EP2397810B1 - Dispositif d'orientation passive d'une plateforme d'appareils dans un corps déplacé dans un fluide - Google Patents

Dispositif d'orientation passive d'une plateforme d'appareils dans un corps déplacé dans un fluide Download PDF

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Publication number
EP2397810B1
EP2397810B1 EP11004927.7A EP11004927A EP2397810B1 EP 2397810 B1 EP2397810 B1 EP 2397810B1 EP 11004927 A EP11004927 A EP 11004927A EP 2397810 B1 EP2397810 B1 EP 2397810B1
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EP
European Patent Office
Prior art keywords
device platform
axis
pivot shaft
pivot
missile
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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.)
Active
Application number
EP11004927.7A
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German (de)
English (en)
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EP2397810A3 (fr
EP2397810A2 (fr
Inventor
Jürgen Engel
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
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MBDA Deutschland GmbH
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Publication of EP2397810A2 publication Critical patent/EP2397810A2/fr
Publication of EP2397810A3 publication Critical patent/EP2397810A3/fr
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Publication of EP2397810B1 publication Critical patent/EP2397810B1/fr
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
    • F42B15/01—Arrangements thereon for guidance or control
    • 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
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B19/00—Marine torpedoes, e.g. launched by surface vessels or submarines; Sea mines having self-propulsion means
    • F42B19/01—Steering control

Definitions

  • the present invention relates to a device for the passive alignment of a device platform in a body moved by a medium with respect to a target driven by the moving body according to the preamble of patent claim 1.
  • the body may be, for example, an aircraft or a missile, either an actively propelled missile such as a missile, or a passively accelerated missile such as a missile.
  • the medium is the air surrounding the missile.
  • the body may just as well be a floating body, for example a ship, a submarine or a torpedo, in which case the medium is formed by the water surrounding the body.
  • a target sensor or a homing seeker In such a body moving through the air or the water, which is heading towards a predetermined destination, usually a target sensor or a homing seeker is provided, which usually has to be roughly aligned with the target, so that he does not miss his target Loses visual field and can track the target during the movement of the missile.
  • This alignment of the sensor or seeker which is usually mounted on a device platform, can be done around multiple axes. Frequently, all three main axes in space, namely the yaw axis, the pitch axis and the roll axis affected.
  • a first variant of the active alignment of a seeker head is realized by means of a Cartesian, multi-axis gimbal system.
  • the seeker head or at least the detector of the seeker head and the associated optical system are accommodated in a generally multi-axis gimbal system. This makes it possible to actively influence the alignment in the different axes.
  • a system is created which is independent of its motion-change vectors within another moving system, namely the missile.
  • Such systems are also referred to as gyro platforms.
  • the position of the missile in space is usually measured with an inertial measurement unit (IMU) and the gimbal system is aligned accordingly, which is usually done by servo motors, so that the seeker head always looks towards the target.
  • IMU inertial measurement unit
  • all movements of the Missile, including vibration and short interference compensated by adjusting the gimbal, so that the seeker can take a stabilized image.
  • the optical element may also have a plurality of actively adjustable mirrors.
  • a third variant of the active alignment of a seeker head is similar to the aforementioned second variant, but instead of one or more mirrors actively adjustable prisms are used, which often allow a space-saving design of the seeker head, as would be possible with mirrors.
  • the beam path can be optically controlled by means of wedge prisms.
  • the DE 10 2006 003 638 B4 discloses a device for passive pivoting of an external aero-spike for reducing the flow resistance in supersonic missiles.
  • aerodynamic forces acting on the aero-spike adjust the orientation of the aero-spike.
  • From the US 4,738,412 A is a missile with a flow-stabilized gimbal platform known in which a two orthogonal to each other and perpendicular to the missile longitudinal axis gimbal gimbal mounted gimbal platform is housed in the nose of the missile.
  • the gimbal axles are each connected to externally provided on the missile, movable fins, which are acted upon by the air flowing around the missile and pivot the respective gimbal axis.
  • the instrument platform is rotatable about a first pivot axis extending transversely to the longitudinal axis of the body by means of a first pivot shaft, and the first pivot shaft is connected to at least one passive repeater exposed to the medium and driven by the flow of the medium relative to the body.
  • the device platform is further rotatable by means of a second pivot shaft about a second pivot axis extending transversely to the longitudinal axis of the body and orthogonal to the first pivot axis, the second pivot shaft being connected to at least one passive repeater exposed to the medium and driven by the flow of the medium relative to the body is.
  • the device platform is rotatable about a third axis which extends substantially parallel to the longitudinal direction of the body, and the front portion of the body is rotatable about the third axis which is parallel to or corresponds to the roll axis.
  • the orientation of the search head or parts of the seeker-carrying device platform is influenced in such a way that always a line of sight connection is ensured to the target.
  • This line-of-sight connection is guaranteed independently of the respective current orientation of the body longitudinal axis in space, depending on the maximum viewing angle of the seeker head mounted on the device platform or the parts of the seeker head mounted on the device platform. It is assumed that the body moves in a substantially straight line towards the target. Small elevations of the trajectory of the body or deviations from the direct trajectory to the target are possible as long as these angular deviations are smaller than the field of view of the mounted on the device platform seeker or mounted on the device platform components of the seeker head.
  • an alignment of the device platform can also be performed around the missile longitudinal axis or an axis parallel to it. Since the front portion of the body is rotatable about the third axis which is parallel to or corresponds to the roll axis, the swiveling rudders of the first pivot shaft and the panning rudders of the second pivot shaft stabilize the front portion of the body when the remainder of the body is about the third pivot shaft; So for example, to the missile longitudinal axis rotates.
  • the front region of the body with the device platform provided therein therefore does not rotate in the spatially fixed coordinate system about the longitudinal axis of the body, but only the rest of the body rotates about this so-called roll axis.
  • the inventive design of the device provides a simple cost-effective and weight-saving way of aligning the device platform.
  • the rudders of the first pivot shaft and the second pivot shaft are provided in the front region of the body.
  • the vortex field of the medium flowing past the moving body is extremely low or no vortex field has yet built up, so that the effectiveness of the rudders is not reduced by flow vortex.
  • the rudder are in this variant thus outside of the moving missile caused vortex field of the medium.
  • the actuators are conveniently located near the dome, that is, the nose of the missile, so that the rulers are similar in shape to ducks (canards).
  • the device according to the invention does not stabilize the device platform, but only aligns it with the target, it is of particular advantage if at least one of the pivot shafts is assigned a damping device which damps the respective pivoting movement. In particular, if such damping devices are provided for all pivot axes, vibrations caused by the alignment mechanism can be reduced. If it is necessary to stabilize the image picked up by the sensor or the seeker head, this stabilization can be performed by known image stabilization measures of the electronic image processing.
  • a particularly advantageous realization of the device according to the invention with a passive alignment of the device platform about two pivot axes is characterized in that the rotational movement of at least one of the pivot shafts, preferably the second pivot shaft, is transmitted to the device platform by means of a gear arrangement.
  • first pivot shaft or the second pivot shaft is provided with a spherically shaped pinion, which meshes with an intermediate tooth edge, which in turn meshes with another gear, which is provided on the device platform.
  • This spherical shape of the provided on one of the pivot shafts pinion allows pivoting of the entire device platform around the other axis, without the intermeshing gears disengaged.
  • the rotational movement of at least one of the pivot shafts can also be transmitted to the device platform by means of a cable pull mechanism or a chain pull mechanism.
  • This embodiment is even more weight and cost saving.
  • the device according to the invention can be used in a case in which the device platform is the carrier for a target sensor and / or a homing head.
  • Fig. 1 is a schematic side view of a missile nose 10 of a moving body 1 forming missile shown.
  • the body 1 is formed by a missile.
  • This missile may be actively powered, but it may also be a passive missile, such as mortar ammunition, grenades, missiles, and missiles; but also in other missiles, such as manned and unmanned aircraft and helicopters or airships, the invention can be used.
  • the invention can be used in watercraft, such as ships, submarines or torpedoes.
  • the inventive idea can be used wherever a body, for example a device platform, is to be passively aligned in a body that moves at a sufficient differential speed to the medium surrounding it.
  • the device platform in the examples of the description serves as a carrier for a homing head or a target search sensor; however, the invention is not limited thereto.
  • the seeker head or sensor can operate in the visible wavelength range of the spectrum, but it can also operate in all other electromagnetic wavelength ranges, for example in the radar or infrared range.
  • a device for transmitting or receiving sound waves may also be provided on a device platform according to the invention and aligned with the device according to the invention.
  • the device is designed such that the device platform can be aligned about three axes, namely about the pitch axis X, about the yaw axis Y and about the roll axis Z.
  • the movement about an axis for example about the pitch axis X, is corrected. This may be sufficient for a missile if, at low speeds (for example at take-off), it requires a much higher incidence angle than during the rest of the flight.
  • Fig. 1 shows such an arrangement with an outside mounted on the nose 10 rower 12, which is fixed to a first pivot shaft 14 which can rotate about a pivot shaft X ', which is parallel to the pitch axis X.
  • the figure shows a side view of how the aerodynamically effective rower 12 aligns according to the angle of attack and transmits this orientation to the first pivot shaft 14, while the missile 1 assumes an angle of attack ⁇ .
  • Fig. 1 is also a dividing line 16 can be seen, indicating that the nose 10, so the front part 11 of the missile 1, about the roll axis Z against the remaining missile body 13 is rotatable.
  • the pivot shaft 14 is fixedly connected to a device platform 15, as shown schematically in FIG Fig. 2 is shown, so that the device platform 15 pivots with a rotation of the pivot shaft 14 from its relative to the missile longitudinal axis Z, for example, orthogonal or slightly forward and downward inclined rest position.
  • the lateral rudders 12, 12 ' which in Fig. 2 are shown only schematically, are also fixedly connected to the pivot shaft 14 and extend in the example shown in a plane that is orthogonal to the plane of the device platform 15.
  • the device platform 15 On the device platform 15 is a in the Fig. 2 only schematically shown aiming head 17 mounted so that its sensor surface 17 'perpendicular to the Level extends in the extend the rower 12, 12 '.
  • the device platform 15 and with it the sensor 17 'of the homing head 17 are thus aligned at a right angle to the aerodynamically effective Stellrudem 12, 12' outside the missile 1.
  • These rudders 12, 12 ' are oriented in the direction of the medium flowing against the nose 10 of the missile 1, that is to say in the direction of flow W 1.
  • the direction of flow W corresponds to the effective direction of flight, which, in particular in the case of an unmanned aerial vehicle, leads in a substantially straight line to the destination.
  • the sensor of the homing head 17 remains substantially aligned with the target.
  • Fig. 3 is a horizontal sectional view of the nose 10 along the line III-III in Fig. 1 shown schematically.
  • the pivot shaft 14 is provided in the region of its storage in the interior of the nose 10 of the missile 1 with damping elements 18, which dampen the pivotal movement of the pivot shaft 14.
  • damping elements 18 thus ensure that the vibrations and disturbances caused by the aerodynamically effective rudders 12, 12 'are transmitted only in a damped manner to the device platform 15 and thus to the sensor 17' of the homing head 17.
  • Fig. 4 shows a first embodiment of a variant of the device according to the invention, in which the device platform 115 is pivotable about two pivot axes, namely about a horizontal pivot axis X "and about a vertical pivot axis Y".
  • a horizontal pivot shaft 114 is provided, which runs parallel to the horizontal pivot axis X ", and which is coupled via a cable 119 with length compensation or a corresponding chain hoist with the device platform 115.
  • the device platform 115 is pivotally mounted in the region of the pivot axis X "in an outer frame 125 about the pivot axis X", so that a rotation of the pivot shaft 114 via the cable 119 to the device platform 115 acts such that the device platform 115 is pivoted about the pivot axis X " becomes.
  • the outer frame 125 for its part, is mounted pivotably about the vertical pivot axis Y "in the nose 10 of the missile 1.
  • a second pivot shaft 124 which runs parallel to the second pivot axis Y" is likewise provided with a cable pull 129 provided with a length compensation outer frame 125 connected such that a rotation of the second pivot shaft 124 causes a pivoting of the outer frame 125 and thus also mounted in the outer frame 125 device platform 115 about the second pivot axis Y ".
  • Fig. 4 is also shown schematically, not only the first pivot shaft 114 is provided with outside the nose 10 of the missile 1 located Stellrudern 112, 112 ', but also the second pivot shaft 124 protrudes at its two ends out of the housing of the nose 10 and is outside the Nose at its respective end with a trained analogue rower 122, 122 'provided.
  • Fig. 5 shows a second variant of this pivotable about two axes alternative embodiment of the device according to the invention. Again, the first pivot shaft 214 and the second pivot shaft 224 in the same manner as in the example of Fig. 4 provided with Stellrudem (not shown).
  • the crowned pinion 232 meshes with an intermediate gear 234 which is rotatably mounted on an outer frame 225.
  • the intermediate gear 234 in turn meshes with another gear 236, which is also rotatably mounted on the outer frame 225 and which is fixedly connected to the device platform 215.
  • the outer frame 225 is fixedly connected to the first pivot shaft 214, so that the first pivot shaft 214 can pivot the outer frame 225 about the first pivot axis X "', with this pivoting the idler gear 234 slides along the teeth of the crowned pinion 232 without the gears are disengaged, so they always mesh with each other during the pivoting.
  • FIGS. 4 and 5 shown embodiments, when the nose 10 of the missile 1 is rotatable about the missile longitudinal axis Z, also suitable to compensate for rolling movements of the missile 1 purely passive.
  • This variant is thus able to bring about a pivotal compensation about three axes and thus compensate movements of the missile 1 purely passive about its yaw axis, pitch axis and roll axis.
  • the nose 10 of the missile 1 relative to the remaining fuselage portion 13 of the missile 1 by means of, for example, a ball bearing is freely rotatably mounted.
  • the electrical connections for provided in the nose 10 electrically operated components, for example, for the seeker, must via slip rings or by wireless transmission from the missile tip to the corresponding devices are transmitted, which are located in the fuselage section 13 of the missile 1.
  • the rudders 112, 112 'and 122, 122' thereby stabilize the nose 10 of the missile 1 such that the orientation of the nose 10 with respect to the roll axis Z of the missile remains fixed in space, while the missile 1 rotates with its body portion 13 about the roll axis Z.
  • rotation angle sensors On the pivot shafts 14; 114, 124; 214, 224 or at the bearings of the device platform (15, 115, 215), by means of which the device platform about the respective pivot axis X '; X “, Y”; X “', Y”' is pivotable, can be provided (not shown) rotation angle sensors. With these rotation angle sensors, the orientation of the device platform (15; 115; 215) can be determined in space.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Details Of Measuring And Other Instruments (AREA)

Claims (7)

  1. Dispositif d'orientation passive d'une plate-forme d'appareil (15 ; 115 ; 215) dans un corps (1) déplacé à travers un fluide par rapport à une cible commandée depuis le corps en mouvement (1),
    - la plate-forme d'appareil (15 ; 115 ; 215) pouvant tourner au moyen d'un premier arbre pivotant (14 ; 114 ; 214) autour d'un premier axe de pivotement (X' ; X" ; X"') s'étendant transversalement à l'axe longitudinal (Z) du corps (1),
    - le premier arbre pivotant (14 ; 114 ; 214) étant connecté à au moins un gouvernail de commande passif (12, 12' ; 112 ; 112') exposé au fluide et entraîné par l'écoulement du fluide par rapport au corps (1),
    - la plate-forme d'appareil (115 ; 215) pouvant tourner au moyen d'un deuxième arbre pivotant (124 ; 224) autour d'un deuxième axe de pivotement (Y' ; Y" ; Y"') s'étendant transversalement à l'axe longitudinal (Z) du corps (1) et orienté perpendiculairement au premier axe de pivotement (X' ; X" ; X"'), et
    - le deuxième arbre pivotant (124 ; 224) étant connecté à au moins un gouvernail de commande passif (122, 122') exposé au fluide et entraîné par l'écoulement du fluide par rapport au corps (1),
    caractérisé en ce que
    - la plate-forme d'appareil (15 ; 115 ; 215) peut tourner autour d'un troisième axe qui s'étend essentiellement parallèlement à la direction longitudinale du corps (1), et
    - la région avant du corps (1) peut tourner autour du troisième axe qui s'étend parallèlement à l'axe de roulis (Z) ou qui correspond à celui-ci.
  2. Dispositif d'orientation passive d'une plate-forme d'appareil dans un corps déplacé à travers un fluide selon la revendication 1,
    caractérisé en ce que
    les gouvernails de commande (12, 12' ; 112 ; 112') du premier arbre pivotant (14 ; 114 ; 214) et les gouvernails de commande (122, 122') du deuxième arbre pivotant (124 ; 224) sont prévus dans la région avant du corps (1).
  3. Dispositif d'orientation passive d'une plate-forme d'appareil dans un corps déplacé à travers un fluide selon la revendication 1 ou 2,
    caractérisé en ce
    qu'au moins l'un des arbres pivotants (14) est associé à un dispositif d'amortissement (18) qui amortit le mouvement de pivotement respectif.
  4. Dispositif d'orientation passive d'une plate-forme d'appareil dans un corps déplacé à travers un fluide selon l'une quelconque des revendications 1 à 3,
    caractérisé en ce que
    le mouvement de rotation d'au moins l'un des arbres pivotants (224), de préférence du deuxième arbre pivotant, est transmis au moyen d'un agencement de transmission (230) à la plate-forme d'appareil (215).
  5. Dispositif d'orientation passive d'une plate-forme d'appareil dans un corps déplacé à travers un fluide selon la revendication 4,
    caractérisé en ce que
    le premier arbre pivotant ou le deuxième arbre pivotant (224) est muni d'un pignon (232) de forme bombée, qui s'engrène avec une roue dentée intermédiaire (234) qui s'engrène pour sa part avec une roue dentée supplémentaire (236) qui est prévue sur la plate-forme d'appareil (215).
  6. Dispositif d'orientation passive d'une plate-forme d'appareil dans un corps déplacé à travers un fluide selon l'une quelconque des revendications 1 à 3,
    caractérisé en ce que
    le mouvement de rotation d'au moins l'un des arbres pivotants (114, 224) est transmis au moyen d'un mécanisme de traction par câble (119, 129) ou d'un mécanisme de traction à chaîne à la plate-forme d'appareil (115).
  7. Dispositif d'orientation passive d'une plate-forme d'appareil dans un corps déplacé à travers un fluide selon l'une quelconque des revendications précédentes,
    caractérisé en ce que
    la plate-forme d'appareil (15 ; 115 ; 215) constitue le support pour un capteur de cible (17') et/ou une tête chercheuse (17).
EP11004927.7A 2010-06-18 2011-06-16 Dispositif d'orientation passive d'une plateforme d'appareils dans un corps déplacé dans un fluide Active EP2397810B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102010024252A DE102010024252B3 (de) 2010-06-18 2010-06-18 Vorrichtung zur passiven Ausrichtung einer Geräteplattform in einem durch ein Medium bewegten Körper

Publications (3)

Publication Number Publication Date
EP2397810A2 EP2397810A2 (fr) 2011-12-21
EP2397810A3 EP2397810A3 (fr) 2014-06-04
EP2397810B1 true EP2397810B1 (fr) 2016-03-02

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP11004927.7A Active EP2397810B1 (fr) 2010-06-18 2011-06-16 Dispositif d'orientation passive d'une plateforme d'appareils dans un corps déplacé dans un fluide

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EP (1) EP2397810B1 (fr)
DE (1) DE102010024252B3 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115388721B (zh) * 2022-10-26 2022-12-20 中国航空工业集团公司沈阳空气动力研究所 一种用于运载火箭底部减阻增推的控制装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1483178A (en) * 1973-08-06 1977-08-17 Hawker Siddeley Dynamics Ltd Scanning and the like with dirigible heads
US4168813A (en) * 1976-10-12 1979-09-25 The Boeing Company Guidance system for missiles
US4392140A (en) * 1981-07-20 1983-07-05 General Dynamics, Pomona Division Dual cable drive rolling arc gimbal
US4738412A (en) * 1987-08-24 1988-04-19 The United States Of America As Represented By The Secretary Of The Navy Air stabilized gimbal platform
IL107830A (en) * 1993-12-01 1998-07-15 Israel State Controlled scanner head missile
DE19756763A1 (de) * 1997-12-19 1999-06-24 Bodenseewerk Geraetetech Suchkopf für zielverfolgende Flugkörper
EP1586195B1 (fr) * 2003-01-21 2006-05-17 Diehl BGT Defence GmbH & Co.KG Dispositif de detection d'une scene objet
DE102006003638B4 (de) * 2006-01-26 2008-01-17 Deutsches Zentrum für Luft- und Raumfahrt e.V. Flugkörper für den Überschallbereich

Also Published As

Publication number Publication date
DE102010024252B3 (de) 2011-12-22
EP2397810A3 (fr) 2014-06-04
EP2397810A2 (fr) 2011-12-21

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