EP2703768A1 - Projektil mit ausrichtbaren Steuerflächen, und Steuerverfahren der Steuerflächen eines solchen Projektils - Google Patents

Projektil mit ausrichtbaren Steuerflächen, und Steuerverfahren der Steuerflächen eines solchen Projektils Download PDF

Info

Publication number
EP2703768A1
EP2703768A1 EP13182416.1A EP13182416A EP2703768A1 EP 2703768 A1 EP2703768 A1 EP 2703768A1 EP 13182416 A EP13182416 A EP 13182416A EP 2703768 A1 EP2703768 A1 EP 2703768A1
Authority
EP
European Patent Office
Prior art keywords
projectile
ring
disc
control surfaces
center
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP13182416.1A
Other languages
English (en)
French (fr)
Other versions
EP2703768B1 (de
Inventor
Richard Roy
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.)
Nexter Munitions SA
Original Assignee
Nexter Munitions SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nexter Munitions SA filed Critical Nexter Munitions SA
Priority to PL13182416T priority Critical patent/PL2703768T3/pl
Publication of EP2703768A1 publication Critical patent/EP2703768A1/de
Application granted granted Critical
Publication of EP2703768B1 publication Critical patent/EP2703768B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

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

Definitions

  • the technical field of the invention is that of the projectiles guided by steerable steerings in incidence.
  • This type of device requires knowing the exact angular position both incidence and roll of each rudder to make it adopt the appropriate position to follow the desired trajectory to the projectile.
  • the projectile being subjected to a roll that can be very important, especially if it is fired from a rifled gun, it is therefore necessary to make continual corrections of the incidence of the control surfaces.
  • the invention proposes to solve the problem of complexity of the adjustment of the incidence of the control surfaces as a function of their angular position around the projectile
  • the invention also makes it possible to reduce the numerous and brutal loads of the motors.
  • the invention relates to a projectile steerable steerable bearing having at least three control surfaces each pivotable relative to the projectile about a pivot axis perpendicular to the longitudinal axis of the projectile, characterized in that it comprises a steering ring orientation ring, having as many arms as there are control surfaces, which ring can translate in a plane perpendicular to the longitudinal axis of the projectile and in at least two directions of this plane, orientation ring can turn on itself around its center parallel to the longitudinal axis of the projectile, each arm comprising means cooperating with an orientation lever integral with a rudder to be able to cause pivoting of the rudder about its pivot axis when of the displacement of the ring, the translation of the ring being ensured by a means of positioning the center of the ring in the plane relative to a rep absolute re centered on the longitudinal axis of the projectile.
  • the positioning means comprises a disc positioned in a central bore of the ring and which has a circular opening. eccentric to the center of the disc to move the center of the ring by the rotation of the disc.
  • the means for positioning the center of the ring in the two directions of the plane P comprises a cam cooperating with the eccentric circular opening of the disc, this eccentric circular opening comprising a ring gear internally meshing with a pinion centered on the axis. longitudinal projectile, the combined rotations of the pinion and the cam allowing the displacement of the disk.
  • the positioning means comprises a disk positioned in a central bore of the ring and which comprises a sliding connection oriented parallel to a diameter of the disk and intended to allow the displacement of the disk radially relative to a coaxial plate. to the roll axis, the disc having a rack parallel to the slide, rack gear meshing with a pinion carried by a secondary shaft coaxial with the roll axis.
  • a projectile 100 in flight has a substantially cylindrical body 103.
  • This projectile 100 comprises in the rear part a stabilizer 101 which itself comprises fixed-effect fins 102 intended to stabilize the projectile 100 along its Y and Z-axis pitch.
  • the projectile is rotated R around its longitudinal axis called axis of roll X.
  • control surfaces 2 integral with the projectile and each able to pivot on a steering axis perpendicular to the roll axis so as to modify their incidence and consequently, to adopt a desired trajectory to the
  • the control surfaces 2 being integral with the projectile 100 are also driven by the same rotational movement R around the roll axis as the projectile 100.
  • a warhead 104 housing a control device 1 for orienting the control surfaces 2 of the projectile 100 in response to a guide law programmed in a homing device (not shown) .
  • control device 1 comprises the following elements: control surfaces 2 integral with the projectile and orientable in incidence by pivoting about axes 7 perpendicular to the longitudinal axis of roll X.
  • Each rudder 2 comprises a steering plane 2a whose base is integral with a steering foot 2b pivotally mounted relative to the projectile body.
  • Each director plane 2a is intended to influence by its pivoting around the axis 7 the aerodynamic supports of the projectile to change its trajectory.
  • Each rudder 2 comprises perpendicularly to its pivot axis 7 a lever 3 integral with the rudder foot 2b of the rudder 2.
  • the free end 3a of the lever 3 facing the front of the projectile is spherical.
  • the steering base 2b may include or be associated with unrepresented deployment means (as described in the patent FR2955653 or in the patent EP1550837 for example).
  • the control device comprises a ring 5 called steering ring orientation ring.
  • This ring 5 comprises an annular portion 5a and as many arms 6 that the projectile comprises control surfaces 2.
  • Each arm 6 is integral with the annular portion 5a and extends radially to the annular portion 5a.
  • the orientation ring 5 and each arm are located in a plane P perpendicular to the roll axis X of the projectile. Ring 5 is held in its plane P by guide means not shown, for example between two fixed plates integral with the projectile body.
  • Each arm 6 of the ring 5 comprises a longitudinal groove 77 intended to receive the spherical end 3a of the levers 3.
  • the groove 77 allows the sphere 3 to slide in the direction of the length of the groove 77 and in the direction of the thickness of the arm 6.
  • each sphere 3a is intended to correspond with an opening 4a of a carriage 4.
  • the carriage 4 comprises guide means 4b intended to cooperate with grooves (not shown) which are fixed with respect to the projectile body and intended to form links orthogonal guides to the roll axis X of the projectile.
  • the first guiding means thus comprises a prismatic bar 4b intended to correspond with a groove of the body of the projectile 100 (groove not shown).
  • the bar 4b can slide freely in the groove, perpendicularly to the pivot axis 7 of the control surface and parallel to the plane P of the ring 5.
  • the second guide means 4c is integral with the first guide means 4b and comprises a pair of rails 4c oriented parallel to the pivot axis 7 of the rudder 2 and guiding an arm 6 of the ring 5.
  • Each carriage 4 is intended for facilitate the movements of the sphere 3a of the lever 3 relative to the arms 6. In particular, it allows the spherical end to slide with a greater amplitude in the direction of the thickness of the arm 6.
  • the ring 5 can be translated in all directions of the plane P (see figure 2 ) perpendicular to the roll axis X.
  • the figure 4 shows the positioning of the ring 5 when the control surfaces 2 are in the neutral (control plane parallel to the roll axis X).
  • the ring 5 is then coaxial to the roll axis X.
  • this so-called neutral position or initial position of the ring 5 at the start of the stroke is shown in dotted lines.
  • the translation in a direction D of the ring 5 from the neutral position to the position of the ring 5 shown in solid lines generates a component of normal forces to the arms 6b which are perpendicular to the displacement D. This component then causes the pivoting of the control surfaces 2b via the levers 3 (levers 3 better seen at the figure 2 ).
  • Positioning means 8 makes it possible to modify the position of the center 5b of the ring 5 in the plane P with respect to an absolute reference centered on the X axis (mark provided by a satellite positioning system or GPS or for example, by an onboard inertial navigation system).
  • This offset T corresponds to a radial distance between the axis X of the projectile and the center 5b of the ring 5, it is represented on the figure 6 .
  • the two other control surfaces 2b which are perpendicular to the control surfaces 2a have their pivot axis 7 which is offset by a gap E with respect to the direction of the associated arm 6 carried by the ring 5.
  • the difference E is equal to the offset T given to the ring 5.
  • the incidence ⁇ is maximum for these control surfaces 2b whose axes are perpendicular to Direction D ( figures 5 , 6 and 7 ).
  • each rudder being animated with a rotational movement R around the projectile cyclically goes through a zero incidence then a maximum incidence and this twice in a single round around the projectile 100.
  • direction D of displacement of the ring 5 corresponds to the direction of the desired trajectory correction for the projectile.
  • This device thus allows easy adjustment of the correction to be made to the trajectory of the projectile without requiring to know at any time the angular position of each rudder relative to the direction that it is desired to give the projectile.
  • orientation of the projectile in a direction D is determined by the vector passing through the center 5b of the ring 5 and the roll axis X of the projectile.
  • This positioning is obtained as will now be described using a positioning means 8.
  • the control device 1 comprises a positioning means 8 intended to move and position the center 5b of the ring 5 with a shift T more or less important with respect to the center of the projectile X and directed in the direction where it is desired to orient the projectile.
  • the positioning means 8 is shown exploded at the figure 8 and assembled at the figure 9 . It comprises a primary eccentric positioning means 16 and a secondary eccentric positioning means 19.
  • the primary eccentric positioning means 16 comprises a cam 9 in the form of a disk portion integral with a first end of a tubular primary shaft 10 of axis X, thus coaxial with the projectile.
  • the cam 9 is eccentric by a value R1 with respect to the roll axis X and comprises a recess 51 with a cylindrical profile of axis X.
  • the second end of the primary shaft 10 has an external toothing 18 intended to rotate the primary shaft 10 around the roll axis X by means of a first motor not shown.
  • the secondary eccentric positioning means 19 comprises a disc 12 itself having a circular opening 13.
  • the circular opening 13 comprises a ring gear 23.
  • the circular opening 13 is intended to receive the cam 9 of the primary positioning means 16 previously described.
  • the circular opening 13 has its center coincides with that of the cam 9, and it is eccentric with respect to the center of the disc 12 of a value R2.
  • the secondary eccentric positioning means 19 comprises a secondary shaft 20 which carries at each of its ends pinions 21 and 22.
  • the secondary shaft 20 is intended to be adjusted in a bore 52 of the primary shaft 10.
  • One of the pinions 22 is intended to be placed in the recess 51 of the cam 9 and its toothing is intended to correspond with the ring gear 23 of the disk 12.
  • the other gear 21 is positioned in the vicinity of the toothing 18 of the primary shaft 10.
  • the latter gear 21 is intended to mesh with a second motor (not shown).
  • the figure 9 allows to see the positioning means 8 assembled with the primary and secondary positioning means in place relative to each other.
  • the two eccentric positioning means 16 and 19 each comprise a maximum eccentric point. This point is located by a circle C1 on the cam 9 and gives the maximum eccentricity of the cam 9 with respect to the roll axis X. On the disc 12, the circle C2 gives the maximum eccentric point of the disc 12 opposite the center of the cam 9.
  • the translation of the ring 5 in the plane P operates in three phases from a so-called neutral position corresponding to the straight flight of the projectile.
  • the maximum eccentricity points C1 and C2 of the cam 9 and the disc 12 are diametrically opposite with respect to the roll axis X of the projectile 100 thus forming an alignment A with the center of the pinion 22 (centered on the axis of X roll).
  • control surfaces In flight, the control surfaces (not shown) rotate with the projectile around the longitudinal axis X and drive the ring 5 in rotation. Maintaining this neutral position of the control surfaces is ensured by driving by the motors of the primary shaft 10 and the secondary shaft 20 so as to continuously compensate for the rotation of the projectile.
  • the primary and secondary shafts 20 then both rotate at the same speed- ⁇ which is equal to and opposite to the rotational speed ⁇ of the projectile.
  • the disk 12 and the cam 9 are immobile in the absolute reference such that at the figure 4 and their position is permanently known to the seeker. In the absence of offset of the center 5b of the ring 5 relative to the axis of roll X of the projectile, the control surfaces are thus maintained in neutral.
  • a course correction in a direction D must be ordered.
  • the two motors will first orient, in a rotational movement M, the disc 12 and the cam 9 so that the alignment A formed by the maximum eccentric points C1 and C2 and the roll axis X are perpendicular to the direction D which is aimed at.
  • This orientation is done by giving a differential to the speeds of rotation of the motors relative to the speed of rotation of the projectile on itself.
  • These motors will be given a speed equal to - ⁇ ⁇ ⁇ with a projectile rotating at the speed ⁇ .
  • This orientation is obtained by simultaneous rotation, in the same direction and at the same angular velocity ⁇ ⁇ of the disc 12 and the cam 9.
  • the skilled person will choose the rotational speeds of the motors and their direction of rotation according to the ratios transmission between different sprockets and crowns and depending on the relative mounting direction of each motor.
  • both engines will rotate in order to bring each of the maximum eccentric points C1 and C2 closer to the chosen direction D.
  • the motors are actuated simultaneously with identical speeds but in opposite directions so as to orient the eccentric point C2 of the disk 12 by an angle ⁇ 1 with respect to the direction D and to orient the eccentric point C1 of the cam 9 of an angle - ⁇ 1 with respect to the direction D (see figures 11 and 12 ).
  • one motor will be given a speed equal to - ⁇ + b while the other motor will have a speed equal to - ⁇ -b.
  • ⁇ is the absolute value of the instantaneous rotation speed of the projectile and b is an absolute value of a speed entrenched or added to ⁇ to rotate the disk 12 and the cam 9.
  • the velocities ⁇ and b will be chosen constant or variable by skilled in the art depending on the vivacity of the correction to be made to the trajectory of the projectile.
  • the center 5b of the ring 5 will then slide in the plane P in the direction D with an offset T with respect to the roll axis X.
  • the essential is therefore to move the ring 5 in both directions of the plane P by a positioning means 8. This avoids the use of a motor for each rudder. In particular, the rapid and untimely loading of these motors and the complex and relatively long calculations are avoided in order to determine the corrections of incidence to be ensured permanently.
  • the angular position of C1 it is easily obtained by measuring the rotation angle of the motor driving the pinion 18, so the cam 9.
  • the angular position of the cam 9 in the absolute reference is possible to resort to the use of an optical sensor integral with the body of the projectile and rotating with it.
  • the position of this sensor is precisely known with respect to the absolute reference provided by the inertial unit of the projectile.
  • the precise angular position of the maximum eccentricity C1 of the cam 9 will be read by the sensor for example on an optical scale O surrounding the shaft 10 (FIG. figure 9 ).
  • the angular position of the cam 9 is thus known, the angular position of C2 can be obtained relative to the angular position of the cam 9, for example by a magnetic measurement of the rotation of the disc 12 around the cam 9.
  • a magnetic tape B is placed in the vicinity of the ring gear 13 and a read head C capable of reading this strip B is integral with the cam 9 and collects the angular position information between the disk 12 and the cam 9.
  • This angular information is transmitted to an on-board computer responsible for servocontrol and commands via conductive tracks P placed on the primary shaft 10 and connected to the cursor C. These tracks will be read for example by an inductive sensor or by brushes. These means are illustrated by way of example in figure 9 .
  • a positioning means 8 comprises a disc 12 intended to cooperate with the bore 5c of the ring 5 described above.
  • the ring 5 has not been shown in this figure, but the structural characteristics of this ring and its cooperation with the control surfaces are identical to what has been described above with reference to FIGS. figures 2 and 3 .
  • the positioning of the ring 5 in a plane perpendicular to the longitudinal axis of the projectile will make it possible to control the control surfaces.
  • This positioning of the ring 5, so its center 5b, is provided by the control of the displacement of the disc 12 which is coaxial with the ring 5 and around which this ring will rotate.
  • the disc 12 has a sliding connection 60 corresponding to a plate 61 integral with the primary shaft 10.
  • the slide connection may be for example of the dovetail type.
  • the slide connection 60 is oriented parallel to a diameter of the disc 12.
  • the disc 12 further comprises a rack 62 oriented parallel to the slide connection 60.
  • the primary shaft 10 is coaxial with the roll axis X of the projectile, is secured to the plate 61 by one of its ends and has a primary pinion 18 at its second end, pinion which, as in the previous embodiment, meshes with a motor (not shown).
  • a secondary shaft 20 Coaxially to this primary shaft 10 is a secondary shaft 20 having a pinion (63 or 21) at each of its ends. Pinion 21 is driven as in the previous embodiment by a motor (not shown). The pinion 63 meshes with the rack 62.
  • first rotation of the primary shaft 10 will be performed so as to position the slideway 60 parallel to the desired direction D for a given trajectory correction, then a rotation of the secondary shaft 20 for moving the rack 62.
  • the rotation of the primary shaft 10 and secondary 20 will be by electric motors.
  • a first phase the rotational speed ⁇ of the projectile is compensated by rotating the primary shaft 10 and the secondary shaft 20 together by an angle - ⁇ (as in the previous embodiment).
  • This position of the disk 12 corresponding to a neutral position of the control surfaces (without incidence). Note that if the primary shaft and the secondary shaft rotate together with the projectile and the disc 12 is centered, then the control surfaces are still neutral and the trajectory of the projectile is not affected.
  • This first phase of immobilization of the positioning means in the absolute reference is there to give an angular reference to the following phases.
  • a course correction in a direction D must be ordered.
  • the rotation of the primary shaft 10 is then controlled to position the rack 62 parallel to the direction D of the desired path correction. So that the disc 12 remains coaxial with X during the orientation of the rack, the orientation operation of the rack 62 must therefore give rise to the level of the secondary shaft 20 to a compensation of the rotation of the rack 62 around of X. Therefore, for a rotation of the plate 61 by an angle ⁇ , the secondary shaft 20 will have to turn simultaneously of the same value and in the same direction.
  • the secondary axis 20 is controlled to move the rack 62 in the desired direction D ( figure 14 ).
  • the disc 12 is thus eccentred with a value E with respect to the roll axis X.
  • the disc 12 is surrounded by the ring 5 (not shown on the figures 13 and 14 ) slides this one in the plane P thus acting on the inclination of the control surfaces of the projectile.
  • the angular position is easily obtained as in the previous embodiment by optical sensors for measuring the rotation of the motors driving these pinions.
  • the position of the rack 62 with respect to the plate 61 is obtained using, for example, a sensor secured to the plate 61 and reading the position of marks made on the disk 12 (for example teeth of the rack 62).

Landscapes

  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Position Or Direction (AREA)
  • Toys (AREA)
EP13182416.1A 2012-08-31 2013-08-30 Projektil mit ausrichtbaren Steuerflächen, und Steuerverfahren der Steuerflächen eines solchen Projektils Active EP2703768B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL13182416T PL2703768T3 (pl) 2012-08-31 2013-08-30 Pocisk ze sterowanymi brzechwami i sposób sterowania brzechwami takiego pocisku

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1202359A FR2995074A1 (fr) 2012-08-31 2012-08-31 Projectile a gouvernes orientables et procede de commande des gouvernes d'un tel projectile

Publications (2)

Publication Number Publication Date
EP2703768A1 true EP2703768A1 (de) 2014-03-05
EP2703768B1 EP2703768B1 (de) 2015-07-08

Family

ID=47739314

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13182416.1A Active EP2703768B1 (de) 2012-08-31 2013-08-30 Projektil mit ausrichtbaren Steuerflächen, und Steuerverfahren der Steuerflächen eines solchen Projektils

Country Status (5)

Country Link
US (1) US9297622B2 (de)
EP (1) EP2703768B1 (de)
ES (1) ES2547455T3 (de)
FR (1) FR2995074A1 (de)
PL (1) PL2703768T3 (de)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IL231186A (en) * 2014-02-26 2017-07-31 Israel Aerospace Ind Ltd Wing opening mechanism
FR3078152B1 (fr) * 2018-02-22 2021-11-05 Nexter Munitions Projectile a gouvernes orientables
US11187505B1 (en) * 2019-07-03 2021-11-30 Gerhard W. Thielman Concatenated annular swing-wing tandem lift enhancer
US11619473B2 (en) * 2021-01-11 2023-04-04 Bae Systems Information And Electronic Systems Integration Inc. Command mixing for roll stabilized guidance kit on gyroscopically stabilized projectile

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE694533C (de) * 1930-03-04 1940-08-03 Siemens App Einrichtung zur Steuerung von Raketen, insbesondere Raketengeschossen
DE3717688C1 (en) * 1987-05-26 1988-06-09 Messerschmitt Boelkow Blohm Rotating device for aerodynamically acting control surfaces which are mounted such that they can rotate
US5950963A (en) * 1997-10-09 1999-09-14 Versatron Corporation Fin lock mechanism
EP1550837A1 (de) 2003-12-31 2005-07-06 Giat Industries Vorrichtung zur Entfaltung und Steuerung der Steuerflächen eines Projektils
US7246539B2 (en) 2005-01-12 2007-07-24 Lockheed Martin Corporation Apparatus for actuating a control surface
FR2955653A1 (fr) 2010-01-28 2011-07-29 Nexter Munitions Dispositif de deploiement simultane de gouvernes d'un projectile

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2654334A (en) * 1950-07-20 1953-10-06 Chester C Wheeler Torpedo with rolling hull
US2851982A (en) * 1954-01-18 1958-09-16 John J Fogarty Hydraulic servo actuator unit for torpedo rudders
US3067681A (en) * 1960-01-04 1962-12-11 Telecomputing Corp Guided missile
US3154015A (en) * 1962-09-19 1964-10-27 Martin Marietta Corp Missile flight control system
US4327886A (en) * 1972-11-30 1982-05-04 The United States Of America As Represented By The Secretary Of The Navy Integral rocket ramjet missile
US4588146A (en) * 1984-03-29 1986-05-13 The United States Of America As Represented By The Secretary Of The Army Biaxial folding lever wing
US6247666B1 (en) * 1998-07-06 2001-06-19 Lockheed Martin Corporation Method and apparatus for non-propulsive fin control in an air or sea vehicle using planar actuation
FR2891618B1 (fr) * 2005-10-05 2010-06-11 Giat Ind Sa Dispositif d'entrainement de gouvernes de projectile.
US8080772B2 (en) * 2007-11-02 2011-12-20 Honeywell International Inc. Modular, harnessless electromechanical actuation system assembly
US8410412B2 (en) * 2011-01-12 2013-04-02 Raytheon Company Guidance control for spinning or rolling vehicle

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE694533C (de) * 1930-03-04 1940-08-03 Siemens App Einrichtung zur Steuerung von Raketen, insbesondere Raketengeschossen
DE3717688C1 (en) * 1987-05-26 1988-06-09 Messerschmitt Boelkow Blohm Rotating device for aerodynamically acting control surfaces which are mounted such that they can rotate
US5950963A (en) * 1997-10-09 1999-09-14 Versatron Corporation Fin lock mechanism
EP1550837A1 (de) 2003-12-31 2005-07-06 Giat Industries Vorrichtung zur Entfaltung und Steuerung der Steuerflächen eines Projektils
US7246539B2 (en) 2005-01-12 2007-07-24 Lockheed Martin Corporation Apparatus for actuating a control surface
FR2955653A1 (fr) 2010-01-28 2011-07-29 Nexter Munitions Dispositif de deploiement simultane de gouvernes d'un projectile

Also Published As

Publication number Publication date
ES2547455T3 (es) 2015-10-06
FR2995074A1 (fr) 2014-03-07
EP2703768B1 (de) 2015-07-08
US9297622B2 (en) 2016-03-29
PL2703768T3 (pl) 2015-12-31
US20140061365A1 (en) 2014-03-06

Similar Documents

Publication Publication Date Title
EP2703768B1 (de) Projektil mit ausrichtbaren Steuerflächen, und Steuerverfahren der Steuerflächen eines solchen Projektils
EP3436691B1 (de) Fluidischer rotor mit ausrichtbaren schaufeln mit verbesserter schaufelsteuerung
EP2767794B1 (de) Projektil mit Steuerflächen sowie Verfahren zur Steuerung der Steuerflächen eines solchen Projektils
CA2557717C (fr) Bielle a longueur evolutive en fonctionnement
FR2891618A1 (fr) Dispositif d'entrainement de gouvernes de projectile.
EP0295978B1 (de) Einrichtung und Verfahren zur Lageausrichtung eines Raumfahrzeugs in Richtung eines Himmelskörpers
FR2728695A1 (fr) Dispositif de commande en rotation de grande precision, notamment pour telescope
FR2746494A1 (fr) Tete chercheuse pour des missiles ou des projectiles
EP1396046B1 (de) Verfahren zur orientierung eines hexapods
EP1409947A1 (de) Schusswinkel- und -lagerichtensystem
EP3531061B1 (de) Projektil mit ausrichtbaren steuerflächen
EP0321342B1 (de) Stabilisierendes Trägheitssystem für den Neigungswinkel von orientierbaren Bauteilen und mit diesem System verbundener Teleskopspiegel
FR2924095A1 (fr) Actionneur a transfert de moment cinetique pour le controle d'attitude d'un engin spatial
FR2782811A1 (fr) Procede et dispositif de guidage d'un engin volant, notamment un missile, sur une cible
EP2668100B1 (de) Verfahren und system zur steuerung einer flugmaschine mit einer hinterantriebseinheit
FR2980842A1 (fr) Projectile gyrostabilise comportant une paire d'ailettes et procede de pilotage d'un tel projectile
FR3030649A1 (fr) Mecanisme d'entrainement d'organes de reglage de l'orientation des pales
EP3376153B1 (de) Ballistische schutzvorrichtung für beobachtungsmittel
EP3839604B1 (de) Verbesserte exzentrische scan-vorrichtung
WO2012146835A1 (fr) Procédé de gestion automatique d'un autodirecteur monté sur un engin volant, en particulier sur un missile
BE525409A (de)
BE394108A (de)
FR3024196A1 (fr) Commande de boite de vitesses manuelle de vehicule automobile
FR3021940A1 (fr) Volant de direction reglable pour vehicule automobile, comportant une motorisation electrique
FR3001707A1 (fr) Mini-manche de commande a retour d'effort

Legal Events

Date Code Title Description
AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20140826

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

17Q First examination report despatched

Effective date: 20141015

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20150126

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 735744

Country of ref document: AT

Kind code of ref document: T

Effective date: 20150715

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: FRENCH

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 3

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602013002210

Country of ref document: DE

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2547455

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20151006

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 735744

Country of ref document: AT

Kind code of ref document: T

Effective date: 20150708

REG Reference to a national code

Ref country code: NO

Ref legal event code: T2

Effective date: 20150708

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20150708

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: PL

Ref legal event code: T3

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20151009

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20151108

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20151109

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602013002210

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

26N No opposition filed

Effective date: 20160411

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 4

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150830

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160831

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160831

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20130830

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 5

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150830

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 6

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NO

Payment date: 20230721

Year of fee payment: 11

Ref country code: IT

Payment date: 20230720

Year of fee payment: 11

Ref country code: GB

Payment date: 20230720

Year of fee payment: 11

Ref country code: ES

Payment date: 20230901

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20230720

Year of fee payment: 11

Ref country code: PL

Payment date: 20230724

Year of fee payment: 11

Ref country code: FR

Payment date: 20230720

Year of fee payment: 11

Ref country code: DE

Payment date: 20230720

Year of fee payment: 11

Ref country code: BE

Payment date: 20230720

Year of fee payment: 11