EP0471919B1 - Système actionneur homocinétique - Google Patents

Système actionneur homocinétique Download PDF

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Publication number
EP0471919B1
EP0471919B1 EP91105326A EP91105326A EP0471919B1 EP 0471919 B1 EP0471919 B1 EP 0471919B1 EP 91105326 A EP91105326 A EP 91105326A EP 91105326 A EP91105326 A EP 91105326A EP 0471919 B1 EP0471919 B1 EP 0471919B1
Authority
EP
European Patent Office
Prior art keywords
spherical shell
missile
control system
around
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.)
Expired - Lifetime
Application number
EP91105326A
Other languages
German (de)
English (en)
Other versions
EP0471919A2 (fr
EP0471919A3 (en
Inventor
Walter Dipl.-Ing. Hetzer
Richard Dipl.-Ing. Neumayer
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
Daimler Benz Aerospace 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 Daimler Benz Aerospace AG filed Critical Daimler Benz Aerospace AG
Publication of EP0471919A2 publication Critical patent/EP0471919A2/fr
Publication of EP0471919A3 publication Critical patent/EP0471919A3/de
Application granted granted Critical
Publication of EP0471919B1 publication Critical patent/EP0471919B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • F41G7/22—Homing guidance systems
    • F41G7/222—Homing guidance systems for spin-stabilized missiles
    • 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
    • F41G7/22—Homing guidance systems
    • F41G7/2213—Homing guidance systems maintaining the axis of an orientable seeking head pointed at the target, e.g. target seeking gyro
    • 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
    • F41G7/22—Homing guidance systems
    • F41G7/2253—Passive homing systems, i.e. comprising a receiver and do not requiring an active illumination of the target
    • 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
    • F41G7/22—Homing guidance systems
    • F41G7/2273—Homing guidance systems characterised by the type of waves
    • F41G7/2293—Homing guidance systems characterised by the type of waves using electromagnetic waves other than radio waves

Definitions

  • the invention relates to a homokinetic control system.
  • the invention has for its object to provide a homokinetic control system which has the same properties in a small space as two cardan joints arranged in series.
  • the homokinetic control system ideally permits the functional and spatial fusion between a homokinetic ball constant velocity joint and a biaxial electromechanical actuator.
  • the inner and outer spherical shells are made up of at least six transmission balls and corresponding inner and outer ball tracks Homokinetically connected to each other around their longitudinal axes, whereby a rotational movement of one of the two spherical shells (2, 3) about its longitudinal axis is always transmitted without error to the longitudinal axis of the other spherical shell and thereby the longitudinal axes (13, 14) of the spherical shells (2, 3) a longitudinal inclination of the control system by an angle ⁇ to each other take an angle ⁇ / 2.
  • the deflection is possible in any spatial direction.
  • the two actuators consist of four permanent magnetic excitation circuits and four dome-shaped electrical control coils. Two opposing coils are activated together by applying a control current and trigger a torque and thus a relative movement about the associated actuating axis.
  • the pairs of control coils are advantageously arranged in the inner spherical shell, the permanent magnets being in the outer spherical shell.
  • a e.g. Optical sensor installed, which is not dynamically influenced by the roll movement of the missile in the event of a deflection.
  • This installation of the homokinetic positioning system according to the invention in a rotating missile enables through its compact construction and its simple components the creation of an uninfluenced by the rolling movement of the missile homing system even with small dimensions.
  • a homokinetic spatial actuating system 1 which essentially consists of an outer spherical shell 2, an inner spherical shell 3 and eight transmission balls 4 arranged between the spherical shells and two rows of four supporting balls 5 each.
  • the outer spherical shell 2 there are two rows of four permanent magnets 6 each, which interact with four control coils 7a to 7d arranged in the inner spherical shell 3.
  • a permanent flowing magnetic excitation flux 8 is maintained by the permanent magnets 6.
  • In the inner spherical shell 3 there are 4 inner spherical tracks 9 for the movement of the transfer balls and in the outer spherical shell 2 there are corresponding outer spherical tracks 11.
  • the transfer balls 4 are held by a ball cage 12.
  • the homokinetic control system has two control axes 13 and 14.
  • the control coil pairs 7b and 7d arranged around the control axis 13 receive their control current according to FIG. 2 via lines 15, the control coil pairs 7a and 7c according to FIG. 3 via lines 16.
  • the inner spherical shell 3 can depending on how the control coils are supplied with current, deflect about any axis, the ball cage 12 with the transfer balls 4 stands in a plane which is rotated by half the deflection angle of the inner spherical shell 3 perpendicular to the deflection angle.
  • the actuating movement is triggered by the force of the energized control coils in the permanent magnetic excitation flow.
  • FIG. 4 shows schematically the installation of the homokinetic control system 1 in the tip of a missile 20.
  • the outer spherical shell 2 with the permanent magnets 6 is inserted in a jacket 21 of the missile tip with the interposition of a damping ring 22.
  • a sensor 23 (not shown in more detail) is installed in the inner spherical shell 3 and is, for example, an optical sensor for autonomous target search.
  • the missile 20 can rotate about an axis 24 according to an arrow 25. If the sensor 23 is deflected in the fulfillment of its function, for example by an angle ⁇ , the ball cage 12 with the transmission balls 4 stands in a plane which is rotated by the angle ⁇ / 2 with respect to the original position.
  • the actuating movement by the angle ⁇ does not trigger any unwanted roll relative movements between the sensor 23 and the axis 24 of the missile 20.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)

Claims (4)

  1. Système de commande homocinétique, caractérisé par
    - une cuvette (3) sphérique intérieure et une cuvette (2) sphérique extérieure qui sont liées entre elles, de manière homocinétique, par obstacle, avec possibilité de rotation autour de leurs axes (13,14) longitudinaux, par au moins six billes (4) de transmission et des pistes (9, 11) intérieure et extérieure associées, un mouvement de rotation de l'une des deux cuvettes (2, 3) autour de son axe longitudinal étant toujours transmis sans erreur à l'axe longitudinal de l'autre cuvette et les axes longitudinaux (13, 14) des cuvettes (2,3) occupant l'un par rapport à l'autre un angle α/2 lorsque le système de commande a un angle α d'inclinaison longitudinale,
    - au moins deux bobines (7) électriques de commande qui sont disposées dans les cuvettes (3 ou 2) intérieure ou extérieure,
    - au moins quatre aimants (6) permanents qui coopèrent avec les bobines (7) de commande et sont disposés dans la cuvette (2, 3) qui ne comporte pas les bobines de commande (7),
    - au moins doux fois trois billes (5) de support qui supportent avec possibilité de rotation autour du centre de la sphère et avec des frottements réduits les deux cuvettes (2, 3) dans la direction des axes longitudinaux (13, 14).
  2. Système de commande selon la revendication 1, caractérisé par le fait que les bobines de commande (7) sont disposées dans la cuvette (3) intérieure et les aimants permanents (6) dans dans la cuvette (2) extérieure.
  3. Système de commande selon les revendications 1 et 2 installé dans le nez d'un missile (20) tournant autour de son axe (24), caractérisé par le fait qu'un capteur (23) est monté dans la cuvette (3) intérieure et par le fait que, lorsque le capteur exécute un mouvement de réglage correspondant à un angle solide α par rapport à l'axe longitudinal (24) du missile (20), les billes de transmission (4) se déplacent indépendamment du mouvement de roulis du missile dans l'un des plans qui est égal la moitié de l'angle (α/2).
  4. Système de commande selon la revendication 3, caractérisé par le fait que la cuvette (2) extérieure est liée au nez du missile (20) par l'intermédiaire d'un anneau amortisseur (22).
EP91105326A 1990-07-14 1991-04-04 Système actionneur homocinétique Expired - Lifetime EP0471919B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4022509 1990-07-14
DE4022509A DE4022509A1 (de) 1990-07-14 1990-07-14 Homokinetisches stellsystem

Publications (3)

Publication Number Publication Date
EP0471919A2 EP0471919A2 (fr) 1992-02-26
EP0471919A3 EP0471919A3 (en) 1992-04-22
EP0471919B1 true EP0471919B1 (fr) 1995-09-20

Family

ID=6410331

Family Applications (1)

Application Number Title Priority Date Filing Date
EP91105326A Expired - Lifetime EP0471919B1 (fr) 1990-07-14 1991-04-04 Système actionneur homocinétique

Country Status (2)

Country Link
EP (1) EP0471919B1 (fr)
DE (2) DE4022509A1 (fr)

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1351279A (en) * 1958-07-01 1974-04-24 Bodensee Fluggeraete Target seeking gyro
US4500051A (en) * 1972-10-06 1985-02-19 Texas Instruments Incorporated Gyro stabilized optics with fixed detector
US4210804A (en) * 1978-08-22 1980-07-01 Raytheon Company Free-gyro optical seeker
DE2921228C3 (de) * 1979-05-25 1981-11-26 Bodenseewerk Gerätetechnik GmbH, 7770 Überlingen Zielsuchkopf für einen Flugkörper
DE3205437A1 (de) * 1981-02-16 1982-09-23 British Aerospace Public Ltd. Co., London Optischer strahlungsempfaenger
EP0166152A3 (fr) * 1984-06-11 1989-02-22 Allied Corporation Système de guidage à masse réduite pour missile
US4615496A (en) * 1985-01-03 1986-10-07 The Boeing Company Hybrid semi-strapdown infrared seeker
JPH0734639B2 (ja) * 1985-03-06 1995-04-12 工業技術院長 ３自由度直流モ−タ
SE448027B (sv) * 1985-05-22 1987-01-12 Philips Norden Ab Anordning for tva-axligt rorlig upphengning av en kropp
SE8602506D0 (sv) * 1986-06-03 1986-06-03 Philips Norden Ab Avlenkningsanordning

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Prof. Dr.Ing. Siegfried Hildebrand,"Feinmechanische Bauelemente" VEB Verlag Technik Berlin, 2.Auflage, 1971, Seiten 724-725 *

Also Published As

Publication number Publication date
EP0471919A2 (fr) 1992-02-26
DE4022509A1 (de) 1992-01-16
EP0471919A3 (en) 1992-04-22
DE4022509C2 (fr) 1993-06-24
DE59106516D1 (de) 1995-10-26

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