EP1970664A2 - Control for a miniature aircraft - Google Patents

Control for a miniature aircraft Download PDF

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Publication number
EP1970664A2
EP1970664A2 EP08004057A EP08004057A EP1970664A2 EP 1970664 A2 EP1970664 A2 EP 1970664A2 EP 08004057 A EP08004057 A EP 08004057A EP 08004057 A EP08004057 A EP 08004057A EP 1970664 A2 EP1970664 A2 EP 1970664A2
Authority
EP
European Patent Office
Prior art keywords
rudder
propeller
small missile
small
fins
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
EP08004057A
Other languages
German (de)
French (fr)
Other versions
EP1970664A3 (en
EP1970664B1 (en
Inventor
Michael Alois Surauer
Franz Maier
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.)
MBDA Deutschland GmbH
Original Assignee
LFK Lenkflugkoerpersysteme GmbH
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 LFK Lenkflugkoerpersysteme GmbH filed Critical LFK Lenkflugkoerpersysteme GmbH
Publication of EP1970664A2 publication Critical patent/EP1970664A2/en
Publication of EP1970664A3 publication Critical patent/EP1970664A3/en
Application granted granted Critical
Publication of EP1970664B1 publication Critical patent/EP1970664B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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
    • F42B10/66—Steering by varying intensity or direction of thrust
    • F42B10/666—Steering by varying intensity or direction of thrust characterised by using a nozzle rotatable about an axis transverse to the axis of the projectile

Definitions

  • the invention relates to a controller for small missiles, as these come as a supplementary armament for infantrymen, for border guards, anti-terrorist units and the like are used.
  • Such propeller driven a battery powered electric motor as a drive having small missiles are fired from containers or launch tubes and unfold after the start by means of rowing adjustable with the fuselage wing and tail surfaces to generate torques about the steering and transverse axis of the small missile; see. DE 10 2004 061 977 A1 ,
  • the design of the control device according to the invention allows in the simplest way an additional thrust vector control of the small missile, wherein the controlling thrust vector is generated by the resulting four or two individual delivered by the structurally coupled with the rudder fins in their angular displacement propellers thrusts that either in their Amount equal or can be individually controlled to generate the necessary control moments on the steering electronics for the purpose of thrust change.
  • the propellers producing the directional change of the small missile generate the propulsion of the small missile and are each coupled with one rowing fin.
  • the propeller modules bearing rudder fins can also be arranged separately at the stern or nose of the small missile.
  • the propulsion modules arranged on the aerodynamic wings of the small missile thus separate powered by the on-board battery electric motors are used; but it can also be derived by a single electric motor by means of a controllable branching gear drive the deflectable propeller.
  • the propellers associated with the steering fins also provide propulsion for the small missile, which simplifies their construction.
  • a four crosswise on a fuselage structure 10 (see. FIGS. 1 and 2 ) hinged aerodynamic surfaces 11, 12, 13 and 14 having small missile 15 has on the surfaces 11 to 14 hinged rudder fins 16 to 19, of which in FIG. 1 only the rudder fin 16 is shown.
  • propeller With each rudder fin driven by a battery-powered electric motor, not shown propeller is connected and forms with this in each case a propeller module M1 to M4.
  • the small missile which has been launched from a starting frame, not shown, is controlled in its cruise phase via a steering electronics along the desired trajectory.
  • the rudder fins and the associated propeller modules whose speeds and thus their thrust vectors are remotely controlled individually.
  • the effective thrust vector is generated by the resultant of the four individual thrust vectors of the propeller modules M1 to M4, which are either equal in their amount or can be individually controlled differently.
  • a rapid and effective change in direction of the small missile is achieved by changing the thrust vector even at low flow velocities of the rudder fins.
  • the rudder fins instead of the aerodynamic surfaces 11 to 14 as a separate rudder near the tail 20 of the small missile 15 - for example, at 22 - or near the fuselage tip - for example 23 - be arranged.

Landscapes

  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The control device for the production of torques around the longitudinal and transverse axis of a small missile (15) driven over a steering electronics by propellers, comprises wings (11, 12, 13, 14) having aerodynamic flight stabilization rudder-fin (16). The rudder fins are arranged in their number of revolutions over the steering electronics influenceable in their angle of deflection with propeller modules (M1) coupled to the rudder fins. The propeller modules supply the controllable propulsion for the small missile and are directly arranged at the wings. The control device for the production of torques around the longitudinal and transverse axis of a small missile (15) driven over a steering electronics by propellers, comprises wings (11, 12, 13, 14) having aerodynamic flight stabilization rudder-fin (16). The rudder fins are arranged in their number of revolutions over the steering electronics influenceable in their angle of deflection with propeller modules (M1) coupled to the rudder fins. The propeller modules supply the controllable propulsion for the small missile and are directly arranged at the wings. The propeller comprises electric motors fed by the main battery of the small missile. The propeller modules supporting the rudder fins are arranged at a tail or nose of the small missile forming control surfaces (22, 23).

Description

Die Erfindung betrifft eine Steuerung für Kleinflugkörper, wie diese als ergänzende Bewaffnung für Infanteristen, für den Grenzschutz, für Antiterroreinheiten und Ähnliches zum Einsatz gelangen.The invention relates to a controller for small missiles, as these come as a supplementary armament for infantrymen, for border guards, anti-terrorist units and the like are used.

Solche Propeller getriebene einen batteriegespeisten Elektromotor als Antrieb aufweisende Kleinflugkörper werden aus Behältern oder Startrohren verschossen und entfalten nach dem Start mittels Rudermaschinen verstellbare mit der Rumpfstruktur verbundene Flügel und Leitwerksflächen zur Erzeugung von Drehmomenten um die Lenks- und Querachse des Kleinflugkörpers; vgl. DE 10 2004 061 977 A1 .Such propeller driven a battery powered electric motor as a drive having small missiles are fired from containers or launch tubes and unfold after the start by means of rowing adjustable with the fuselage wing and tail surfaces to generate torques about the steering and transverse axis of the small missile; see. DE 10 2004 061 977 A1 ,

Infolge der geringen Vorwärtsgeschwindigkeit des Kleinflugkörpers zumindest am Anfang der Flugbahn, also seiner Freiflugphase ist die Wirksamkeit von aerodynamisch wirkenden Flächen nicht ausreichend, um insbesondere hier notwendige schnelle Steuerkommandos ausführen zu können. Hier setzt nun die Erfindung ein, deren Aufgabe es ist, die Steuerungsfähigkeit solcher Kleinflugkörper zu verbessern.Due to the small forward speed of the small missile at least at the beginning of the trajectory, so its free flight phase, the effectiveness of aerodynamically acting surfaces is not sufficient to run especially here necessary quick control commands can. This is where the invention begins, the object of which is to improve the controllability of such small missiles.

Diese Aufgabe ist gemäß der Erfindung durch die Merkmale des Patentanspruchs 1 gelöst.This object is achieved according to the invention by the features of patent claim 1.

Weitere Merkmale der Erfindung ergeben sich aus den Unteransprüchen.Further features of the invention will become apparent from the dependent claims.

Die Ausbildung der Steuereinrichtung nach der Erfindung ermöglicht auf einfachste Weise eine zusätzliche Schubvektorsteuerung des Kleinflugkörpers, wobei der steuernde Schubvektor durch die resultierende aus vier oder zwei einzelnen der von den konstruktiv mit den Ruderfinnen in ihrer Winkelauslenkung gekoppelten Propellern gelieferten Schüben erzeugt wird, die entweder in ihrem Betrag gleich oder zur Erzeugung der notwendigen Steuermomente über die Lenkelektronik zwecks Schubänderung einzeln angesteuert werden können. Die der Richtungsänderung des Kleinflugkörpers dienenden Schubvektoren erzeugenden Propeller erzeugen gleichzeitig den Antrieb des Kleinflugkörpers und sind jeweils mit je einer Ruderfinne gekoppelt. Die Propeller-Module tragenden Ruderfinnen können auch gesondert am Heck oder Bug des Kleinflugkörpers angeordnet sein.The design of the control device according to the invention allows in the simplest way an additional thrust vector control of the small missile, wherein the controlling thrust vector is generated by the resulting four or two individual delivered by the structurally coupled with the rudder fins in their angular displacement propellers thrusts that either in their Amount equal or can be individually controlled to generate the necessary control moments on the steering electronics for the purpose of thrust change. At the same time the propellers producing the directional change of the small missile generate the propulsion of the small missile and are each coupled with one rowing fin. The propeller modules bearing rudder fins can also be arranged separately at the stern or nose of the small missile.

Für den Antrieb der an den aerodynamischen Flügeln des Kleinflugkörpers angeordneten Ruderfinnen befindlichen Propeller-Module sind also separate von der Bordbatterie gespeiste Elektromotoren eingesetzt; es kann aber auch mittels eines steuerbaren Verzweigungsgetriebes der Antrieb der auslenkbaren Propeller von einem einzigen Elektromotor abgeleitet werden. Bei der erfindungsgemäßen Ausführungsform liefern also die den Ruderfinnen zugeordneten Propeller auch den Vortrieb für den Kleinflugkörper, was dessen Aufbau vereinfacht.For the propulsion modules arranged on the aerodynamic wings of the small missile propeller modules thus separate powered by the on-board battery electric motors are used; but it can also be derived by a single electric motor by means of a controllable branching gear drive the deflectable propeller. In the embodiment according to the invention, therefore, the propellers associated with the steering fins also provide propulsion for the small missile, which simplifies their construction.

Ein Ausführungsbeispiel der Erfindung ist nachfolgend anhand eines mehr oder minder schematisch dargestellten Ausführungsbeispiels beschrieben. Es zeigen

Fig. 1
eine Draufsicht auf einen erfindungsgemäßen Kleinflugkörper mit kreuzweise angeordneten aerodynamischen Flächen und
Fig. 2
eine Ansicht von hinten auf den Kleinflugkörper nach Figur 1.
An embodiment of the invention is described below with reference to a more or less schematically illustrated embodiment. Show it
Fig. 1
a plan view of a small missile according to the invention with crosswise arranged aerodynamic surfaces and
Fig. 2
a view from behind on the small missile FIG. 1 ,

Ein vier kreuzweise an einer Rumpfstruktur 10 (vgl. Figur 1 und 2) angelenkter aerodynamische Flächen 11, 12, 13 und 14 aufweisender Kleinflugkörper 15 weist an den Flächen 11 bis 14 angelenkte Ruderfinnen 16 bis 19 auf, von denen in Figur 1 nur die Ruderfinne 16 dargestellt ist. Mit jeder Ruderfinne ist ein mittels eines nicht dargestellten batteriegespeisten Elektromotors angetriebener Propeller verbunden und bildet mit diesem jeweils ein Propeller-Modul M1 bis M4.A four crosswise on a fuselage structure 10 (see. FIGS. 1 and 2 ) hinged aerodynamic surfaces 11, 12, 13 and 14 having small missile 15 has on the surfaces 11 to 14 hinged rudder fins 16 to 19, of which in FIG. 1 only the rudder fin 16 is shown. With each rudder fin driven by a battery-powered electric motor, not shown propeller is connected and forms with this in each case a propeller module M1 to M4.

Der von einem nicht dargestellten Startgestell gestartete Kleinflugkörper wird in seiner Marschflugphase über eine Lenkelektronik längs der gewünschten Flugbahn gesteuert. Hierzu dienen die Ruderfinnen sowie die damit verbundenen Propeller-Module, deren Drehzahlen und damit deren Schub-Vektoren einzeln ferngesteuert werden. Damit ist zu den durch die Ruderfinnen bewirkten Drehmomente um die Längs- und Querachse des Kleinflugkörpers 15 eine unterstützende Schubvektorsteuerung erzielbar. Der wirksame Schubvektor wird erzeugt durch die Resultierende aus den vier einzelnen Schub-Vektoren der Propeller-Module M1 bis M4, die entweder in ihrem Betrag gleich sind oder aber einzeln angesteuert unterschiedlich sein können. Hierdurch wird eine schnelle und wirksame Richtungsänderung des Kleinflugkörpers durch Änderung des Schubvektors auch bei geringen Anströmgeschwindigkeiten der Ruderfinnen erreicht. Das Zusammenwirken der mit den Ruderfinnen konstruktiv verbundenen Propeller-Module, die mit jeder der vier Ruderfinnen in ihrer Winkelauslenkung gekoppelt sind, ermöglicht also eine signifikante Verbesserung der Manövrierfähigkeit des Kleinflugkörpers.The small missile, which has been launched from a starting frame, not shown, is controlled in its cruise phase via a steering electronics along the desired trajectory. Serve this purpose, the rudder fins and the associated propeller modules whose speeds and thus their thrust vectors are remotely controlled individually. Thus, to the caused by the rudder fins torques about the longitudinal and transverse axis of the small missile 15 a supporting thrust vector control can be achieved. The effective thrust vector is generated by the resultant of the four individual thrust vectors of the propeller modules M1 to M4, which are either equal in their amount or can be individually controlled differently. As a result, a rapid and effective change in direction of the small missile is achieved by changing the thrust vector even at low flow velocities of the rudder fins. The interaction of the constructively associated with the rudder fins propeller modules, which are coupled with each of the four rudder fins in their angular displacement, thus allowing a significant improvement in the maneuverability of the small missile.

Bordbatterie, Lenkelektronik und weitere benötigte Baugruppen des Kleinflugkörpers sind der besseren Übersicht halber und, da an sich bekannt, nicht dargestellt.On-board battery, steering electronics and other required components of the small missile are the sake of clarity and, as known per se, not shown.

Wie in Figur 1 angedeutet können die Ruderfinnen statt an den aerodynamischen Flächen 11 bis 14 auch als gesonderte Ruder nahe dem Heck 20 des Kleinflugkörpers 15 - zum Beispiel bei 22 - oder nahe der Rumpfspitze - zum Beispiel 23 - angeordnet sein.As in FIG. 1 indicated the rudder fins instead of the aerodynamic surfaces 11 to 14 as a separate rudder near the tail 20 of the small missile 15 - for example, at 22 - or near the fuselage tip - for example 23 - be arranged.

Anstelle von vier aerodynamischen Flächen 11 bis 14 können auch nur zwei solcher Flächen, nämlich die Flächen 11 und 12 zur Anwendung gelangen, ohne dass hierbei der erfinderische Gedanke der Lenkunterstützung, bzw. Lenkung mittels steuerbaren Schubvektoren verlassen wird.Instead of four aerodynamic surfaces 11 to 14, only two such surfaces, namely the surfaces 11 and 12 can be used, without this the inventive idea of steering assistance, or steering is left by means of controllable thrust vectors.

BEZUGSZEICHENLISTELIST OF REFERENCE NUMBERS

1010
Rumpfstrukturhull structure
1111
aerodynamische Flächeaerodynamic surface
1212
aerodynamische Flächeaerodynamic surface
1313
aerodynamische Flächeaerodynamic surface
1414
aerodynamische Flächeaerodynamic surface
1515
KleinflugkörperSmall aircraft
1616
Ruderfinnerudder Finn
1717
Ruderfinnerudder Finn
1818
Ruderfinnerudder Finn
1919
Ruderfinnerudder Finn
2020
HeckRear
2222
Ruderfinne am HeckRudder fin at the stern
2323
Ruderfinne am BugSteering fin at the bow
M1M1
Propeller-ModulPropeller module
M2M2
Propeller-ModulPropeller module
M3M3
Propeller-ModulPropeller module
M4M4
Propeller-ModulPropeller module

Claims (4)

Steuereinrichtung zur Erzeugung von Drehmomenten um die Längs- und Querachse eines über eine Lenkelektronik fernlenkbaren mittels Propeller angetriebenen Kleinflugkörpers (15) mit der aerodynamischen Flugstabilisierung dienenden, angelenkte Ruderfinnen (16 bis 19) aufweisenden Flügeln (11 bis 14), dadurch gekennzeichnet, dass den Ruderfinnen (16 bis 19) in ihrer Drehzahl über die Lenkelektronik beeinflussbare in ihrer Winkelauslenkung mit den Ruderfinnen (16 bis 19) gekoppelte Propeller-Module (M1 bis M4) zugeordnet sind, die gleichzeitig auch den steuerbaren Vortrieb für den Kleinflugkörper (15) liefern.Control device for generating torques about the longitudinal and transverse axis of a guided by a steering electronically steered by propeller small missile (15) with aerodynamic flight stabilization, hinged rudder fins (16 to 19) having wings (11 to 14), characterized in that the rudder fins (16 to 19) are coupled in their speed via the steering electronics influenceable in their angular displacement with the rudder fins (16 to 19) coupled propeller modules (M1 to M4), which also provide the controllable propulsion for the small missile (15). Steuereinrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Propeller-Module (M1 bis M4) tragenden Ruderfinnen (16 bis 19) an dem Kleinflugkörper (15) gesondert zugeordneten aerodynamischen am Heck (22) oder Bug (23) des Kleinflugkörpers (15) befindlichen Ruderflächen (22) angeordnet sind.Control device according to claim 1, characterized in that the propeller modules (M1 to M4) supporting rudder fins (16 to 19) on the small missile (15) separately associated aerodynamic located at the rear (22) or bow (23) of the small missile (15) Rudder surfaces (22) are arranged. Steuereinrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Drehmomente um die Längs- und Querachse des Kleinflugkörpers (15) erzeugenden Propeller-Module (M1 bis M4) jeweils eigene von der Bordbatterie des Kleinflugzeuges (15) gespeiste Elektromotoren aufweisen.Control device according to claim 1, characterized in that the torques around the longitudinal and transverse axes of the small missile (15) generating propeller modules (M1 to M4) each have their own from the onboard battery of the small aircraft (15) fed electric motors. Steuereinrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die die Drehmomente um die Längs- und Querachse des Kleinflugkörpers (15) liefernden Propeller direkt an den Flügeln (11 bis 14) angeordnet sind.Control device according to claim 1, characterized in that the torques about the longitudinal and transverse axes of the small missile (15) supplying propeller directly to the wings (11 to 14) are arranged.
EP08004057A 2007-03-16 2008-03-05 Control for a miniature aircraft Not-in-force EP1970664B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102007012799A DE102007012799B3 (en) 2007-03-16 2007-03-16 Control device for the production of torques around a longitudinal and transverse axis of a small missile driven over a steering electronics by propellers, comprises wings having an aerodynamic flight stabilization rudder-fin

Publications (3)

Publication Number Publication Date
EP1970664A2 true EP1970664A2 (en) 2008-09-17
EP1970664A3 EP1970664A3 (en) 2010-04-14
EP1970664B1 EP1970664B1 (en) 2011-12-28

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP08004057A Not-in-force EP1970664B1 (en) 2007-03-16 2008-03-05 Control for a miniature aircraft

Country Status (3)

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EP (1) EP1970664B1 (en)
AT (1) ATE539312T1 (en)
DE (1) DE102007012799B3 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104699918A (en) * 2015-03-27 2015-06-10 北京润科通用技术有限公司 Rudder deflection angle calculation method and rudder deflection angle calculation system
CN113720216A (en) * 2021-06-10 2021-11-30 北京星途探索科技有限公司 Tail cabin and rudder-controlled transmission mechanism

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011015780A1 (en) 2011-04-01 2012-10-04 Lfk-Lenkflugkörpersysteme Gmbh Small aircraft
DE102014010109A1 (en) 2014-07-08 2016-01-14 Mbda Deutschland Gmbh missile

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10322421A1 (en) 2003-05-16 2004-12-09 Electrolux Home Products Corporation N.V. Method for dispensing products in a dish washing machine from a multi-compartment dispensing unit in the minimum quantities required has a fuzzy logic control system
DE102004061977A1 (en) 2004-12-23 2006-07-06 Lfk-Lenkflugkörpersysteme Gmbh Small Missile

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5322243A (en) * 1992-06-25 1994-06-21 Northrop Corporation Separately banking maneuvering aerodynamic control surfaces, system and method
DE10322412A1 (en) * 2003-05-16 2004-12-02 Paul Schreiber Tailless aircraft, has no elevator or rudder and thrust path is adjustable relative to fuselage

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10322421A1 (en) 2003-05-16 2004-12-09 Electrolux Home Products Corporation N.V. Method for dispensing products in a dish washing machine from a multi-compartment dispensing unit in the minimum quantities required has a fuzzy logic control system
DE102004061977A1 (en) 2004-12-23 2006-07-06 Lfk-Lenkflugkörpersysteme Gmbh Small Missile

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104699918A (en) * 2015-03-27 2015-06-10 北京润科通用技术有限公司 Rudder deflection angle calculation method and rudder deflection angle calculation system
CN104699918B (en) * 2015-03-27 2017-08-11 北京润科通用技术有限公司 A kind of method and system for calculating angle of rudder reflection
CN113720216A (en) * 2021-06-10 2021-11-30 北京星途探索科技有限公司 Tail cabin and rudder-controlled transmission mechanism

Also Published As

Publication number Publication date
EP1970664A3 (en) 2010-04-14
DE102007012799B3 (en) 2008-04-30
EP1970664B1 (en) 2011-12-28
ATE539312T1 (en) 2012-01-15

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