EP0021944A1 - Flugkörper-Lenksystem und gelenkter Flugkörper - Google Patents

Flugkörper-Lenksystem und gelenkter Flugkörper Download PDF

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Publication number
EP0021944A1
EP0021944A1 EP80400837A EP80400837A EP0021944A1 EP 0021944 A1 EP0021944 A1 EP 0021944A1 EP 80400837 A EP80400837 A EP 80400837A EP 80400837 A EP80400837 A EP 80400837A EP 0021944 A1 EP0021944 A1 EP 0021944A1
Authority
EP
European Patent Office
Prior art keywords
missile
piloting
orders
actuators
remote control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP80400837A
Other languages
English (en)
French (fr)
Inventor
Philippe Ottenheimer
Pierre Haon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Thales SA
Original Assignee
Thomson CSF SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Thomson CSF SA filed Critical Thomson CSF SA
Publication of EP0021944A1 publication Critical patent/EP0021944A1/de
Withdrawn legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/30—Command link guidance systems

Definitions

  • the present invention relates to a new missile piloting system, more particularly applicable to a remote-controlled missile. It also relates to the missile produced for this piloting system.
  • the guidance function calculates the lateral accelerations that the missile must execute and the piloting function concerns the execution of these orders by the missile.
  • the guidance orders will relate to the controlled lateral accelerations and the steering orders will relate to the actuator position orders.
  • an actuator is called any on-board mechanical device, the control of which makes it possible to vary the forces exerted on the missile.
  • Actuators are for example aerodynamic control surfaces acting with amplification, that is to say placed at the front or at the rear of the missile, or acting without aerodynamic amplification if they are placed in the vicinity of the center of gravity; they are also gas jets perpendicular to the axis of the missile and located either at the front or at the rear, also acting with amplification or propulsion jet deflection systems.
  • the invention relates to piloting the missile, and in this context, a piloting system in which the lateral acceleration which causes the center of gravity of the missile to evolve has a totally or partially aerodynamic origin, that is to say results from the action of the relative speed of the surrounding air. These accelerations are controlled by means of the actuators described above.
  • FIG. 1 represents, under the prior art, the block diagram of a missile piloting system which will be called conventional with a guidance part and which comprises on board the missile an automatic pilot, performing the comparison of the orders defining the desired movement of the missile and the movement executed by it, measured by feelers. The error determined by this comparison makes it possible to correct the order which has been given to the missile.
  • a missile piloting and guidance system of the prior art then comprises a part situated on the ground and a part placed on board, the automatic pilot. On the ground, we find in 1, a device responsible for developing the gap existing between the missile's trajectory and the theoretical trajectory that it should follow according to the guidance method adopted, in general guidance by alignment. This deviation device is followed by a computer 2 which determines the guidance orders for acceleration, yaw and pitch, which supplies a remote control transmitter 3 with a transmit antenna 4.
  • the yaw control chain C1 is constituted by a loop comprising a motor 7 with its power supply, controlling the yaw actuator; in 8 we find the response of the missile actuator driven by the motor 7, in 9 the symbolization of the transfer function of the missile cell delivering in 10 and 11 respectively the yaw angular speed information of the missile and d lateral yaw acceleration performed by the missile. This information is applied respectively to a gyrometer 13 and to an accelerometer 14, associated with corrective networks 16 and 17 of the feedback and speed feedback loops.
  • the response 8 of the missile actuator is measured by a sensor 12 followed by a corrector network 15 of the feedback loop in position.
  • the yaw loop which has just been described is connected to the output of the receiver 6 by an adder-subtractor member 18.
  • certain systems comprise only one of the two gyrometric or accelerometric loops.
  • the pitch loop C2 identical to the lace loop Cl which has just been described, is connected to the output of the receiver 6 by the adder-subtractor member 181. All the other constituent circuits of the loop C2 bear the same references as the corresponding circuits of the CI loop but assigned the sign one.
  • the aim is to define a missile piloting system which does not include an on-board automatic pilot.
  • the construction of this missile is therefore simplified, its development is easier and therefore the costs are reduced.
  • the system for piloting a missile by controlling actuators arranged on the missile having on board at least one remote control receiver and possibly a command distributor is characterized in that it comprises a part on the ground comprising a computer issuing the orders for positioning the actuators of the missile, powered by a computer for guidance orders and a remote control transmitter transmitting the piloting orders to the missile and a part on board the missile comprising a receiver remote control, controlling directly or through an order distributor, the devices for applying piloting orders to the missile actuators.
  • FIG. 2 represents a control system according to the invention. It comprises a part on the ground I comprising at 1 a circuit for developing the deviations of the missile with respect to the theoretical trajectory which it must follow, at 2, a computer for yaw and pitch guidance orders, in acceleration, connected to the deviation circuit. This circuit and the guidance computer are not part of the invention. This guidance computer is connected to a computer 19 developing the piloting orders by which the actuators of the missile in question are placed in the appropriate position.
  • the piloting orders which have to control the actuators are transmitted to a remote control transmitter 3 equipped with an antenna 4.
  • the part of the piloting system placed on board the missile II comprises a reception remote control antenna 5 connected to a remote control receiver 6.
  • the remote control receiver is connected to a circuit 20 called coordinate transformer and order distributor which is connected to a roll gyroscope 31, taking into account the roll of the missile when the latter is not stabilized in roll.
  • the order distributor 20 are connected respectively by means of circuits 27 and 28 of subtraction, circuits 21 and 22 for controlling the missile actuators, commands developed on the ground in circuit 19 as has been said.
  • the responses of the actuators are collected, which are on the one hand returned to a correction network 25-26 of feedback loops which close on the subtraction circuits 27-28 and on the other hand to circuits 29 and 30 representing the transfer, yaw and pitch functions of the missile.
  • the operation of the control system in FIG. 2 is as follows.
  • the deviation measurements are carried out by circuit 1 and the computer 2 determines from the measured deviations the yaw and pitch guidance orders in the form of acceleration commands which are transformed in the computer 19 in piloting orders.
  • the computer 19 has all the data necessary to calculate with sufficient accuracy the positions to be given to the actuators which will make it possible to execute the desired acceleration orders.
  • These initial data may include, as appropriate, the thrust profile of the missile's thrusters, the characteristics of the atmosphere (pressure, temperature, wind) and its aerodynamic parameters, its mass, its inertias as a function of time, the variation of its center of gravity and actuator transfer functions.
  • the computer 19 which can be a microprocessor suitably programmed according to the flight equations of the missile.
  • the computer 2 for guidance orders in the case for example of guidance in alignment, operates on the basis of angular deviation data measured in circuit 1, of the angular velocities in elevation and in bearing of the line of sight provided by a gyroscopic box, the reduction correction due to gravity and the distance of the missile measured or calculated from its speed profile stored in memory.
  • the command or commanded acceleration order, issued by the computer 2 is transformed by the computer 19 an steering angle of the control surfaces for example, yaw and depth, calculated in a system of axes independent of the roll of the missile.
  • These steering control orders are sent to the missile via the remote control assembly 3 and its antenna 4, where they are received by the reception antenna 5 connected to the remote control receiver 6.
  • the remote control transmitter transmits, for example on a carrier of the order of 1000 MHz, a repetitive message comprising the address of the missile and the various orders to be sent to it.
  • the transmitter on the ground is not assigned to a single missile, and in the overall weapon system to which the present invention relates, a certain number of missiles can be launched simultaneously and it must be possible to distinguish them.
  • the orders sent include those for turning the control surfaces when the missile is equipped with such control surfaces or more generally orders for positioning the actuators, this term covering, as has already been recalled, any mechanical device acting to exert a mechanical force. from a control signal, generally of low level, intended to communicate to the missile the load factor ordered, orders of remote destruction, etc. These orders are usually sent in the form of binary words.
  • Control orders for steering the control surfaces are received by the remote control receiver 5 which transmits them to the circuit 20 known as the coordinate transformer and the order distributor also connected to a circuit 31 which is a roll gyroscope.
  • the orders are calculated independently of the roll, on the ground, that is to say in a system of axes linked to the ground.
  • the steering control orders are applied respectively to circuits 21 and 22 by the command distributor 20 which is a computer carrying out the change of axes necessary to pass from the axes on the ground to the axes of the missile.
  • the circuits 21 and 22 group together, for the sake of simplification, the yaw and pitch control motors, with their power supply, amplifiers and a power stage. These motors are mounted in a feedback loop, comprising a corrector network 25-26 and a subtraction circuit 27-28 allowing the control of the correct execution of the order.
  • These yaw and pitch control commands appear in ⁇ l and ⁇ t.
  • FIG. 3 represents the piloting system according to the invention, in the case of a missile stabilized in roll.
  • the ground part I is identical to that of FIG. 2; only the part on board II of the missile is simplified, the elements 20, coordinate transformer and distributor of orders and 31, roll gyroscope being eliminated.
  • on board there will be, although it is not part of the invention, a roll stabilizing device which will not be described, forming part of the known art. In Figure 3 it is simply indicated by the reference 32.
  • FIG. 4 represents an example of a missile piloted by the system according to the invention and which, compared with known missiles, does not have an automatic pilot, which simplifies its design.
  • the proximity rocket 34 In the front part 33 of the missile are the proximity rocket 34, the control surfaces 35 with their motor 36; in the next part 37, there is the remote control receiver 38, the command distributor 39, the roll gyroscope 31 and a reservoir of electrical energy 40.
  • part 41 is the military charge, in parts 42 and 43, the propulsion devices and in part 44 the rear wing which can incorporate the aerial of the remote control receiver.
  • the relative arrangement of the various components of the missile shown in FIG. 4 is not linked to the invention. It simply results from a balancing of the masses of the components, specific to the architecture of a specific example ensuring the flight stability of this missile.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP80400837A 1979-06-27 1980-06-10 Flugkörper-Lenksystem und gelenkter Flugkörper Withdrawn EP0021944A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR7916559 1979-06-27
FR7916559A FR2459955A1 (fr) 1979-06-27 1979-06-27 Nouveau systeme de pilotage de missile et missile pilote

Publications (1)

Publication Number Publication Date
EP0021944A1 true EP0021944A1 (de) 1981-01-07

Family

ID=9227174

Family Applications (1)

Application Number Title Priority Date Filing Date
EP80400837A Withdrawn EP0021944A1 (de) 1979-06-27 1980-06-10 Flugkörper-Lenksystem und gelenkter Flugkörper

Country Status (3)

Country Link
US (1) US4383661A (de)
EP (1) EP0021944A1 (de)
FR (1) FR2459955A1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4898220A (en) * 1988-05-06 1990-02-06 Mecanique Des 3 Moutiers Conical screw auger machine for splitting a log of wood
GB2302224A (en) * 1982-07-30 1997-01-08 Secr Defence Gun-launched guided projectile system

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2655448B1 (fr) * 1989-12-04 1992-03-13 Vigilant Ltd Systeme de controle d'un aeronef teleguide.
US5118050A (en) * 1989-12-07 1992-06-02 Hughes Aircraft Company Launcher control system
US6845938B2 (en) * 2001-09-19 2005-01-25 Lockheed Martin Corporation System and method for periodically adaptive guidance and control
US7530315B2 (en) 2003-05-08 2009-05-12 Lone Star Ip Holdings, Lp Weapon and weapon system employing the same
US8661980B1 (en) 2003-05-08 2014-03-04 Lone Star Ip Holdings, Lp Weapon and weapon system employing the same
US7081729B2 (en) * 2004-03-23 2006-07-25 The Boeing Company Variable-structure diagnostics approach achieving optimized low-frequency data sampling for EMA motoring subsystem
US7895946B2 (en) 2005-09-30 2011-03-01 Lone Star Ip Holdings, Lp Small smart weapon and weapon system employing the same
US7690304B2 (en) * 2005-09-30 2010-04-06 Lone Star Ip Holdings, Lp Small smart weapon and weapon system employing the same
US8541724B2 (en) 2006-09-29 2013-09-24 Lone Star Ip Holdings, Lp Small smart weapon and weapon system employing the same
US8117955B2 (en) * 2006-10-26 2012-02-21 Lone Star Ip Holdings, Lp Weapon interface system and delivery platform employing the same
US9068803B2 (en) 2011-04-19 2015-06-30 Lone Star Ip Holdings, Lp Weapon and weapon system employing the same

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2634414A (en) * 1945-08-28 1953-04-07 Gordon W Andrew Proportional control
FR1325343A (fr) * 1961-07-07 1963-04-26 Contraves Ag Montage électrique de transformation dans un missile aérien téléguidé
US3168264A (en) * 1960-02-23 1965-02-02 Short Brothers & Harland Ltd Guidance systems for missiles and other moving bodies
US3450373A (en) * 1966-08-25 1969-06-17 British Aircraft Corp Ltd Plural modulation of radio-frequency carrier wave for remote missile control systems
US3588002A (en) * 1967-10-24 1971-06-28 Albert J White Adaptive missile guidance systems
FR2129948A1 (de) * 1971-03-23 1972-11-03 Thomson Csf
US3998406A (en) * 1964-05-28 1976-12-21 Aeronutronic Ford Corporation Guided missile system
US4097007A (en) * 1974-10-15 1978-06-27 The United States Of America As Represented By The Secretary Of The Army Missile guidance system utilizing polarization

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2352308A (en) * 1940-12-23 1944-06-27 Lockheed Aircraft Corp Lateral control system for aircraft
US2603434A (en) * 1945-09-28 1952-07-15 Merrill Grayson Pilotless aircraft
US3156435A (en) * 1954-08-12 1964-11-10 Bell Telephone Labor Inc Command system of missile guidance
FR1458137A (fr) * 1965-03-16 1966-03-04 Nord Aviation Procédé et dispositif de guidage d'un aérodyne

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2634414A (en) * 1945-08-28 1953-04-07 Gordon W Andrew Proportional control
US3168264A (en) * 1960-02-23 1965-02-02 Short Brothers & Harland Ltd Guidance systems for missiles and other moving bodies
FR1325343A (fr) * 1961-07-07 1963-04-26 Contraves Ag Montage électrique de transformation dans un missile aérien téléguidé
US3998406A (en) * 1964-05-28 1976-12-21 Aeronutronic Ford Corporation Guided missile system
US3450373A (en) * 1966-08-25 1969-06-17 British Aircraft Corp Ltd Plural modulation of radio-frequency carrier wave for remote missile control systems
US3588002A (en) * 1967-10-24 1971-06-28 Albert J White Adaptive missile guidance systems
FR2129948A1 (de) * 1971-03-23 1972-11-03 Thomson Csf
US4097007A (en) * 1974-10-15 1978-06-27 The United States Of America As Represented By The Secretary Of The Army Missile guidance system utilizing polarization

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2302224A (en) * 1982-07-30 1997-01-08 Secr Defence Gun-launched guided projectile system
GB2302224B (en) * 1982-07-30 1997-07-02 Secr Defence Gun-launched guided projectile system
US4898220A (en) * 1988-05-06 1990-02-06 Mecanique Des 3 Moutiers Conical screw auger machine for splitting a log of wood

Also Published As

Publication number Publication date
US4383661A (en) 1983-05-17
FR2459955B1 (de) 1983-07-18
FR2459955A1 (fr) 1981-01-16

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PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

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AK Designated contracting states

Designated state(s): BE DE GB IT NL SE

17P Request for examination filed

Effective date: 19810121

18D Application deemed to be withdrawn

Effective date: 19830104

RIN1 Information on inventor provided before grant (corrected)

Inventor name: HAON, PIERRE

Inventor name: OTTENHEIMER, PHILIPPE