EP2659219B1 - Projectile - Google Patents
Projectile Download PDFInfo
- Publication number
- EP2659219B1 EP2659219B1 EP11815638.9A EP11815638A EP2659219B1 EP 2659219 B1 EP2659219 B1 EP 2659219B1 EP 11815638 A EP11815638 A EP 11815638A EP 2659219 B1 EP2659219 B1 EP 2659219B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- projectile
- head
- load bearing
- support structure
- launch phase
- 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.)
- Not-in-force
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Classifications
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- 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
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- 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
- F42B10/32—Range-reducing or range-increasing arrangements; Fall-retarding means
- F42B10/38—Range-increasing arrangements
- F42B10/42—Streamlined projectiles
- F42B10/46—Streamlined nose cones; Windshields; Radomes
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B30/00—Projectiles or missiles, not otherwise provided for, characterised by the ammunition class or type, e.g. by the launching apparatus or weapon used
- F42B30/08—Ordnance projectiles or missiles, e.g. shells
- F42B30/10—Mortar projectiles
Definitions
- This invention relates to projectiles, especially shells, in particular for use in mortars or other high launch-acceleration applications.
- US 4,938,434 discloses a projectile comprising a head which is supported by a support structure and protected by a removable fairing during launch.
- US 4,374,577 discloses an adapter assembly for flat trajectory flight. At least during a portion of a post-launch phase a projectile head is freely pivotable with respect to a projectile body but in no more than one rotational degree of freedom.
- the air vehicle or projectile may comprise a plurality of said projectile heads mounted to said projectile body, each via a respective said joint structure.
- said support structure externally supports said projectile head with respect to said projectile body.
- said support structure supports said projectile head with respect to said projectile body on an outside of the projectile body.
- said support structure reversibly interconnects said projectile head with said projectile body and is configured for supporting said loads between said projectile head and said projectile body when thus interconnected.
- said support structure is configured for being removed from said projectile body and said projectile head at least during said portion of said post-launch phase for selectively terminating said support.
- said loads are induced responsive to an acceleration of the projectile during said launch phase (or said first traveling phase).
- loads may be in the order of 10 4 *W, where W is the mass of the projectile head.
- said support structure is further configured for preventing aerodynamic loads being directly applied to said projectile head during said portion of said launch phase and optionally until the support is terminated.
- said support structure is configured for shielding the projectile head from aerodynamically-induced loads.
- said support structure comprises a load bearing member, wherein in said load bearing relationship said load bearing member is in load bearing contact with said projectile body and in load bearing contact with an external part of said projectile head.
- said support structure comprises a housing having an open aft end and a cavity in communication therewith, wherein said aft end is configured for reversibly connecting to said projectile body and wherein said cavity is configured for accommodating said projectile head therein in load bearing contact therewith.
- said projectile head is freely pivotable with respect to said projectile body in at least one rotational degree of freedom.
- said projectile head is freely pivotable with respect to said projectile body in at least two rotational degrees of freedom.
- said projectile head is freely pivotable with respect to said projectile body in three rotational degrees of freedom.
- said joint structure is configured for permitting relative angular movement between said projectile head and said projectile body, said projectile head being configured for self-alignment with a free stream fluid flow direction, of a fluid through which said projectile is traveling, via said joint structure in said post-launch phase, wherein said projectile head is exposed to the fluid flow.
- said projectile head comprises an aft portion comprising an annular tail airfoil, configured for providing said self-alignment.
- said projectile head is configured for homing said projectile to a target.
- said projectile body further comprises a steering arrangement configured for steering the projectile responsive to suitable control input; and said projectile head is further configured for providing said control input at least during said portion of said post-launch phase.
- the projectile head can comprise a suitable sensor arrangement configured for sensing a control parameter wherein to generate said control input in response thereto.
- the sensor arrangement can be provided at a forward end of said projectile head.
- the sensor arrangement can be configured for sensing a predetermined illuminating electromagnetic radiation wherein to generate said control input in response thereto.
- the steering arrangement can comprise an aerodynamic control surface arrangement configured for generating aerodynamic moments suitable for steering said projectile, responsive to said control input.
- the aerodynamic moments can include one or more of pitch, yaw and roll.
- the aerodynamic control surface arrangement can comprise a plurality of canards, said canards being individually controllable to selectively generate said aerodynamic moments.
- the canards can be deployable from a stowed configuration to a deployed configuration, and wherein said canards are in said stowed configuration at least during said portion of said launch phase.
- the canards can be in said deployed configuration at least during said portion of said post-launch phase.
- the sensor arrangement can comprise a plurality of sensors operatively connected to said plurality of canards, each said sensor being configured for generating a control signal for operating a respective said canard.
- the air vehicle or projectile further comprises a plurality of aft fins for providing longitudinal stability at least during said portion of said post-launch phase.
- the aft fins can be deployable from a stowed configuration to a deployed configuration, and wherein said aft fins are in said stowed configuration at least during a part of said portion of said launch phase.
- said projectile can be configured for being having a maximum width not greater than a maximum width of said projectile body at least during a part of said portion of said launch phase.
- said support structure comprises a casing having an aerodynamically contoured outer wall, and an internal seat for seating an aft portion of said projectile head in said load bearing relationship.
- said projectile head can be immobilized in said casing.
- the casing substantially prevents axial displacement between said projectile head and said projectile body.
- said projectile head and said projectile body are longitudinally aligned.
- said casing comprises a first casing half reversibly joined to a second casing half.
- said support structure is removable from said projectile head and said projectile body by separating said first casing half from said second casing half.
- said support structure is selectively jettisonable from said projectile.
- said projectile is configured as a mortar shell configured to be launched via a mortar.
- a projectile configured for operating at least in a high-g launch phase and a low-g post-launch phase, comprising:
- Step (c) may comprise removing said support structure from said projectile head and said projectile body while said projectile is traveling in the atmosphere, and allowing said projectile body to become freely aerodynamically aligned with a velocity vector of the projectile independently of said projectile body.
- the method also comprises homing said projectile to a target.
- the method further comprises illuminating said target with an illuminating radiation, detecting with said projectile head said illuminating radiation reflected from the target, and steering said projectile to said target wherein to maintain said reflected illuminating radiation in the boresight of said projectile head.
- the projectile head, the projectile body, the joint structure and the support structure may be as defined above, mutatis mutandis , including one or more of the above features mutatis mutandis , in any desired combination or permutation.
- said support structure is configured for preventing at least a majority of loads between said projectile head and said projectile body associated with said launch phase (or said first traveling phase) being channeled via (or supported by) said joint structure, and optionally wherein said majority of said loads is otherwise damaging if applied to said joint structure.
- a projectile or air vehicle comprising:
- the projectile head, the projectile body, and the joint structure may be as defined above for the first aspect of the invention, mutatis mutandis , including one or more of the above features for the first aspect of the invention mutatis mutandis , in any desired combination or permutation.
- the projectile or air vehicle may further comprise a support structure as defined above for the first aspect of the invention, mutatis mutandis , including one or more of the above features for the first aspect of the invention mutates mutandis , in any desired combination or permutation.
- said joint structure comprises a forward portion configured for pivotingly mounting said projectile head thereto, and an aft portion comprising a shaft slidingly mounted to said projectile body.
- said shaft is axially reciprocably movable with respect to said projectile body within a displacement range.
- a resilient member can be provided for biasing said shaft with respect to said projectile body.
- the projectile head can be configured for self-alignment with a free stream fluid flow direction, of a fluid through which the projectile is traveling, via said joint structure, when the projectile head is exposed to the fluid flow.
- the projectile head can comprise an aft portion comprising an annular tail airfoil, configured for providing said self-alignment.
- an air vehicle according to a first embodiment of the invention is generally designated with reference numeral 100 and comprises a body 10 and head 50, and further comprises a support structure 80.
- the air vehicle 100 is particularly configured as a projectile in the form of a mortar round, or the like, for traveling through the atmosphere when launched, though the skilled practitioner appreciates that at least some embodiments of the invention are also applicable, mutatis mutandis, to other types of projectiles, including cannon-launched shells, self-propelled missiles, rockets, rocket payloads (e.g. satellites, etc.), non-air vehicles configured for operating in partly or fully in space, for example, and the like, mutatis mutandis , having relatively high launch acceleration loads at the launch phase (also referred to herein as the first traveling phase).
- the launch phase also referred to herein as the first traveling phase
- air vehicle is taken herein to include any suitable air vehicle that is subjected to relatively high launch acceleration or high acceleration at a first traveling phase, for example (but not limited to) corresponding to projectile launched from cannons, mortars etc, for example (but not limited to) in the order of 10 4 *g, where "g” is the acceleration due to gravity, and which also operates by traveling freely, i.e. in free motion, through a fluid medium (such as the Earth's atmosphere, for 10 4 *g, where "g” is the acceleration due to gravity, and which also operates by traveling freely, i.e. in free motion, through a fluid medium (such as the Earth's atmosphere, for example) or in space in a post-launch phase (also referred to herein as the second traveling phase) in which it is subject to much lower acceleration loads, or no such loads at all.
- a fluid medium such as the Earth's atmosphere, for example
- post-launch phase also referred to herein as the second traveling phase
- the projectile does not comprise any propulsion unit or powerplant and receives its forward momentum from a mortar (or in alternative embodiments, from a cannon or the like, i.e., a launch system that is configured to impart to the projectile a forward momentum and acceleration at launch).
- the projectile 100 may be configured with a propulsion unit or powerplant, such as for example one or more of a rocket motor, ramjet, turbojet and so on, which may be integral for example, for providing propulsion to the projectile 100, and/or including for example an ejectable rocket propulsion unit, to impart forward acceleration and velocity to the projectile 100.
- Body 10 comprises an elongate fuselage 19 having a longitudinal centerline or axis A.
- the fuselage 19 comprises a nose or front end 11, middle section 12, and an aft end 13, and may comprise a generally circular cross-section along at least a majority of its length along the axis A.
- the fuselage 19 may comprise a non-circular cross-section, for example oval, polygonal etc., and may optionally comprise a faceted outer surface.
- the nose or front end 11 may comprise a relatively pointed or rounded or otherwise aerodynamically contoured profile, and includes a bore 18 aligned with axis A and open at the forward end, the purpose of which shall become clearer below.
- the middle section 12 comprises a forward portion 12a of generally constant cross-section, and defining a maximum width or diameter D, and a tapering aft portion 12b that connects to the aft end 13.
- the middle section 12 defines a payload chamber 14 that houses an explosive charge as well as at least a part of the mechanism that is used for priming and detonating the explosive charge.
- the payload chamber may accommodate other materials, equipment or objects.
- Aft end 13 comprises eight fins 20, radially radiating from the axis A, and uniformly spaced with respect to one another.
- the fins 20 are configured for providing longitudinal and lateral stability, and are pivotably deployable about the respective pivot axes 22, from a retracted or stowed configuration marked in phantom lines as 20 ', in which the spans S of the fins 20 are generally parallel to axis A and the tips of the vanes 20 are forward of the respective pivot axes 22, to a deployed configuration, in which the spans S of the fins 20 are swept back at a modest sweep angle with respect to an imaginary plane that is orthogonal to the axis A.
- the vanes 20 are enclosed within an envelope defined by the aforesaid maximum diameter D.
- the aft end 13 may comprise less than eight fins or more than eight fins and/or any other suitable configuration for providing longitudinal and lateral stability.
- the projectile 100 further comprises a direction control mechanism 40 comprising four control canards 30, in cruciform "X" or "+” arrangement, in which the canards 30 are essentially divided into two pairs of canards, wherein in each pair the respective canards 30 are arranged in diametrical opposed relationship with respect to axis A. and are configured for providing steering control of the vehicle 100, in particular control of one or more of the pitch, yaw and roll of the body 10, responsive to control inputs generated by the head 50, as will be disclosed in greater detail below.
- the vehicle may comprise less than four or more than four canards, and/or any other suitable configuration for enabling the air vehicle to be steered responsive to said control input or other suitable steering input.
- the canards 30 are pivotably deployable about the respective pivot axes 32, from a retracted or stowed configuration shown in Figs. 1 and 2 (and also marked in phantom lines as 30' in Figs. 3 and 4 ), to a deployed configuration illustrated in Figs. 3 and 4 .
- the spans Q of the respective canards 30 are generally parallel to axis A
- the tips of the canards 30 are forward of the respective pivot axes 32
- the canards 30 are accommodated in complementary radial slots 34 provided in the front end 11.
- the canards 30 are configured to be enclosed within an envelope defined by the aforesaid maximum diameter D.
- the spans Q of the canards 30 are swept back at a modest sweep angle with respect to an imaginary plane that is orthogonal to the axis A, and are located close the front end of the middle section 12.
- other retracted and/or deployed configurations may be provided, or the canards may be permanently deployed.
- Pivot axes 32 are orthogonal to and do not intersect the axis A, and each pivot axis is generally orthogonal to the span Q of the respective canard 30.
- the direction control mechanism 40 further comprises a canard actuation arrangement in the form of a servo assembly 45.
- the servo assembly 45 is configured for actuating each opposed pair of canards 30 (responsive to control inputs generated by the head 50 ), when the canards 30 are in the deployed configuration, independently of one another, to pivot each canard 30 of the respective pairs in the same or opposite direction to the other canard of the same pair, about the respective actuation axis B, radially projecting orthogonally from axis A, to provide suitable control moments in one or more of pitch, yaw and roll.
- the respective actuation axes B for a first pair of opposed pair of canards 30 are co-axially aligned, while the respective actuation axes B for a second pair of opposed pair of canards 30 are co-axially aligned, but orthogonal to the respective actuation axes B of the first pair of opposed pair of canards 30, and thus the two pairs of axes B are thus also in the above mentioned cruciform "X" or "+" arrangement.
- the respective actuation axes B for the first pair of opposed pair of canards 30 are aligned with the pitch axis P of the vehicle 100, while the respective actuation axes B of the second pair of opposed pair of canards 30 are aligned with the yaw axis Y of the air vehicle 100.
- the actuation axes B may be inclined at any desired angle with respect to the pitch and yaw axes of the air vehicle, and actuation of each pair of opposed canards 30 provides a component of yaw and/or a component of pitch.
- One or both pairs of opposed canards 30 may be actuated to provide roll about axis A in one or the other direction.
- a suitable thermal battery 49 provides power to the projectile 100, including head 50 and servo assembly 40, and is accommodated in an aft part of chamber 79.
- the chamber 79 is forward of the payload chamber 14, and a forward end of chamber 79 is open to bore 18, which is of smaller cross-section than chamber 79.
- other suitable power sources may be provided.
- the head 50 is configured as a seeker head and comprises a head housing 52 with a forward portion 51 accommodating a sensor arrangement 60.
- the aft portion 53 of the head 50 comprises an internal chamber 56 having an aft-open end, and comprises a ring or annular tail airfoil 54, joined to the external part of aft portion 53 via rigid vanes 55.
- the head 50 has a longitudinal axis a.
- the maximum outer diameter of the head 50 (defined at the annular tail airfoil 54) is less than D, and thus the head 50 is within the aforesaid envelope.
- the head 50 is non-rigidly, i.e. freely, mounted to body 10 via joint structure 70, at the forward end 71 of connecting shaft 72 that projects forward of the nose section 11 from the bore 18.
- the aft end 73 of shaft 72 is accommodated in bore 18, and has an enlarged aft end 76 axially reciprocably movable within a forward part of chamber 79, allowing for limited axial movement between shaft 72 and the bore 18 and chamber 79, and thus allowing for corresponding limited axial movement between head 50 and the projectile body 10.
- This axial movement is schematically indicated at "k" in Fig. 2 .
- a biasing resilient member in the form of compression spring 78 is provided between the battery 49 and enlarged end 76, and provides limited resistance to aft movement of shaft 72 with respect to the body 10, and the resilience of the spring 78 provides a restoring force in the forward direction.
- Joint structure 70 (including shaft 72 ) is configured to allow free relative pivotal movement between the head 50 and the body 10 in three rotational degrees of freedom and limited movement in one degree of freedom.
- the joint structure 70 itself is configured for allowing free relative pivotal movement between the head 50 and the body 10 in two rotational degrees of freedom, while the shaft 72 allows for free relative pivotal movement between the head 50 and the body 10 in a third rotational degree of freedom, and limited translational movement in one degree of freedom.
- the joint structure 70 may be rotatably mounted to shaft 72, and thus allows for free relative pivotal movement between the head 50 and the body 10 in three rotational degrees of freedom, while the shaft 72 provides limited translational movement in one degree of freedom.
- the free pivotal movement between the head 50 and the body 10 may be in two degrees of freedom only.
- the free pivotal movement between the head 50 and the body 10 may be in one degree of freedom only.
- axis a of head 50 is nominally coaxially aligned with axis A of the body 10
- axis a may be freely inclined with respect to axis A in one, two or three rotational degrees of freedom.
- the extent of this relative pivotal movement is limited by collision between the aft end 58 of the annular tail airfoil 54 with the nose section 11, or collision of the aft edge 57 of housing 52 with shaft 72, or collision of the aft edge 57 of housing 52 with the nose section 11.
- the joint structure 70 is accommodated in chamber 56, and is in the form of free gimbals in this embodiment, comprising a set of inner gimbals 74 mounted to the head 50 and defining a first pivoting axis, and orthogonally connected to a set of outer gimbals 75 that are mounted at end 71 and defining a second pivoting axis orthogonal to the first pivoting axis.
- the joint structure 70 may comprise any other suitable arrangement that permits the aforesaid free pivotal movement between the head 50 and the body 10 in three degrees of freedom, for example via flexible hose.
- the head 50 is thus configured for automatic alignment with the velocity vector of the vehicle 100, due to the aerodynamic forces acting thereon, in particular the annular tail airfoil 54, when exposed to the freestream of the fluid (typically atmospheric air) in which the projectile 100 is traveling.
- the fluid typically atmospheric air
- the sensor arrangement 60 is configured for homing onto a target that is illuminated by a laser, typically from another source, and for providing suitable control signals to the direction control mechanism 40 for operation thereof to maintain the vehicle 100 in a suitable trajectory to the target.
- the sensor arrangement 60 comprises a four quadrant detector, in which four laser detectors are arranged in maltese cross arrangement. Each sensor is operatively connected to a different one of said canards 30 of the direction control mechanism 40, and thus provides a suitable control signal for controlling operation thereof, and thus operation of the respective canard.
- a laser radiation transparent dome 59 focuses laser light, reflected from the illuminated target, onto the sensors.
- the reflected radiation received from the target is uniformly sensed by all four sensors, and each generates a similar control signal to the direction control mechanism 40, which effects no changes to the positions of the canards 30, and thus the projectile continues along the same direction.
- the reflected laser light will be more focused on one or more sensors than on the other sensors, and the unequal distribution of sensed reflected light generates unequal control signals, in a ratio proportional to the off-boresight angle, to the control the direction control mechanism 40.
- a different control signal also referred to herein as error signal
- error signal is generated corresponding to each quadrant, which is fed to each respective canard actuator to control actuation thereof.
- a proportional control loop in which the amount of deflection applied to each respective canard 30 about its respective pivot axis B, is proportional to the respective error or control signal generated by the respective sensor, and thus each canard 30 may be controlled to correct the velocity vector of the vehicle 100 to align the head 50 with the target.
- a simple non-proportional control loop may be used (often referred to as "bang-bang"), which results in either zero deflection or full deflection of the respective canard.
- the sensor arrangement may comprise, additionally or alternatively, other sensors such as radar, other electro-optic sensors, surveillance equipment, communication means and so on, which may be housed in the head 50 and/or body 10, for example.
- the projectile 100 further comprises said support structure 80, configured for selectively supporting high-g thrust loads (also referred to herein as compressive loads or acceleration loads) between the head 50 and the body 10, so that none, or at least no significant part, of these loads is effectively resisted or channeled via the joint structure 70 during the high-g launch phase (also referred to herein as the firing phase) of the projectile.
- the support structure 80 is further configured for selectively disengaging from at least one of the head 50 and body 10 so that at least during part of the post-launch phase when the projectile is in free motion, the head 50 is freely movable with respect to the body 10 and thus the head 50 is mechanically connected to the body 10 only via joint structure 70, and thus shaft 72.
- thrust loads are essentially the inertial loads of the head, and are determined from the product M*G, wherein M is the mass of the head 50, and G is the acceleration of the vehicle 100.
- the support structure 80 is configured for transferring these nominally axial acceleration loads between the head 50 and body 10, and thus effectively mechanically isolates the joint structure 70 from these loads.
- the support structure 80 is configured for directing acceleration loads from the head 50 to the body 10 while minimizing or eliminating stress on the joint structure 70 otherwise arising from such loads.
- the support structure 80 is positioned on the outside of the body 10 and is mechanically connected to the head 50.
- the support structure 80 and the head 50 thus define a load bearing unit that provides a load path to the body 10 that is substantially independent of the joint structure 70, or indeed of the shaft 72.
- This load bearing unit is configured to react the aforesaid acceleration loads such that the support structure 80 accepts the acceleration load provided by the head 50 and carries the acceleration load in compression to the body 10, and such that the joint structure 70 is substantially isolated from and does not react at all, or to any significant extent to the acceleration loads.
- By “significant extent” is meant that the joint structure 70 is free or otherwise shielded from any damage arising due to the launch acceleration.
- the support structure 80 in this embodiment is in the form of a fairing 90, defining an internal cavity 92 and comprising a load-bearing interface 93 configured for connection with the forward end of forward portion 12a in a load-bearing manner therewith.
- the fairing 90 comprises an internal shoulder 95 configured for axially supporting the annular tail airfoil 54, in particular via the aft end 58, in a load bearing manner, while concurrently aligning axis a with axis A.
- the internal cavity 92 also provides a close lateral fit with the annular tail airfoil 54, and thus the support structure 80 is configured for externally restraining the head 50 and preventing relative moment between the head 50 and the body 10, while not being mechanically connected to or interacting with joint structure 70.
- the fairing 90 is aerodynamically contoured externally to reduce drag and to isolate the head 50 from aerodynamically induced loads while the fairing is connected to the body 10 and the projectile 100 is in forward flight. Furthermore, while the fairing is connected to the body 10, acceleration loads on the head 50 are reacted through the fairing 90 (via load-bearing contact between the annular tail airfoil 54 and the internal shoulder 95), and to the body 10 (via load-bearing contact between interface 93 of fairing 90 and interface 94 of body 10), and not through the joint structure 70.
- the limited axial movement k between the head 50 and body 10 allows for the fairing 90 to be manufactured without the need for tight tolerances between the actual and relative positions of the interface 93 and internal shoulder 95 on the one hand, and the actual and relative positions of the interface 94 and the aft end 58 on the other hand.
- the head 50 may translate in an aft direction with respect to the body 10 responsive to the acceleration, until there is load bearing contact between the aft end 58 and internal shoulder 95, the enlarged aft end 76 pressing against and compressing the spring 77. Once the acceleration loads are removed (as the vehicle decelerates, for example), the head 50 translates back in a forward direction with respect to the body 10 due to the spring 77.
- the fairing 90 is also configured for being selectively disengaged from the body 10 and head 50.
- the fairing 90 is formed from two lateral fairing halves, 90A, 90B, joined at a plane W that is parallel to and intersects the aligned axes a and A.
- the fairing halves, 90A, 90B are held together during the load-bearing phase via pyrotechnic cable 98 that is provided at the forward end of the fairing 90, crossing plane W. Cable 98 is electrically connected to thermal battery 49 via leads 97 and switch mechanism 48.
- the cable 98 bums or otherwise breaks, allowing the fairing halves, 90A, 90B, to separate at the nose, and allowing full lateral separation of the fairing halves, 90A, 90B, by application of aerodynamic forces thereon, induced by the forward motion of the projectile 100.
- the fairing halves, 90A, 9 0B laterally separate from one another, the fairing 90 automatically disengages from the head 50 and the body 10, and reaction support previously provided to the head 50 via shoulder 95 is removed, allowing thereafter free relative movement between the head 50 and body 10 via the joint structure 70.
- the switching mechanism 48 is configured for activating the cable 98 by means of one or more of:
- the projectile 100 is launched in a conventional manner from a suitable mortar 200, and follows a nominal parabolic trajectory T to a general target zone Z.
- the specific target X in zone Z is illuminated by an operator OP via a laser beam LB.
- the fairing 90 provides mechanical support between the body 10 and head 50, isolating the joint structure 70 from such acceleration loads.
- the joint structure 70 may generate its own inertial forces due to acceleration, but these are substantially less than any corresponding loads between the head 50 and body 10, and in any case the joint structure 70 is configured for withstanding its own inertia-induced loads without risk of damage.
- the vanes 20 are deployed to provide directional stability.
- the fairing 90 is disengaged and removed from the body 10 and head 50, allowing the head to freely align with the velocity vector of the projectile 100.
- the canards 30 are deployed, and the sensor arrangement in the seeker head is operational.
- Point T3 is chosen such that the sensor arrangement 60 is pointing in the general direction of the zone Z and in particular the target X, so that the laser-illuminated target X will be in the field of view of at least one of the sensors of sensor arrangement 60. In this manner, the sensor arrangement 60 will then control the canards 30 (T4) to steer the projectile 100 so that this is homed towards the target X (T5).
- Point T3 can be chosen in a number of different ways.
- T3 may be set at a predetermined time after launch, where it is assumed that the projectile 100 has already passed the high acceleration stage and is now in the descent path (or other corresponding path) towards the target.
- T3 may be defined as the point in the trajectory where the acceleration forces are now not potentially dangerous to the joint structure 70, and thus the fairing 90 may be disengaged, the acceleration forces being monitored by an accelerometer or other suitable sensor.
- point T3 may be determined according to the attitude of the projectile - a suitable orientation sensor or accelerometer can determine when the projectile 100 is in the descending part of the trajectory T and thus likely to be pointing in the general direction of zone Z, after which the faring may be removed.
- the point T3 may be chosen as the point where any two or all three conditions above are met - i.e., (a) not before a predetermined time after launch; and/or (b) when the projectile (in particular the joint structure 70 ) is no longer subject to potentially damaging acceleration forces; and/or (c) the projectile is in a descending part of the trajectory (or the corresponding final part of the trajectory where the projectile is nominally aligned with the target).
Description
- This invention relates to projectiles, especially shells, in particular for use in mortars or other high launch-acceleration applications.
- By way of general background, the following publications disclose a variety of projectile or air vehicle configurations:
US 4,533,094 ;US 2010/0057285 ;US 2008/0276821 ;US 4,938,434 ;US 4,541,591 . -
DE 36 12 175 C1 discloses a projectile in accordance with the preamble of claim 1. -
US 4,938,434 discloses a projectile comprising a head which is supported by a support structure and protected by a removable fairing during launch. -
US 4,374,577 discloses an adapter assembly for flat trajectory flight. At least during a portion of a post-launch phase a projectile head is freely pivotable with respect to a projectile body but in no more than one rotational degree of freedom. - The invention is defined in the claims. second longitudinal axis. Optionally, the air vehicle or projectile may comprise a plurality of said projectile heads mounted to said projectile body, each via a respective said joint structure.
- Additionally or alternatively, in said load bearing relationship, said support structure externally supports said projectile head with respect to said projectile body. For example, said support structure supports said projectile head with respect to said projectile body on an outside of the projectile body.
- Additionally or alternatively, in said load bearing relationship, said support structure reversibly interconnects said projectile head with said projectile body and is configured for supporting said loads between said projectile head and said projectile body when thus interconnected.
- Additionally or alternatively, said support structure is configured for being removed from said projectile body and said projectile head at least during said portion of said post-launch phase for selectively terminating said support.
- Additionally or alternatively, said loads are induced responsive to an acceleration of the projectile during said launch phase (or said first traveling phase). For example, such loads may be in the order of 104*W, where W is the mass of the projectile head.
- Additionally or alternatively, said support structure is further configured for preventing aerodynamic loads being directly applied to said projectile head during said portion of said launch phase and optionally until the support is terminated. For example, said support structure is configured for shielding the projectile head from aerodynamically-induced loads.
- Additionally or alternatively, said support structure comprises a load bearing member, wherein in said load bearing relationship said load bearing member is in load bearing contact with said projectile body and in load bearing contact with an external part of said projectile head.
- Additionally or alternatively, said support structure comprises a housing having an open aft end and a cavity in communication therewith, wherein said aft end is configured for reversibly connecting to said projectile body and wherein said cavity is configured for accommodating said projectile head therein in load bearing contact therewith.
- Additionally or alternatively, at least during said portion of said post-launch phase (or of said second traveling phase) said projectile head is freely pivotable with respect to said projectile body in at least one rotational degree of freedom.
- Additionally or alternatively, at least during said portion of said post-launch phase (or of said second traveling phase) said projectile head is freely pivotable with respect to said projectile body in at least two rotational degrees of freedom.
- Additionally or alternatively, at least during said portion of said post-launch phase said projectile head is freely pivotable with respect to said projectile body in three rotational degrees of freedom.
- Additionally or alternatively, said joint structure is configured for permitting relative angular movement between said projectile head and said projectile body, said projectile head being configured for self-alignment with a free stream fluid flow direction, of a fluid through which said projectile is traveling, via said joint structure in said post-launch phase, wherein said projectile head is exposed to the fluid flow.
- .Additionally or alternatively, said projectile head is gimbaled freely to said projectile body via said joint structure. Alternatively, said joint structure comprises a flexible hose.
- Additionally or alternatively, said projectile head comprises an aft portion comprising an annular tail airfoil, configured for providing said self-alignment.
- Additionally or alternatively, said projectile head is configured for homing said projectile to a target.
- Additionally or alternatively, said projectile body further comprises a steering arrangement configured for steering the projectile responsive to suitable control input; and said projectile head is further configured for providing said control input at least during said portion of said post-launch phase. The projectile head can comprise a suitable sensor arrangement configured for sensing a control parameter wherein to generate said control input in response thereto. The sensor arrangement can be provided at a forward end of said projectile head. The sensor arrangement can be configured for sensing a predetermined illuminating electromagnetic radiation wherein to generate said control input in response thereto. The steering arrangement can comprise an aerodynamic control surface arrangement configured for generating aerodynamic moments suitable for steering said projectile, responsive to said control input. The aerodynamic moments can include one or more of pitch, yaw and roll. Optionally, the aerodynamic control surface arrangement can comprise a plurality of canards, said canards being individually controllable to selectively generate said aerodynamic moments. Optionally, the canards can be deployable from a stowed configuration to a deployed configuration, and wherein said canards are in said stowed configuration at least during said portion of said launch phase. Optionally, the canards can be in said deployed configuration at least during said portion of said post-launch phase. Optionally, the sensor arrangement can comprise a plurality of sensors operatively connected to said plurality of canards, each said sensor being configured for generating a control signal for operating a respective said canard.
- Additionally or alternatively, the air vehicle or projectile further comprises a plurality of aft fins for providing longitudinal stability at least during said portion of said post-launch phase. For example, the aft fins can be deployable from a stowed configuration to a deployed configuration, and wherein said aft fins are in said stowed configuration at least during a part of said portion of said launch phase.
- Additionally or alternatively, said projectile can be configured for being having a maximum width not greater than a maximum width of said projectile body at least during a part of said portion of said launch phase.
- Additionally or alternatively, said support structure comprises a casing having an aerodynamically contoured outer wall, and an internal seat for seating an aft portion of said projectile head in said load bearing relationship. For example, in said load bearing relationship, said projectile head can be immobilized in said casing. Optionally, in said load bearing relationship, the casing substantially prevents axial displacement between said projectile head and said projectile body. Optionally, in said load bearing relationship, said projectile head and said projectile body are longitudinally aligned. Optionally, said casing comprises a first casing half reversibly joined to a second casing half. For example, said support structure is removable from said projectile head and said projectile body by separating said first casing half from said second casing half.
- Additionally or alternatively, said support structure is selectively jettisonable from said projectile.
- Additionally or alternatively, said projectile is configured as a mortar shell configured to be launched via a mortar.
- There is also disclosed a projectile configured for operating at least in a high-g launch phase and a low-g post-launch phase, comprising:
- a projectile body, a projectile head, and a selectively removable support structure,
- said projectile head being non-rigidly mounted to said projectile body via a joint structure;
- said support structure configured for selectively connecting said projectile body and said projectile head in a load bearing relationship independently of said joint structure, when the projectile is subject in operation of said projectile during at least a portion of said launch phase; and
- said projectile head being configured for being freely aerodynamically aligned with a velocity vector of the projectile independently of said projectile body (in the absence of said support structure) in operation of said projectile during at least a portion of said post-launch phase wherein said load bearing relationship is terminated.
- There is also disclosed a method for operating a projectile, comprising:
- (a) providing a projectile or air vehicle as defined above including one or more of the above features in any desired combination or permutation;
- (b) operating said projectile or air vehicle during at least said portion of said launch phase (or said first traveling phase) wherein to selectively support said projectile body with respect to said projectile head via said support structure in a load bearing relationship independently of said joint structure;
- (c) selectively terminating said load bearing relationship and subsequently operating said projectile or air vehicle during at least said portion of said post-launch phase (or second traveling phase).
- Step (c) may comprise removing said support structure from said projectile head and said projectile body while said projectile is traveling in the atmosphere, and allowing said projectile body to become freely aerodynamically aligned with a velocity vector of the projectile independently of said projectile body.
- Additionally or alternatively, the method also comprises homing said projectile to a target. Optionally, the method further comprises illuminating said target with an illuminating radiation, detecting with said projectile head said illuminating radiation reflected from the target, and steering said projectile to said target wherein to maintain said reflected illuminating radiation in the boresight of said projectile head.
- There is also disclosed a method for retrofitting a projectile or air vehicle, comprising:
- (a) providing the projectile or air vehicle, the projectile or air vehicle comprising a projectile body and a projectile head, wherein the projectile head is non-rigidly mounted to the projectile body via a joint structure; and
- (b) providing a selectively removable support structure, wherein said support structure is configured for selectively supporting said projectile head with respect to said projectile body in a load bearing relationship independently of said joint structure during at least a portion of said launch phase, and for selectively terminating said support during at least a portion of said post-launch phase.
- Additionally or alternatively, the projectile head, the projectile body, the joint structure and the support structure may be as defined above, mutatis mutandis, including one or more of the above features mutatis mutandis, in any desired combination or permutation.
- For example, said support structure is configured for preventing at least a majority of loads between said projectile head and said projectile body associated with said launch phase (or said first traveling phase) being channeled via (or supported by) said joint structure, and optionally wherein said majority of said loads is otherwise damaging if applied to said joint structure.
- There is disclosed a projectile or air vehicle, comprising:
- a projectile body and a projectile head;
- wherein said projectile head is non-rigidly mounted to said projectile body via a joint structure at a forward end of the projectile body; and
- wherein said projectile is configured for permitting limited relative axial movement between said projectile body and said projectile head via said joint structure.
- Additionally or alternatively, the projectile head, the projectile body, and the joint structure may be as defined above for the first aspect of the invention, mutatis mutandis, including one or more of the above features for the first aspect of the invention mutatis mutandis, in any desired combination or permutation.
- Additionally or alternatively, the projectile or air vehicle may further comprise a support structure as defined above for the first aspect of the invention, mutatis mutandis, including one or more of the above features for the first aspect of the invention mutates mutandis, in any desired combination or permutation.
- Additionally or alternatively, said joint structure comprises a forward portion configured for pivotingly mounting said projectile head thereto, and an aft portion comprising a shaft slidingly mounted to said projectile body. For example, said shaft is axially reciprocably movable with respect to said projectile body within a displacement range. Optionally a resilient member can be provided for biasing said shaft with respect to said projectile body. As in the first aspect of the invention, mutatis mutandis, the projectile head can be configured for self-alignment with a free stream fluid flow direction, of a fluid through which the projectile is traveling, via said joint structure, when the projectile head is exposed to the fluid flow. For example, the projectile head can comprise an aft portion comprising an annular tail airfoil, configured for providing said self-alignment.
- In order to understand the invention and to see how it may be carried out in practice, several embodiments will now be described, by way of non-limiting examples only, with reference to the accompanying drawings, in which:
-
Fig. 1 is a schematic representation illustrating in side view a projectile according to an embodiment of the invention, including a support structure supporting the projectile head on the projectile body. -
Fig. 2 is a detailed view ofFig. 1 . -
Fig. 3 is a schematic representation illustrating in side view the embodiment ofFig. 1 , wherein the support structure is removed. -
Fig. 4 is a detailed view ofFig. 3 . -
Fig. 5 is a schematic representation illustrating an example of operation of the embodiment ofFigs. 1 to 4 . - Referring to
Figs. 1 to 4 , an air vehicle according to a first embodiment of the invention is generally designated withreference numeral 100 and comprises abody 10 andhead 50, and further comprises asupport structure 80. - In the illustrated example, the
air vehicle 100 is particularly configured as a projectile in the form of a mortar round, or the like, for traveling through the atmosphere when launched, though the skilled practitioner appreciates that at least some embodiments of the invention are also applicable, mutatis mutandis, to other types of projectiles, including cannon-launched shells, self-propelled missiles, rockets, rocket payloads (e.g. satellites, etc.), non-air vehicles configured for operating in partly or fully in space, for example, and the like, mutatis mutandis, having relatively high launch acceleration loads at the launch phase (also referred to herein as the first traveling phase). Accordingly, the term "air vehicle" is taken herein to include any suitable air vehicle that is subjected to relatively high launch acceleration or high acceleration at a first traveling phase, for example (but not limited to) corresponding to projectile launched from cannons, mortars etc, for example (but not limited to) in the order of 104*g, where "g" is the acceleration due to gravity, and which also operates by traveling freely, i.e. in free motion, through a fluid medium (such as the Earth's atmosphere, for 104*g, where "g" is the acceleration due to gravity, and which also operates by traveling freely, i.e. in free motion, through a fluid medium (such as the Earth's atmosphere, for example) or in space in a post-launch phase (also referred to herein as the second traveling phase) in which it is subject to much lower acceleration loads, or no such loads at all. - In this example, the projectile does not comprise any propulsion unit or powerplant and receives its forward momentum from a mortar (or in alternative embodiments, from a cannon or the like, i.e., a launch system that is configured to impart to the projectile a forward momentum and acceleration at launch). However, in alternative variations of this embodiment, the projectile 100 may be configured with a propulsion unit or powerplant, such as for example one or more of a rocket motor, ramjet, turbojet and so on, which may be integral for example, for providing propulsion to the projectile 100, and/or including for example an ejectable rocket propulsion unit, to impart forward acceleration and velocity to the projectile 100.
-
Body 10 comprises anelongate fuselage 19 having a longitudinal centerline or axis A. Thefuselage 19 comprises a nose orfront end 11,middle section 12, and anaft end 13, and may comprise a generally circular cross-section along at least a majority of its length along the axis A. In alternative variations of this embodiment, thefuselage 19 may comprise a non-circular cross-section, for example oval, polygonal etc., and may optionally comprise a faceted outer surface. - The nose or
front end 11 may comprise a relatively pointed or rounded or otherwise aerodynamically contoured profile, and includes abore 18 aligned with axis A and open at the forward end, the purpose of which shall become clearer below. - Referring in particular to
Fig. 3 , themiddle section 12 comprises aforward portion 12a of generally constant cross-section, and defining a maximum width or diameter D, and a taperingaft portion 12b that connects to theaft end 13. Themiddle section 12 defines apayload chamber 14 that houses an explosive charge as well as at least a part of the mechanism that is used for priming and detonating the explosive charge. In alternative variations of this embodiment, the payload chamber may accommodate other materials, equipment or objects. -
Aft end 13 comprises eightfins 20, radially radiating from the axis A, and uniformly spaced with respect to one another. Thefins 20 are configured for providing longitudinal and lateral stability, and are pivotably deployable about the respective pivot axes 22, from a retracted or stowed configuration marked in phantom lines as 20', in which the spans S of thefins 20 are generally parallel to axis A and the tips of thevanes 20 are forward of the respective pivot axes 22, to a deployed configuration, in which the spans S of thefins 20 are swept back at a modest sweep angle with respect to an imaginary plane that is orthogonal to the axis A. In the retracted configuration, thevanes 20 are enclosed within an envelope defined by the aforesaid maximum diameter D. - In alternative variations of this embodiment, the
aft end 13 may comprise less than eight fins or more than eight fins and/or any other suitable configuration for providing longitudinal and lateral stability. - The projectile 100 further comprises a
direction control mechanism 40 comprising fourcontrol canards 30, in cruciform "X" or "+" arrangement, in which thecanards 30 are essentially divided into two pairs of canards, wherein in each pair therespective canards 30 are arranged in diametrical opposed relationship with respect to axis A. and are configured for providing steering control of thevehicle 100, in particular control of one or more of the pitch, yaw and roll of thebody 10, responsive to control inputs generated by thehead 50, as will be disclosed in greater detail below. In alternative variations of this embodiment, the vehicle may comprise less than four or more than four canards, and/or any other suitable configuration for enabling the air vehicle to be steered responsive to said control input or other suitable steering input. - The
canards 30 are pivotably deployable about the respective pivot axes 32, from a retracted or stowed configuration shown inFigs. 1 and2 (and also marked in phantom lines as 30' inFigs. 3 and4 ), to a deployed configuration illustrated inFigs. 3 and4 . In the stowed configuration, and as best seen inFig. 4 , the spans Q of therespective canards 30 are generally parallel to axis A, the tips of thecanards 30 are forward of the respective pivot axes 32, and thecanards 30 are accommodated in complementaryradial slots 34 provided in thefront end 11. In the stowed configuration, thecanards 30 are configured to be enclosed within an envelope defined by the aforesaid maximum diameter D. - In the deployed configuration, the spans Q of the
canards 30 are swept back at a modest sweep angle with respect to an imaginary plane that is orthogonal to the axis A, and are located close the front end of themiddle section 12. In alternative variations of this embodiment, other retracted and/or deployed configurations may be provided, or the canards may be permanently deployed. - Pivot axes 32 are orthogonal to and do not intersect the axis A, and each pivot axis is generally orthogonal to the span Q of the
respective canard 30. - The
direction control mechanism 40 further comprises a canard actuation arrangement in the form of aservo assembly 45. Theservo assembly 45 is configured for actuating each opposed pair of canards 30 (responsive to control inputs generated by the head 50), when thecanards 30 are in the deployed configuration, independently of one another, to pivot eachcanard 30 of the respective pairs in the same or opposite direction to the other canard of the same pair, about the respective actuation axis B, radially projecting orthogonally from axis A, to provide suitable control moments in one or more of pitch, yaw and roll. The respective actuation axes B for a first pair of opposed pair ofcanards 30 are co-axially aligned, while the respective actuation axes B for a second pair of opposed pair ofcanards 30 are co-axially aligned, but orthogonal to the respective actuation axes B of the first pair of opposed pair ofcanards 30, and thus the two pairs of axes B are thus also in the above mentioned cruciform "X" or "+" arrangement. - In this embodiment, the respective actuation axes B for the first pair of opposed pair of
canards 30 are aligned with the pitch axis P of thevehicle 100, while the respective actuation axes B of the second pair of opposed pair ofcanards 30 are aligned with the yaw axis Y of theair vehicle 100. In alternative variations of this embodiment, the actuation axes B may be inclined at any desired angle with respect to the pitch and yaw axes of the air vehicle, and actuation of each pair ofopposed canards 30 provides a component of yaw and/or a component of pitch. - One or both pairs of
opposed canards 30 may be actuated to provide roll about axis A in one or the other direction. - There are many examples in the art of suitable configurations for
servo assembly 45, and this will not be described in further detail herein. - A suitable
thermal battery 49 provides power to the projectile 100, includinghead 50 andservo assembly 40, and is accommodated in an aft part ofchamber 79. Thechamber 79 is forward of thepayload chamber 14, and a forward end ofchamber 79 is open to bore 18, which is of smaller cross-section thanchamber 79. In alternative variations of this embodiment, other suitable power sources may be provided. - Referring in particular to
Fig. 4 , thehead 50 is configured as a seeker head and comprises ahead housing 52 with aforward portion 51 accommodating asensor arrangement 60. Theaft portion 53 of thehead 50 comprises aninternal chamber 56 having an aft-open end, and comprises a ring orannular tail airfoil 54, joined to the external part ofaft portion 53 viarigid vanes 55. Thehead 50 has a longitudinal axis a. The maximum outer diameter of the head 50 (defined at the annular tail airfoil 54) is less than D, and thus thehead 50 is within the aforesaid envelope. - The
head 50 is non-rigidly, i.e. freely, mounted tobody 10 viajoint structure 70, at theforward end 71 of connectingshaft 72 that projects forward of thenose section 11 from thebore 18. Theaft end 73 ofshaft 72 is accommodated inbore 18, and has an enlargedaft end 76 axially reciprocably movable within a forward part ofchamber 79, allowing for limited axial movement betweenshaft 72 and thebore 18 andchamber 79, and thus allowing for corresponding limited axial movement betweenhead 50 and theprojectile body 10. This axial movement is schematically indicated at "k" inFig. 2 .
A biasing resilient member in the form ofcompression spring 78 is provided between thebattery 49 andenlarged end 76, and provides limited resistance to aft movement ofshaft 72 with respect to thebody 10, and the resilience of thespring 78 provides a restoring force in the forward direction. - Joint structure 70 (including shaft 72) is configured to allow free relative pivotal movement between the
head 50 and thebody 10 in three rotational degrees of freedom and limited movement in one degree of freedom. In particular, thejoint structure 70 itself is configured for allowing free relative pivotal movement between thehead 50 and thebody 10 in two rotational degrees of freedom, while theshaft 72 allows for free relative pivotal movement between thehead 50 and thebody 10 in a third rotational degree of freedom, and limited translational movement in one degree of freedom. In alternative variations of this embodiment, thejoint structure 70 may be rotatably mounted toshaft 72, and thus allows for free relative pivotal movement between thehead 50 and thebody 10 in three rotational degrees of freedom, while theshaft 72 provides limited translational movement in one degree of freedom. In yet other alternative variations of this embodiment the free pivotal movement between thehead 50 and thebody 10 may be in two degrees of freedom only. In an example, useful for an understanding of the invention, the free pivotal movement between thehead 50 and thebody 10 may be in one degree of freedom only. - In other words, while axis a of
head 50 is nominally coaxially aligned with axis A of thebody 10, axis a may be freely inclined with respect to axis A in one, two or three rotational degrees of freedom. The extent of this relative pivotal movement is limited by collision between theaft end 58 of theannular tail airfoil 54 with thenose section 11, or collision of theaft edge 57 ofhousing 52 withshaft 72, or collision of theaft edge 57 ofhousing 52 with thenose section 11. - The
joint structure 70 is accommodated inchamber 56, and is in the form of free gimbals in this embodiment, comprising a set ofinner gimbals 74 mounted to thehead 50 and defining a first pivoting axis, and orthogonally connected to a set ofouter gimbals 75 that are mounted atend 71 and defining a second pivoting axis orthogonal to the first pivoting axis. In alternative variations of this embodiment thejoint structure 70 may comprise any other suitable arrangement that permits the aforesaid free pivotal movement between thehead 50 and thebody 10 in three degrees of freedom, for example via flexible hose. - The
head 50 is thus configured for automatic alignment with the velocity vector of thevehicle 100, due to the aerodynamic forces acting thereon, in particular theannular tail airfoil 54, when exposed to the freestream of the fluid (typically atmospheric air) in which the projectile 100 is traveling. - In this embodiment, the
sensor arrangement 60 is configured for homing onto a target that is illuminated by a laser, typically from another source, and for providing suitable control signals to thedirection control mechanism 40 for operation thereof to maintain thevehicle 100 in a suitable trajectory to the target. In this embodiment thesensor arrangement 60 comprises a four quadrant detector, in which four laser detectors are arranged in maltese cross arrangement. Each sensor is operatively connected to a different one of saidcanards 30 of thedirection control mechanism 40, and thus provides a suitable control signal for controlling operation thereof, and thus operation of the respective canard. In operation of thesensor arrangement 60, a laser radiationtransparent dome 59 focuses laser light, reflected from the illuminated target, onto the sensors. When thehead 50 is boresighted on the target, i.e., the axis a of the head is pointing directly to the target, the reflected radiation received from the target is uniformly sensed by all four sensors, and each generates a similar control signal to thedirection control mechanism 40, which effects no changes to the positions of thecanards 30, and thus the projectile continues along the same direction. On the other hand, if thehead 50 is off-target, the reflected laser light will be more focused on one or more sensors than on the other sensors, and the unequal distribution of sensed reflected light generates unequal control signals, in a ratio proportional to the off-boresight angle, to the control thedirection control mechanism 40. In other words, a different control signal (also referred to herein as error signal) is generated corresponding to each quadrant, which is fed to each respective canard actuator to control actuation thereof. - In this embodiment, a proportional control loop is used, in which the amount of deflection applied to each
respective canard 30 about its respective pivot axis B, is proportional to the respective error or control signal generated by the respective sensor, and thus eachcanard 30 may be controlled to correct the velocity vector of thevehicle 100 to align thehead 50 with the target. In alternative variations of this embodiment, a simple non-proportional control loop may be used (often referred to as "bang-bang"), which results in either zero deflection or full deflection of the respective canard. - In alternative variations of this embodiment the sensor arrangement may comprise, additionally or alternatively, other sensors such as radar, other electro-optic sensors, surveillance equipment, communication means and so on, which may be housed in the
head 50 and/orbody 10, for example. - The projectile 100 further comprises said
support structure 80, configured for selectively supporting high-g thrust loads (also referred to herein as compressive loads or acceleration loads) between thehead 50 and thebody 10, so that none, or at least no significant part, of these loads is effectively resisted or channeled via thejoint structure 70 during the high-g launch phase (also referred to herein as the firing phase) of the projectile. Thesupport structure 80 is further configured for selectively disengaging from at least one of thehead 50 andbody 10 so that at least during part of the post-launch phase when the projectile is in free motion, thehead 50 is freely movable with respect to thebody 10 and thus thehead 50 is mechanically connected to thebody 10 only viajoint structure 70, and thusshaft 72. - These thrust loads are essentially the inertial loads of the head, and are determined from the product M*G, wherein M is the mass of the
head 50, and G is the acceleration of thevehicle 100. - In other words, during at least a part of the high-g launch phase, the
support structure 80 is configured for transferring these nominally axial acceleration loads between thehead 50 andbody 10, and thus effectively mechanically isolates thejoint structure 70 from these loads. In other words, thesupport structure 80 is configured for directing acceleration loads from thehead 50 to thebody 10 while minimizing or eliminating stress on thejoint structure 70 otherwise arising from such loads. - The
support structure 80 is positioned on the outside of thebody 10 and is mechanically connected to thehead 50. Thesupport structure 80 and thehead 50 thus define a load bearing unit that provides a load path to thebody 10 that is substantially independent of thejoint structure 70, or indeed of theshaft 72. This load bearing unit is configured to react the aforesaid acceleration loads such that thesupport structure 80 accepts the acceleration load provided by thehead 50 and carries the acceleration load in compression to thebody 10, and such that thejoint structure 70 is substantially isolated from and does not react at all, or to any significant extent to the acceleration loads. By "significant extent" is meant that thejoint structure 70 is free or otherwise shielded from any damage arising due to the launch acceleration. - Thus, and referring in particular to
Figs. 3 and4 , thesupport structure 80 in this embodiment is in the form of afairing 90, defining aninternal cavity 92 and comprising a load-bearing interface 93 configured for connection with the forward end offorward portion 12a in a load-bearing manner therewith. The fairing 90 comprises aninternal shoulder 95 configured for axially supporting theannular tail airfoil 54, in particular via theaft end 58, in a load bearing manner, while concurrently aligning axis a with axis A. Theinternal cavity 92 also provides a close lateral fit with theannular tail airfoil 54, and thus thesupport structure 80 is configured for externally restraining thehead 50 and preventing relative moment between thehead 50 and thebody 10, while not being mechanically connected to or interacting withjoint structure 70. - The fairing 90 is aerodynamically contoured externally to reduce drag and to isolate the
head 50 from aerodynamically induced loads while the fairing is connected to thebody 10 and the projectile 100 is in forward flight. Furthermore, while the fairing is connected to thebody 10, acceleration loads on thehead 50 are reacted through the fairing 90 (via load-bearing contact between theannular tail airfoil 54 and the internal shoulder 95), and to the body 10 (via load-bearing contact betweeninterface 93 of fairing 90 andinterface 94 of body 10), and not through thejoint structure 70. - The limited axial movement k between the
head 50 andbody 10 allows for the fairing 90 to be manufactured without the need for tight tolerances between the actual and relative positions of theinterface 93 andinternal shoulder 95 on the one hand, and the actual and relative positions of theinterface 94 and theaft end 58 on the other hand. Thus, prior to subjecting thevehicle 100 to any acceleration, there may be a small axial gap between theaft end 58 andinternal shoulder 95, with theinterfaces head 50 may translate in an aft direction with respect to thebody 10 responsive to the acceleration, until there is load bearing contact between theaft end 58 andinternal shoulder 95, the enlargedaft end 76 pressing against and compressing the spring 77. Once the acceleration loads are removed (as the vehicle decelerates, for example), thehead 50 translates back in a forward direction with respect to thebody 10 due to the spring 77. - The fairing 90 is also configured for being selectively disengaged from the
body 10 andhead 50. The fairing 90 is formed from two lateral fairing halves, 90A, 90B, joined at a plane W that is parallel to and intersects the aligned axes a and A. The fairing halves, 90A, 90B are held together during the load-bearing phase viapyrotechnic cable 98 that is provided at the forward end of the fairing 90, crossingplane W. Cable 98 is electrically connected tothermal battery 49 vialeads 97 andswitch mechanism 48. - When activated by means of
switch mechanism 48, thecable 98 bums or otherwise breaks, allowing the fairing halves, 90A, 90B, to separate at the nose, and allowing full lateral separation of the fairing halves, 90A, 90B, by application of aerodynamic forces thereon, induced by the forward motion of the projectile 100. As the fairing halves, 90A, 9 0B laterally separate from one another, the fairing 90 automatically disengages from thehead 50 and thebody 10, and reaction support previously provided to thehead 50 viashoulder 95 is removed, allowing thereafter free relative movement between thehead 50 andbody 10 via thejoint structure 70. - In this embodiment, the
switching mechanism 48 is configured for activating thecable 98 by means of one or more of: - a timer, so that the
cable 98 is activated after a predetermined time has elapsed after launch. - an accelerometer or other suitable acceleration sensor or load sensor (e.g. strain gauge), so that the
cable 98 is activated when acceleration forces acting on the projectile are below a predetermined threshold, for example considered not to be potentially damaging to thejoint structure 70 if thehead 50 is connected tobody 10 via thejoint structure 70. - a directional sensor, so that the
cable 98 is activated when the projectile is on a trajectory aligned with the target. For example, regarding a ground target and a ground launcher, thecable 98 may be activated when the projectile is on a downward trajectory, such that the velocity vector comprises a downwards components, i.e., in the direction of the earth. - In one form of operation of the projectile 100, and referring to
Fig. 5 , the projectile 100 is launched in a conventional manner from asuitable mortar 200, and follows a nominal parabolic trajectory T to a general target zone Z. The specific target X in zone Z is illuminated by an operator OP via a laser beam LB. At launch, and at least for part of the launch phase (T1), in which acceleration loads between thebody 10 andhead 50 would otherwise potentially damage or destroy thejoint structure 70 in the absence ofsupport structure 80, the fairing 90 provides mechanical support between thebody 10 andhead 50, isolating thejoint structure 70 from such acceleration loads. Thejoint structure 70 may generate its own inertial forces due to acceleration, but these are substantially less than any corresponding loads between thehead 50 andbody 10, and in any case thejoint structure 70 is configured for withstanding its own inertia-induced loads without risk of damage. - Soon after launch, at point T2, the
vanes 20 are deployed to provide directional stability. - At a predetermined point T3 in the trajectory T after launch, within the post-launch phase, the fairing 90 is disengaged and removed from the
body 10 andhead 50, allowing the head to freely align with the velocity vector of the projectile 100. Soon after removal of the fairing 90, or alternatively just before or concurrently therewith, thecanards 30 are deployed, and the sensor arrangement in the seeker head is operational. Point T3 is chosen such that thesensor arrangement 60 is pointing in the general direction of the zone Z and in particular the target X, so that the laser-illuminated target X will be in the field of view of at least one of the sensors ofsensor arrangement 60. In this manner, thesensor arrangement 60 will then control the canards 30 (T4) to steer the projectile 100 so that this is homed towards the target X (T5). - Point T3 can be chosen in a number of different ways. For example, T3 may be set at a predetermined time after launch, where it is assumed that the projectile 100 has already passed the high acceleration stage and is now in the descent path (or other corresponding path) towards the target. Alternatively, T3 may be defined as the point in the trajectory where the acceleration forces are now not potentially dangerous to the
joint structure 70, and thus the fairing 90 may be disengaged, the acceleration forces being monitored by an accelerometer or other suitable sensor. Alternatively, point T3 may be determined according to the attitude of the projectile - a suitable orientation sensor or accelerometer can determine when the projectile 100 is in the descending part of the trajectory T and thus likely to be pointing in the general direction of zone Z, after which the faring may be removed. - Alternatively, the point T3 may be chosen as the point where any two or all three conditions above are met - i.e., (a) not before a predetermined time after launch; and/or (b) when the projectile (in particular the joint structure 70) is no longer subject to potentially damaging acceleration forces; and/or (c) the projectile is in a descending part of the trajectory (or the corresponding final part of the trajectory where the projectile is nominally aligned with the target).
- In the method claims that follow, alphanumeric characters and Roman numerals used to designate claim steps are provided for convenience only and do not necessarily imply any particular order of performing the steps.
- It should be noted that the word "comprising" as used throughout the appended claims is to be interpreted to mean "included but not limited to".
Claims (14)
- A projectile (100) configured for operating at least in a launch phase and in a post-launch phase, comprising:a projectile body (10), a projectile head (50), and a support structure (80), wherein said projectile head (50) is non-rigidly mounted to said projectile body (10) via a joint structure (70); and
wherein said support structure (80) is configured for selectively supporting said projectile head (50) with respect to said projectile body (10) in a load bearing relationship independently of said joint structure (70) during at least a portion of said launch phase, and for selectively terminating said support during at least a portion of said post-launch phase; wherein at least during said portion of said post-launch phase said projectile head (50) is freely pivotable with respect to said projectile body (10) in at least two rotational degrees of freedom;wherein said projectile head (50) is configured for being freely aerodynamically aligned with a velocity vector of the projectile (100) independently of said projectile body (10) when said support is terminated; the projectile is characterized in that:in said load bearing relationship, said support structure (80) externally supports said projectile head (50) with respect to said projectile body (10);said support structure (80) is configured for being removed from said projectile body (10) and said projectile head (50) at least during said portion of said post-launch phase for selectively terminating said support; andsaid support structure (80) is a fairing (90) having an open aft end and a cavity (92) in communication therewith, wherein said aft end is configured for reversibly connecting to said projectile body (10) and wherein said cavity (92) is configured for accommodating said projectile head (50) therein in load bearing contact therewith. - A projectile (100) according to claim 1, wherein aid projectile head (50) is at least one of: pivotably mounted to said projectile body (10) via said joint structure (70); or axially movable with respect to said projectile body (10) via said joint structure (70) at least in when said support is terminated.
- A projectile (100) according to any one of claim 1 to 2, wherein said support structure (80) is configured for preventing at least a majority of loads between said projectile head (50) and said projectile body (10) associated with said launch phase being channeled via said joint structure (70).
- A projectile (100) according to any one of claims 1 to 3, including at least one of the following:wherein said projectile body (10) comprises a front end (11), an aft end (13) and a first longitudinal axis extending therebetween, and wherein said projectile head (50) comprises a second longitudinal axis, wherein in said load bearing relationship, said first longitudinal axis is substantially coaligned with said second longitudinal axis; orwherein in said load bearing relationship, said support structure (80) reversibly interconnects said projectile head (50) with said projectile body (10) and is configured for supporting said loads between said projectile head (50) and said projectile body (10) when thus interconnected; orwherein said loads are induced responsive to an acceleration of the projectile (100) during said launch phase.
- A projectile (100 according to any one of claims 1 to 4, wherein said support structure (80) is further configured for preventing aerodynamic loads being directly applied to said projectile head (50) during said portion of said launch phase.
- A projectile (100) according to any one of claims 1 to 5, wherein said support structure (80) comprises a load bearing member (93), wherein in said load bearing relationship said load bearing member (93) is in load bearing contact with said projectile body (10) and in load bearing contact with an external part of said projectile head (50).
- A projectile (100) according to any one of claims 1 to 6, including at least one of:wherein said joint structure (70) is configured for permitting relative angular movement between said projectile head (50) and said projectile body (10), said projectile head (50) being configured for self-alignment with a free stream fluid flow direction, of a fluid through which said projectile (100) is traveling, via said joint structure (70) in said post-launch phase wherein said projectile head (50) is exposed to the fluid flow; orwherein said projectile head (50) is gimbaled freely to said projectile body (10) via said joint structure (70) or wherein said joint structure (70) comprises a flexible hose, orwherein said projectile head (50) comprises an aft portion (53) comprising an annular tail airfoil (54) configured for providing said self-alignment; orwherein said projectile head (50) is configured for homing said projectile (100) to a target.
- A projectile (100) according to any one of claims 1 to 7, wherein:said projectile body (10) further comprises a steering arrangement (40) configured for steering the projectile (100) responsive to suitable control input;andsaid projectile head (50) is further configured for providing said control input at least during said portion of said post launch phase
- A projectile (100 according to any one of claims 1 to 8, wherein said support structure (80) comprises a casing (90) having an aerodynamically contoured outer wall, and an internal seat for seating an aft portion (53) of said projectile head (50) in said load bearing relationship.
- A projectile (100) according to claim 9, including at least one of;
wherein in said load bearing relationship, said projectile head (50) is immobilized in said casing (90); or
wherein in said load bearing relationship, said casing (90) prevents axial displacement between said projectile head (50) and said projectile body (10) and/or wherein in said load bearing relationship, said projectile head (50) and said projectile body (10) are longitudinally aligned. - A projectile (100) according to any one of claims 9 to 10, wherein said casing (190) comprises a first casing half (90A) reversibly joined to a second casing half (90B), and wherein said support structure (80) is removable from said projectile head (50) and said projectile body (10) by separating said first casing half (90A) from said second casing half (90B).
- A projectile (100) according to any one of claims 1 to 11, wherein said projectile (100) is configured as a mortar shell configured to be launched via a mortar (200).
- A method for retrofitting a projectile (100), comprising:(a) providing the projectile, the projectile comprising a projectile body (10) and a projectile head (50), wherein the projectile head (50) is non-rigidly mounted to the projectile body (10) via a joint structure (70); and(b) providing a selectively removable support structure (80), wherein said support structure (80) is configured for selectively supporting said projectile head (50) with respect to said projectile body (10) in a load bearing relationship independently of said joint structure (70) during at least a portion of said launch phase, and for selectively terminating said support during at least a portion of said post-launch phase, wherein at least during said portion of said post-launch phase said projectile head (50) is freely pivotable with respect to said projectile body (10) in at least two rotational degrees of freedom;wherein said projectile head (50) is configured for being feely aerodynamically aligned with a velocity vector of the projectile (100) independently of said projectile body (10) when said support is terminated; wherein in said load bearing relationship, said support structure (80) externally supports said projectile head (50) with respect to said projectile body (10);
wherein said support structure (80) is configured for being removed from said projectile body (10) and said projectile head (50) at least during said portion of said post-launch phase for selectively terminating said support; and
wherein said support structure (80) is a fairing (90) having an open aft end and a cavity (92) in communication therewith, wherein said aft end is configured for reversibly connecting to said projectile body (10) and wherein said cavity (92) is configured for accommodating said projectile head (50) therein in load bearing contact therewith. - A method according to claim 13, wherein said support structure (80) is configured for preventing at least a majority of loads between said projectile head (50) and said projectile body (10) associated with said launch phase being channeled via, or supported by, said joint structure (70), and optionally wherein said majority of said loads is otherwise damaging if applied to said joint structure (70).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IL210370A IL210370A (en) | 2010-12-30 | 2010-12-30 | Projectile |
PCT/IL2011/050075 WO2012090202A2 (en) | 2010-12-30 | 2011-12-26 | Projectile |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2659219A2 EP2659219A2 (en) | 2013-11-06 |
EP2659219B1 true EP2659219B1 (en) | 2016-08-17 |
Family
ID=44671911
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP11815638.9A Not-in-force EP2659219B1 (en) | 2010-12-30 | 2011-12-26 | Projectile |
Country Status (4)
Country | Link |
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US (1) | US20130255527A1 (en) |
EP (1) | EP2659219B1 (en) |
IL (1) | IL210370A (en) |
WO (1) | WO2012090202A2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111946461A (en) * | 2020-07-27 | 2020-11-17 | 山东鑫聚龙动力科技集团有限公司 | Wing shaft for aerospace engine and manufacturing process thereof |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9086258B1 (en) * | 2013-02-18 | 2015-07-21 | Orbital Research Inc. | G-hardened flow control systems for extended-range, enhanced-precision gun-fired rounds |
RU2583120C2 (en) * | 2014-05-13 | 2016-05-10 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Поволжский государственный технологический университет" | Method of rocket control |
US11486682B2 (en) * | 2020-10-26 | 2022-11-01 | Raytheon Company | Integrated propulsion and warhead system for an artillery round |
US20230012398A1 (en) * | 2021-07-01 | 2023-01-12 | The Boeing Company | Propulsionless hypersonic dual role munition |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4938434A (en) * | 1989-07-31 | 1990-07-03 | Raytheon Company | Restraining mechanism |
Family Cites Families (15)
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US3195462A (en) * | 1961-05-17 | 1965-07-20 | Aerojet General Co | Pull rocket shroud |
US4193567A (en) * | 1962-07-17 | 1980-03-18 | Novatronics, Inc. | Guidance devices |
US4374577A (en) * | 1976-01-14 | 1983-02-22 | The United States Of America As Represented By The Secretary Of The Navy | Adapter assembly for flat trajectory flight |
US4415130A (en) * | 1981-01-12 | 1983-11-15 | Westinghouse Electric Corp. | Missile system with acceleration induced operational energy |
US4533094A (en) | 1982-10-18 | 1985-08-06 | Raytheon Company | Mortar system with improved round |
US4541591A (en) | 1983-04-01 | 1985-09-17 | The United States Of America As Represented By The Secretary Of The Navy | Guidance law to improve the accuracy of tactical missiles |
DE3612175C1 (en) * | 1986-04-11 | 1987-10-08 | Messerschmitt Boelkow Blohm | Fast flying missile |
DE3742836C1 (en) * | 1987-12-17 | 1989-07-13 | Messerschmitt Boelkow Blohm | Missile with adjustable control elements |
DE3826615C2 (en) * | 1988-08-05 | 1995-06-08 | Rheinmetall Gmbh | Yaw-free bullet |
US4944226A (en) * | 1988-08-19 | 1990-07-31 | General Dynamics Corp., Pomona Div. | Expandable telescoped missile airframe |
JPH03241294A (en) * | 1990-02-16 | 1991-10-28 | Mitsubishi Heavy Ind Ltd | Projectile |
US5788180A (en) * | 1996-11-26 | 1998-08-04 | Sallee; Bradley | Control system for gun and artillery projectiles |
WO2006001856A2 (en) | 2004-03-15 | 2006-01-05 | Georgia Tech Research Corporation | A projectile and system for providing air-to-surface reconnaissance |
US7791007B2 (en) * | 2007-06-21 | 2010-09-07 | Woodward Hrt, Inc. | Techniques for providing surface control to a guidable projectile |
US8263919B2 (en) | 2008-08-27 | 2012-09-11 | Raytheon Company | Unmanned surveillance vehicle |
-
2010
- 2010-12-30 IL IL210370A patent/IL210370A/en not_active IP Right Cessation
-
2011
- 2011-12-26 WO PCT/IL2011/050075 patent/WO2012090202A2/en active Application Filing
- 2011-12-26 EP EP11815638.9A patent/EP2659219B1/en not_active Not-in-force
- 2011-12-26 US US13/988,599 patent/US20130255527A1/en not_active Abandoned
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4938434A (en) * | 1989-07-31 | 1990-07-03 | Raytheon Company | Restraining mechanism |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111946461A (en) * | 2020-07-27 | 2020-11-17 | 山东鑫聚龙动力科技集团有限公司 | Wing shaft for aerospace engine and manufacturing process thereof |
Also Published As
Publication number | Publication date |
---|---|
US20130255527A1 (en) | 2013-10-03 |
IL210370A (en) | 2015-08-31 |
WO2012090202A2 (en) | 2012-07-05 |
WO2012090202A3 (en) | 2012-10-04 |
IL210370A0 (en) | 2011-08-31 |
EP2659219A2 (en) | 2013-11-06 |
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