphere if γ = 0, and fed if γ = 1.

Finally, the lower cavities 111 remain for the four manifolds 100 , ie those cavities which are enclosed between the sealing connections 118 and 120 in which the diameters of the slidable parts are in the ratios y / J and γ \ £ with respect to the diameter of the reference part stand, continuously fed by the pressure source, while the lower end of each manifold is continuously the free

Atmosphere

The resulting force by which each of the via Distributor is acted upon, has the following form:

[P ( 3-1.5) -Pa-Pg (ou Pf) - P ₇ I (Ou

where P _n P ff and P _{r are} each P if α, / or γ = 1, and are 0 if α, / or γ = 0, and in the same way Pp = P, who / J = I, Pp = O when β = 0, P ₇ = P ₃ when γ = 1 and Ργ = 0 when y = 0.

If F «, Fb, F _e and Fi are used to denote the forces resulting on the distributions, the input or output positions of which have the value 0 or 1

correct, for the binary variables a, b, reacts to determine the binary control signal λ,

c or d, the result is: furthermore a second system, which is based on the angular

E- _, -ρ ι ρ _l ρ ι <: p) i. movement or the side movement in the range of

F - (P I PI P - ι ' p \ l · ^{one of the two} angular planes between

tb - (A + Γβ + F _v 1.5 · F) k ₅ reacts to the two main levels, each of which has two

Fc = (P _x + Pß + Py - 1.5 P) k contain diametrically opposed tail units

Fd = (P * + Pß + Ργ - 1.5 · P) k th as well as the longitudinal axis of the missile around the

to determine binary input signal β , and finally

This results in Table VI. a third system, which is based on angular movements

This results in the signs sP _a , sP _b , sP _c io or lateral movements in the other bisecting the angle

and sP _{d of} the forces P ₀ , P ₆ , P ₀ and P _d , which reacts with the plane and which serves to create the binary

three input variables to be determined by the table VII ver input signal γ.

are linked. In particular with reference to the tables

Furthermore, the binary variable 0 can be IV and VIII in connection with FIGS. 3 to 10 negative signs and the binary variable 1 i ₅ shows that the meaning of the resulting roll mcmend corresponds to the positive sign, as is evident from the tes, which is evident from the combined excursions in Table VIII. four tail units is produced, in one sense

The position of the distributor is thus high or directed, which is unambiguously linked to the

deep, depending on the sign value of the binary variable <x is linked

the resulting force with which it is applied * o [F i g. 3, 5, 7, 9: «= 1 and the rolling moment in the opposite direction

is, and the arrangement is done in a clockwise direction- Fig 4 6 8 10-a = 0 and that

Order table VIII, which is analogous to table IV. Clockwise roll moment 1 '

It goes without saying that other types are, in general, the values for the amplitude of the pneumatic or hydraulic circuits appear as four rudder forces in the absolute value dike and in the previous equivalent with the above-described electrical 25 characters opposite, namely for two signals, which and electronic formwork. before correspond to the same tail unit. Anyway it will

An advantageous embodiment of the invention, in certain applications, the unimportant

insist then to use the binary input signal «according to the Irish values, for example

^ ffiK angular deviations of the missile to compensate a disturbance torque / as known pre-

to form in the rolling movement (i.e. around its longitudinal 30 running measure, namely by a deflection,

axis) and the two other control commands / »and γ after for an essentially equal duration in each

the determination of the angular deviations or the two positions that have remained since

borrowed displacements of the missile in the area of the In a second embodiment ™ is from FIG. 16 two bisecting planes between the two, can be seen as the tail units 2 3 4 and 5 of a main flight planes to form each two diametrically 35 body 101 according to the invention on a fixed

As with the eZI I _f ff '■ „r

the effect which takes place in one main plane
This effect is thus g by the two fins k% rdiic ucr r. 1 luu «-

of the proposed system, choose a “ ^

2S ¹ ^ sä

sä ;? sssis fKrs ^{in the 8th day}

Serve rolling the missile, without 'eS J ₁ ^ _and e Z sS ^ Tv
Residual effect on the yaw-nod movement. um Im not π H ^βΒ - « ^£ " f ^h , ^left

gg

It si _D d iJreUs Systems for Ennittfunlder Angle- ₅ o STiÄ ^^ STS S ^
movement with binary output signal is known, and it is erirhtHriT η η · a ⁰³ ^ ¹⁶¹ I ¹ ... , ·

in fact those which are either within the missile in three hands? ' f ™ T ™ ??, ^g 'JI pers are attached and gyroscopic devices and to RuJK ^? ^d , ^a J ^ ^represents 7 ^case ^ ^r *

Use accelerometers, or those that do? ? ^OiP ? Ti
before with the help of an external observation of the external 55 TufS ^^^^ lVi ^ SSS displacements of the missile in the lateral direction AOF requires? , ? T- u ° u ^ fS or work around its focus, for example the KonS ™? ? ^Un £ 5 ^{ugle 'ch'} sreicheiid is that with the aid of infrared goniometers which abwe? v ^,! _he read 2 hl% Th " ^ - ΐί" · '? nt measures in the direction of the missile, and Sale Snrirht ^ ^ T? ^A ^ ^softU f · !, ⁵ ;

which also have connection circuits 60 for inTem ^ Vo 7. "according to convention, so that the display which xnit 'a reference SiL ^! l ^ Si ^
value is compared, for example in an electronic comparison device, is suitable for the

before. which on the rolling movements of the missile ek ^ mar- * w ~ », ·,. .
-— ******** α ο ^ «■ *« * iiu ». ^ --Icf.rjshunESSienal in« er

"/

r - O and in the case of FIG. 20 to 23 responds to a binary deviation signal in the rolling movement r = 1.

It can also be seen that in the configuration of FIG. 17 to 21 the force / 12 the machine straighten up f and leads to the left, which corresponds to the following signals: The missile stands up and comes to the right, which are supplied, for example, by gyroscopic or accelerometers:

in the pitching movement t = 1,

in the yaw movement / = 0.

In the same way, the tilting force / 13 corresponds to FIG. 18 and 22 the signals:

in the pitching movement t = 1,
in the yaw movement / = 1.

Finally, the tilting force / 14 corresponds to FIG. 19th and 23 the signals:

in the nod motion / = 0,
in the yaw movement / = 1.

Consequently, the position of the missile can be changed in a permanent manner with the aid of four nozzle tail units Correct 2 to 5 automatically by permanently feeding them, either in a sense, as he did for the four tail units in FIG. 16 in solid Line is shown or in an opposite sense shown in dashed lines.

When rolling, it must be possible to terminate the rotary movement about the axis xx 'of the missile in the area of XX' of the ordinate direction by triggering a correction signal with a (not shown) gyroscope or an accelerometer, which the reference axis ZZ 'of the missile to the reference axis ZZ 'of the room returns.

In the same way, any unintentional tilting movement about the axis vv 'of the missile in the longitudinal direction must sooner or later be correctable by a response from the pitch encoder and in the transverse direction any unintentional movement of the missile about its vertical axis zz' by response to the corresponding encoder.

As a result of the arrangement of tail units, as shown in the drawing, the missile is subjected to a correction force / 11, / 12, / 13 or / 14 at every moment, which at the same time corrects its incorrect position in the longitudinal direction and in the transverse direction .

In order to achieve a proper flight path of the missile, with the help of pulses which guide the missile on a finely wound helix around the predetermined flight path, it is sufficient to apply the elements of Table IV, for example by adding in each case the forces / 11 to / 14 can be brought into agreement with the corrective action of the appropriate flight attitude in response to the signals "r", "r", "/" which are hereinafter referred to as α, β and γ in order to conform to the above notation to be.

A corresponding list is given in Table IX.

With the Boolean notation,

Print "" Lueses SteuefsTotCS? * '^ "'.." ftT »on four SfgUSlS ** · ¹ · * '* with the signals a, b, c, d, which are respectively sent to the tail units 2, 3, 4, 5 are given by the formula:

« (Ss + υ) + (ßyl

where «" = 0 if α - 1
and λ + β = 1, there
cc = 1 and / or / 3 = 1.

The F i g. 24 provides an embodiment of the simplest electrical circuit diagram that corresponds to the state corresponds to the tail units, as shown in FIG. 18 is shown.

A current source 24 between the lines 6 and 7 feeds the flip-flops of the tail units 2, 3, 4 and 5, which can be either of the permeable or of the non-permeable type, via twelve circuits 108 and 119, which are divided into four groups 120 to 123 are divided.

Three pairs of interrupter lines 25, 26 and 27 can be seen which are arranged on the circuits 108 to 119 in the manner as will be described in detail below.

According to the position of the reference symbols 29, 30 and 31 in front of the reference symbol Yes or the reference symbol No , in the four groups 120 to 123 of the electrical circuits in FIG. 24 a sienal of the form ί ^ β.γΐ

In the position of the three reference symbols in front of the designations No in FIG. 24 one obtains the arrangement according to table X, namely corresponding to the excitations λ, 'β' and γ ', on each group 120 to 123, which corresponds to the case of the configuration of the nozzles in FIG. 18 corresponds.

On the other hand, in the position of the reference numerals 29 to 31, which are indicated by dashed lines in front of the designation Ja in the drawing, with the switches in the reverse position, the opposite arrangement according to Table XI is obtained, which corresponds to the configuration of the nozzles in FIG . 20 corresponds.

It can also be seen that Table IX corresponds to the case of the other arrangements.

It goes without saying that the result sought also can be achieved by using OR gates and AND gates or NOR gates of an electronic analog computer with the arrangement of FIGS. 12 can be combined, while also a pneumatic or hydraulic circuit according to FIG. 13 can be used.

Table I.

Input command signal c
« Ss y

Output signals
practice

0
0
1
1
0
0

1
0
1
0

0
0
0

1
1
1

0
0

1
0
1
1

0
1
0
0
1
0

■ - ■ * ■ »w.

13th

Table!! Table VII Command signals group

Output line

Master output signal

Command signals

Output signals sP "sP _b sP _e

20th 0 0 0 21 0 1 0 22nd 0 0 1 23 O 1 1

a b c d

2 3

4 5

0 0 0

Table l

s o

0 0 0

ίο 1 1 1

0
1
0
1
0
1
0
1

ι

Command signals group

Aus Leit- output works aisle- “Table VIII line signal

20th 1 1 1 21 1 0 1 22nd 1 1 0 23 1 0 0

a b c d

Table IV

Command signals * 'β y

Output signals to the

Tail units

3 4

Fig. 3 Fig. 4 Fig. 5 Fig. 6 Fig. 7 Fig. 8th Fig. 9 F i g. 10

Table V

1
0
1
0
1
0
1
0

0
1
1
0
0
1
1
0

1
1
1
1
0
0
0
0

1 0 0 0 1 0

1 0 1 1 1 0 0 0

0 0 1 0 1 1 1 0

1 0 0 0 1 0 1 1

ßy

ßy

ßy

ßY

Fig. 3 Fig. 5 Fig.7 Fig. 8

Fig. 4th Fig. 6 Fig. 8 F i g. 10

b a d C. a b C. d d C. b a C. d a b a b C. d b a d C. C. d a b d C. b a

Table VI

Command signals λ β γ

Output signals Fajk FbIk

Fc / k FdIk

0 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 1 1 1 0 1 1 1

-1.5

-0.5

-0.5

0.5

-0.5

0.5

0.5

1.5

-0.5 -1.5

0.5-1.5

0.5-0.5

1.5

0.5

-0.5 0.5

-1.5

-0.5 0.5 1.5

-0.5 0.5

0.5

-0.5

-0.5

-1.5

1.5

0.5

0.5

-0.5

Command signals Output signals

so - 0 0 0 0

»5 1 1 1

0 0 1 1 0 0 1 1

0 0 0 1 0 1 1 1

0 0

1 0 1 O 1 1

0 1 0 0 1 1 0 1

1 0 0 0 1 1 1 0

Fig.lC Fig.8 Fig.6 Fig. 7 Fig. Fig. Fig. 5

Table IX Command signals

Output signals to the tail units

35

F i g. F i g. F i g. F i g. Fig. F i g. F i g. Fig.

Table X

50 120 121 122 123

0
0
1

1
1
1
0
0

0
0
0
0

1
1
1
1

1 1 1 0 0 0 1 0

1 0 1 1 1 0 0 0

0 0 1 0 1 1 1 0

group Command signals Out Lead Out gangly plant gangs management signal α 'ß' /

0
1
1
0

0
0
1
1

α b c d

2 3 4 5

1 1 1

55

Table XI

60

group Command signals Out Lead Out gangly plant gear: management Signa «'Ss'V'

120 121 122 123

1 0 0 1

1 1 0 0

a 2 1 b 3 0 C. 4th 0 d 5 0

In addition 6 sheets of drawings

Claims (1)

Patent claims: 1, a device for controlling the position of a missile with four control engines, with which the position of the missile with respect to its three main axes can be changed as required, as well as with three transducers serving to detect the position of the missile, characterized in that the transducers the roll, pitch - and yaw deviations corresponding signals (r, t, I) provide that these signals can be fed in binary form to a logic switching device in the form of a Boolean link