EP0238717A1 - Missile dirigible - Google Patents

Missile dirigible Download PDF

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Publication number
EP0238717A1
EP0238717A1 EP86115867A EP86115867A EP0238717A1 EP 0238717 A1 EP0238717 A1 EP 0238717A1 EP 86115867 A EP86115867 A EP 86115867A EP 86115867 A EP86115867 A EP 86115867A EP 0238717 A1 EP0238717 A1 EP 0238717A1
Authority
EP
European Patent Office
Prior art keywords
rotor
missile
actuators
control
rudder
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.)
Granted
Application number
EP86115867A
Other languages
German (de)
English (en)
Other versions
EP0238717B1 (fr
Inventor
Walter Kranz
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.)
Airbus Defence and Space GmbH
Original Assignee
Messerschmitt Bolkow Blohm AG
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 Messerschmitt Bolkow Blohm AG filed Critical Messerschmitt Bolkow Blohm AG
Publication of EP0238717A1 publication Critical patent/EP0238717A1/fr
Application granted granted Critical
Publication of EP0238717B1 publication Critical patent/EP0238717B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
    • F42B10/60—Steering arrangements
    • F42B10/62—Steering by movement of flight surfaces
    • F42B10/64—Steering by movement of flight surfaces of fins

Definitions

  • the invention relates to a rotor control system for missile systems.
  • the aim of the invention is to provide rotor positioning systems, in particular rudder systems or spoiler systems, with which the missile can be controlled with as little effort as possible.
  • the specified rotor positioning systems should also be possible for controls of relatively small missiles, with low-inertia systems being proposed.
  • effective inertial rotor positioning systems can be specified.
  • the invention is characterized by the features of claim 1.
  • the rotor parking system is characterized by one or angled parallel to the missile longitudinal axis to a rotatable or pivotable bracket which supports the actuators for the transverse force generation.
  • the actuators are actuated by their metered coupling to the missile via a control mechanism .
  • the direction of the transverse force is determined by the momentary angular position of the actuators relative to the environment during the coupling.
  • the transverse force level or the transverse pulse is determined by the coupling duration.
  • the energy for actuating the actuators is preferably normal from the rotary drive of the rotor taken.
  • the actuating elements are actuated by their dosed coupling to the missile via the control mechanism, whereby a further rotor can be located between the missile and the control mechanism (e.g. a rotation of the body is then unnecessary for the function of different variants).
  • Additional drives are possible, e.g. B. by a rudder with the help of a motor between the two rotors or by a rotor between the second rotor and the missile.
  • the main components of the rotor positioning system are: a rotor from console, rotary drive for the rotor, actuators and a control part for the rotor; the missile with the control part for the missile.
  • Actuators are used aerodynamic or aquadynamic thrusters, aerodynamic or aquadynamic jet spoilers, Thrusters, Flaps or the like.
  • Possible rotary drives for the rotor are: entangled aerodynamic, aquadynamic or jet spoilers (hot gas), Drives between missile and rotor such.
  • the measurement of the rotational position of individual parts is necessary for various systems in order to obtain the relation to the electrical command in the missile part.
  • the measurement option (by potentiometer, magnetic or optical tap) is not listed here.
  • Rotor positioning system rotor rudder system I Console: Part A with high inertia around axis xx.
  • Rotary drive of the rotor The entangled rudder pair, part B, or an extra rudder pair generates a rolling moment.
  • Control part rotor part C with lever transmission 8 to part B.
  • the control part for the FK missile is the braking system E.
  • Command ZERO brake system E is not activated: rotor runs continuously, driven by e.g. B. crossed oars pair B.
  • Brake system is activated: Part C is braked compared to part A and rotates the rudder pair B via pin 8, so that a lateral force is generated.
  • Rotor positioning system rotor rudder system II Console: Part A with slight inertia around axis xx; Rotary drive of the rotor: crossed rudder pair B; Actuators: Rudder 2 (rudder 1 firmly connected to part A); Control part rotor: part C These parts form the rotor.
  • Command zero brake system is not activated, rotor runs continuously, driven by a twisted rudder pair B.
  • Brake system is activated: Part C is braked in relation to A and rotates rudder 2 via pin 8. The lateral force is created by the rudder pair, which is rotated on average. The rotary drive is also supported by the increased entanglement. The function is similar to that of the rotor positioning system according to FIG. 1.
  • the seeker head system essentially consists of the FK missile itself and a rotating unit A, consisting of an aerodynamic rotary drive with additional aileron action and the sensor system 1, 2, 3, and as a link between the missile and rotating unit, a braking system E.
  • the turntable turns in the opposite direction to the missile direction (around the x-axis); the missile also rotates about its x-axis with respect to the environment.
  • the mode of operation is first explained using a drop rocket, ie using a relatively slow-moving missile (FIGS. 4, 5).
  • the sensor system consists of a grommet 1 with a slit-shaped opening 2 (“acoustic tube”) and the acoustic sensor 3 itself, all of which rotate at an angle ⁇ to the x-axis, caused by the interlocked pair of wings 4.
  • the sensor system scans the bottom region 5, which is highlighted in bold in FIG. 5, with the width and length corresponding to the spout slot 2 and forms the maximum scanning region AB.
  • the rotating unit rotates freely due to the entangled pair of wings 4 by the braking system;
  • the scanning area AB decreases with decreasing distance from the missile to the ground.
  • the rotary drive is in the axis x-x (or parallel to it), so that no transverse forces can act on the missile FK; (Resistance reduction, simplification of the regulation, but at the expense of the increased effort for applying the lateral force in the event of a command; description of the function later).
  • the sensor picks up these noises and immediately initiates the braking process rotary drive against missiles.
  • the rotary unit After the rotary drive has low inertia relative to the missile, the rotary unit now rotates with the missile when the brakes are fully applied or even when the brakes are reduced. H. opposite to their original direction of rotation and also spatially opposite to the target, since the missile itself rotates in relation to the surroundings.
  • the senor loses the acoustic signal, i. H. the target again, the brake is released and the rotary drive rotates again in its original direction until the acoustic signal is detected again and the brake is switched on again.
  • This process is repeated continuously.
  • the rotating unit is spatially fixed with the axis a-a in the direction of the target, i. H. the pair of wings 4 (Fig. 1, 4) constantly generates shear force in the missile towards the target, until the acoustic signal is within the cone angle ⁇ . The result is zero command.
  • the inaccuracy is also determined by the angle .beta.
  • the angle .beta. Serves primarily to avoid having to correct every missile wobble movement.
  • an additional stabilization of the missile can be achieved, in particular if the control with transverse forces is less than the maximum transverse forces, as is shown in the solution according to FIGS. 2 and 3: here there is a forced one Rotation of the pair of wings 4 about the axis ee (corresponds to increasing transverse force generation) when the braked brake disc 6 exerts force on the eccentrically arranged bolt 8 via part 7.
  • the resetting of the pair of wings to the "transverse force zero" position is carried out by the spring 9 or aerodynamic effects on the wings.
  • the sensor signal is routed via a grinder 10 to signal processing with amplification 11 and on to the brake coil 12.
  • the very simple system listed here can preferably be used for relatively slow targets, e.g. B. Anti-tank missile, helicopter defense, ship targets etc, ie attack from above; steered slide bomb; Lift mine.
  • targets e.g. B. Anti-tank missile, helicopter defense, ship targets etc, ie attack from above; steered slide bomb; Lift mine.
  • the rudder pair rotates about the axis e-e up to a stop which, for. B. can be realized by the tightly wrapped spring 9 to part 7. Then the rudder pair together with the console will turn in the opposite direction of rotation around the axis x-x if the missile itself turns in the opposite direction to the environment: This means the possibility of generating a full command in a defined spatial direction.
  • transverse thrust nozzle according to DE-OS 33 17 583, which is supplied with gas either by ram air, but preferably by a hot gas generator. Due to the reduced moment of inertia, the impeller rotary actuator now only requires smaller dimensions or is itself replaced by a torque-generating nozzle (rotating nozzle system).
  • the senor is e.g. B. a low-inertia laser receiver.
  • the command is given analogously to Figures 1 to 4: That is. with zero command, the rotating nozzle DD constantly blows into the inner wall I z. B. the grenade FK.
  • a gate KL is braked by the braking system, the rotating unit slides axially, in this case backwards in such a way that depending on the overlap at the edge K, more or less lateral force is generated to the outside in accordance with the duration of the command.
  • the sensor S is constructed as in FIGS. 4 and 5; the measurement signals are picked up by the slip ring 10.
  • a neutral outlet 13 is also provided for the rotary nozzle.
  • the mechanical separation is to be understood so that the sensor system can rotate quickly regardless of the transverse force generator, i. H. works autonomously. This means that a more precise command formation for the transverse force generator can take place in a computer from the signals of the target and the rotation of the missile relative to the sensor system.
  • an inertial console and low-inertia actuators are provided: With extreme commands (e.g. high braking), the rudder (pair) is rotated, and with maximum deflection, the console is turned by decoupled from the control elements (rudder pair): the console continues to run - expediently supported by a separate rotary drive -, the rudder pair "remains" spatially.
  • Shear force zero command The rotor remains in rotation due to the interlocked rudders (Fig. 9a); there is no lateral force, turning requires a minimum of energy.
  • This type of control can thus be used directly for roll-stabilized missiles.
  • F is the extension system for the console A; a slide piston of the extension system F acted upon by gas G from a gas generator is designated by 21; the braking system E is constructed as in FIG. 1; a separate roller drive by pivoted fixed wings 22 for the console is provided, which can also be used for the expansion wing solution according to FIG. 10; the rear fixed rudder is designated 23, the front rudder 24, which is at the same time an actuator and rotary drive for the rotor. 8 has a non-rotatable brake magnet 25 with a brake disc 26 which acts on the control part C of the rotor.
  • FIG. 10 A variant of the transverse force generation can be seen in FIG. 10: at zero command, the expandable wings 33 and 34 disappear from the flow; in the case of braking, there is a more or less high lateral force depending on the wing spread over a -shaped profile bar 35, which runs in a cladding tube 36 and is actuated by a magnet system or the like, not shown.
  • the wings are interlaced with each other (angle ⁇ ), so that rolling moment also acts with increasing shear force, a rolling moment which counteracts that which constantly arises from the pair of wings 33, 34.
  • the same effect namely turning reversal as described above, can thus be achieved.
  • FIG. 11 shows part of a missile FK with the missile longitudinal axis 41 indicated.
  • the missile tip forms the front part of the missile with a target seeker 42, the details of which are not shown further.
  • the tip runs on ball bearings 43 around the missile.
  • the rudder axis RA is radial.
  • At least two opposite rudders are shown around the circumference of the target seeker head, one of which, the one shown here, is adjustable.
  • the rudder has a transmission mandrel 45 projecting from the rudder axis, which is assigned to a transmission stop 46 of a brake disk 47.
  • the brake disc forms the control part for the rudder and works together with a ring magnet 48 on the missile side.
  • the parts 47 and 48 form a braking system, as already explained above. From Figure 12 it can be seen that by turning on the ring magnet, the brake disc opposite the rotation of the seeker head or here a rotating part A located in the middle of the missile remains so that the rudder is turned relative to the missile longitudinal axis. If the braking is released, the brake disc rotates freely again with the transmission mandrel; the rudder is brought into the starting position by a return spring, not shown here.
  • FIG. 13a A system similar to that shown in FIG. 11 is shown in FIG. 13a.
  • the same reference numerals are used, to which a ( ⁇ ) has been added.
  • the rudder 44 ⁇ is designed so that the pressure point 51 of the rudder lies in front of the radial rudder axis.
  • a further transmission mandrel 45 ⁇ is provided, to which a brake disk 47 ⁇ is assigned.
  • Another ring magnet 48 ⁇ works together with the brake disc.
  • the operation of these parts 45 ⁇ , 46 ⁇ , 47 ⁇ , 48 ⁇ is like that of the parts 45, 46, 47, 48. Is the rudder according to the above description with the help of the ring magnet 48usion, the brake disc 47 ⁇ and the transmission mandrel 45 ⁇ in the in Fig.
  • rudders In the simplest case, four rudders are provided, three of which generate a torque via the inertial console.
  • the fourth rudder is steered impulsively.
  • the rotary drive takes place through the inclined rudder; however, this can also be done by a motor.
  • FIG. 14 shows a multiple rudder rotor system in which a plurality of rudders with radial rudder axes are arranged on a rotating part A. Only one of the oars is shown here, usually four or more oars are used. All rudders are adjustable around their rudder axes. The adjustment of each rudder is carried out as in the exemplary embodiments according to FIGS. 11 to 13, the braking system consisting of magnets and brake disks being broken down into a plurality of, in this case eight pot magnets M1 to M8 and associated scenes K1 to K4 with corresponding scenery skids.
  • These runners and the guide links are designed so that the rudder can be transferred from its rest position to the position with the angle ⁇ and returned from it.
  • the individual rudders are controlled in such a way that the desired control component is set in a fixed space sector, ie a smooth control of all rudders is provided.
  • the individual pot magnets are controlled accordingly. With this version, full command can be achieved almost during the entire rotation of the missile.
  • This multiple rudder system is based on the rotor rudder system II. Basically, the energy for deflecting the rudders is taken from the current. With the rudder not shown, the missile FK (front part, rear part) rotates in the direction of the arrow shown, the console A of the control system through the four rudders R1 to R4 (angle ⁇ , rudder axis 61) in the opposite direction.
  • Each rudder has a runner K1 to K4 made of magnetic material, which are each guided in a guide link 62.
  • the runners are preferably designed so that two magnets M of eight pot magnets M1 to M8 located next to one another always trigger the rotary movement of the rudder when the two magnets are excited.
  • the rudders are returned either aorodynamically or preferably by a spring, not shown.
  • the mounting of console A in the missile is also not shown.
  • a missile roll drive can also be omitted.
  • a kinked bracket A is mounted in a missile tip FK, which has two rudders R which are interlocked in the part which projects forward and is kinked with respect to the missile longitudinal axis.
  • the control parts for the bent console and the control parts on the missile side are not shown. This is about it is a brake system as in Figure 1, accordingly a brake disc connected to the rotating console and a brake magnet on the missile side. If the braking system is not activated, the bent console rotates freely around the longitudinal axis of the missile at high speed. If the bent console is stopped by the braking system, a lateral force corresponding to a pitching moment acts on the missile due to the off-center position of the rudder.
  • the system shown in FIG. 15 can be used in conjunction with a seeker head system according to FIG. 5.
  • This rotor positioning system (rotor rudder system VI) has the following parts on the rotor side: Console: kinked low inertia shaft; Rotary drive of the rotor: entangled oars on the bent part of the console; Actuators: Adjustment of the rudder pair in relation to the missile longitudinal axis part (always available); Control unit rotor: corresponds to console plus brake magnet disc.
  • the control part on the missile side is the brake magnet.
  • a slim console A is mounted in the missile tip FK, the axis of rotation of which is inclined relative to the longitudinal axis of the missile.
  • the console At its front end, which lies approximately in the longitudinal axis of the missile, the console carries a crossed pair of wings 71, so that the console is set into rapid rotation when the missile is flying.
  • the described arrangement practically avoids interference forces on the missile. If a transverse force is to be exerted on the missile in a certain direction, the console is stopped with a brake system E, which consists of a magnet and a toothed brake disc which meshes with a gear wheel on the missile end of the console.
  • a brake system E which consists of a magnet and a toothed brake disc which meshes with a gear wheel on the missile end of the console.
  • the pair of wings now held exerts a transverse force on the missile, the spatial direction of this transverse force being able to be determined in accordance with the held position of the console.
  • This rotor positioning system (rotor rudder system VII) has on the rotor side: One console: shaft rotatable at an angle to the longitudinal axis of the missile, low inertia; Rotary drive of the rotor: entangled rudder pair on shaft; Actuators: crossed oars; Control unit rotor: brake disc on shaft. A brake magnet is provided as a control part on the missile side.
  • Command zero plane surface of the rudder pair aims through the missile's longitudinal axis (braking effect on the missile is low).
  • the plane of the rudder pair forms an angle with the longitudinal axis of the missile.
  • the command zero is 90 degrees.
  • the solution is simple.
  • the actual positioning system with the console, the entangled pair of wings and the magnet system is similar to the system shown in FIG. 16, so that a description is unnecessary.
  • This control system is in turn received in a rotating part 81, which forms part of the missile tip.
  • This rotating part is supported against the missile housing FK.
  • a ring magnet 82 is provided in the missile housing
  • a rotating disk 83 is assigned to the rotating part. Ring magnet and brake disc form another brake system.
  • the turned part itself must be kept in constant rotation by means of interlocked rudder R. These rudders are therefore only used for the rotor drive. With this rotor system, a fixed lateral force can be constantly exerted on the missile, even when the missile is rotating.
  • the entire tip is coupled to an additional control unit opposite the missile (brake magnet or electric motor drive). Otherwise, this system is similar to that in Figure 16. A pivoting movement is possible with an electric motor drive.
  • the necessary rudder area generally decreases with increasing distance from the center of gravity of the missile; this reduces the rudder moment of inertia and the switching process command - zero command command is faster; the lateral force otherwise supplied by thrusters can also be reduced, ie a hot gas generator is not even necessary for many applications.
  • the handrail ie the console A after leaving z. B. the gun barrel pushed out, for. B. by delaying the grenade, the extended lever arm does not prevent the manipulation of the missile. It should be mentioned that the handrail itself generates lift, which additionally reduces the rudder surface.
  • a console A is mounted in a missile tip FK parallel to the missile longitudinal axis and is set in rotation by an entangled pair of spoilers 91 at the tip.
  • a gear 92 is provided which meshes with a toothed brake disk 93.
  • This brake disc forms a brake system E with a magnet 94, as described for FIGS. 16 and 17.
  • the entangled spoiler pair 91 is held in a plane parallel to the transverse plane of the missile in accordance with FIGS. 18a and 18b; with a zero command, the spoiler is held in the vertical plane of the missile (Fig. 18 c and d)
  • FIGS. 19a and 19b A top view of a missile tip FK is shown in FIGS. 19a and 19b, parts being broken away for reasons of clarity.
  • a spoiler 101 designed as a turned sheet metal strip is mounted on a spoiler carrier 102 and, in the position shown in FIG. 19a, is located on the outer circumference of the missile.
  • the shape of the spoiler drives the entire console system A.
  • a sprocket carrier 103 which is designed as an armature and which rotates together about the axis of rotation D, is connected to the spoiler carrier.
  • the armature meshes in a gear 104, which is firmly connected to a brake magnet missile.
  • the brake magnetic poles 105 are also indicated.
  • the spoiler can be transferred from the position shown in FIG. 19a to the missile-centered position shown in FIG. 19b by a corresponding rotation of the spoiler carrier and running of the individual toothed wheels on one another. This position corresponds to the zero command, the position according to FIG. 19a

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  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Braking Arrangements (AREA)
  • Control Of Position Or Direction (AREA)
  • Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
EP86115867A 1986-02-27 1986-11-14 Missile dirigible Expired - Lifetime EP0238717B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3606423 1986-02-27
DE19863606423 DE3606423A1 (de) 1986-02-27 1986-02-27 Rotorsystem in verbindung mit flugkoerpersteuerungen

Publications (2)

Publication Number Publication Date
EP0238717A1 true EP0238717A1 (fr) 1987-09-30
EP0238717B1 EP0238717B1 (fr) 1990-08-01

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP86115867A Expired - Lifetime EP0238717B1 (fr) 1986-02-27 1986-11-14 Missile dirigible

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US (3) US4927096A (fr)
EP (1) EP0238717B1 (fr)
DE (2) DE3606423A1 (fr)

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FR2615938A1 (fr) * 1987-05-26 1988-12-02 Messerschmitt Boelkow Blohm Dispositif de commande de gouvernes pour un missile guide

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US6364248B1 (en) * 2000-07-06 2002-04-02 Raytheon Company Articulated nose missile control actuation system
US7278609B2 (en) * 2005-08-05 2007-10-09 Northrop Grumman Corporation Movable nose cap and control strut assembly for supersonic aircraft
DE102005043474B4 (de) * 2005-09-13 2011-04-07 Deutsch-Französisches Forschungsinstitut Saint-Louis, Saint-Louis Vorrichtung zum Steuern eines Geschosses
DE102006003638B4 (de) * 2006-01-26 2008-01-17 Deutsches Zentrum für Luft- und Raumfahrt e.V. Flugkörper für den Überschallbereich
US7963442B2 (en) 2006-12-14 2011-06-21 Simmonds Precision Products, Inc. Spin stabilized projectile trajectory control
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FR2980842B1 (fr) * 2011-10-03 2013-09-13 Nexter Munitions Projectile gyrostabilise comportant une paire d'ailettes et procede de pilotage d'un tel projectile
CN103407570A (zh) * 2013-07-12 2013-11-27 西北工业大学 用于控制大迎角细长体侧向力的涡流发生装置
GB2523097B (en) * 2014-02-12 2016-09-28 Jaguar Land Rover Ltd Vehicle terrain profiling system with image enhancement
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US4927096A (en) 1990-05-22
EP0238717B1 (fr) 1990-08-01
US5065957A (en) 1991-11-19
DE3606423A1 (de) 1987-09-03
DE3645077C2 (de) 1996-06-27
US5083724A (en) 1992-01-28

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