EP3531061A1 - Projectile with adjustable fins - Google Patents

Projectile with adjustable fins Download PDF

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Publication number
EP3531061A1
EP3531061A1 EP19158669.2A EP19158669A EP3531061A1 EP 3531061 A1 EP3531061 A1 EP 3531061A1 EP 19158669 A EP19158669 A EP 19158669A EP 3531061 A1 EP3531061 A1 EP 3531061A1
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EP
European Patent Office
Prior art keywords
projectile
axis
arm
rudder
spherical shape
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
EP19158669.2A
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German (de)
French (fr)
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EP3531061B1 (en
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
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Nexter Munitions SA
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Publication date
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Publication of EP3531061A1 publication Critical patent/EP3531061A1/en
Application granted granted Critical
Publication of EP3531061B1 publication Critical patent/EP3531061B1/en
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
    • F42B15/01—Arrangements thereon for guidance or control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • 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
    • F42B10/02—Stabilising arrangements
    • F42B10/14—Stabilising arrangements using fins spread or deployed after launch, e.g. after leaving the barrel
    • F42B10/18—Stabilising arrangements using fins spread or deployed after launch, e.g. after leaving the barrel using a longitudinally slidable support member
    • 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.
  • the patent FR3002319 thus describes a control device of control surfaces of a projectile which can each pivot relative to the projectile around a pivot axis perpendicular to the longitudinal axis of the projectile.
  • a central control means of the control surfaces is disposed in a housing of the projectile and comprises at least one spherical shape whose center is located on the longitudinal axis.
  • a control arm integral with the spherical shape allows it to rotate at least around the pitch and yaw axes of the projectile passing through the center of the spherical shape.
  • Each rudder has a transmission member which cooperates with the spherical shape by a first side and with a rudder foot by a second side.
  • the transmission member transmits to the rudder the rotational movements of the spherical shape around the axis of pivoting of the rudder.
  • a means for positioning the arm makes it possible to position an end of the arm in a determined position relative to an absolute reference centered on the longitudinal axis of the projectile.
  • a projectile thus equipped remains quite complicated to maneuver due to the continuous rotation of the control surfaces around the longitudinal axis of the projectile.
  • Transmission of the rotation from the spherical form to the foot of rudder is imperfect.
  • the invention provides a projectile with a simpler steering device to maneuver.
  • the invention also provides means for a more efficient transmission of the movements of the spherical shape to the control surfaces.
  • the positioning means comprises a means for returning the arm in a position aligned with the longitudinal axis of the projectile providing zero incidence to the control surfaces.
  • the biasing means is integral in translation with the cone and comprises a bore coaxial with the longitudinal axis of the projectile and whose edge is intended to interfere with a ramp against the arm when the cone returns to neutral position away from the first ramp.
  • the cone is secured to a cage which surrounds the cone and carries the bore.
  • the positioning means comprises a locking means of the control surfaces in the folded position in the projectile.
  • the locking means comprises a curved outer edge integral with the cage, an edge intended to cooperate with a notch of the leading edge of a rudder to maintain the rudder folded when the cone is in the neutral position.
  • the spherical shape comprises for each rudder a groove oriented along a meridian of the spherical shape and from the control arm, the grooves being arranged parallel to the longitudinal axis of the projectile when the control surfaces themselves are parallel to the longitudinal axis of the projectile.
  • each groove cooperates with a profile of the transmission member said second profile corresponding to the groove, second profile capable of sliding and pivoting in the groove.
  • the transmission member comprises a profile said first profile parallel to the second profile, first profile cooperating with a slot carried by the foot of the rudder, first profile adapted to slide and pivot in the slot.
  • the first and second profile of the transmission member each comprise a lobe shape adapted to cooperate on the one hand with the grooves of the spherical shape and on the other hand with the slot of the rudder foot.
  • a projectile 100 in flight has a substantially cylindrical body 101.
  • This projectile 100 comprises, at the rear end, a stabilizer which itself comprises fixed-effect fins 102 for stabilizing the projectile 100 along its Y and Z-axis.
  • the projectile 100 is driven in a rotational movement R around its longitudinal axis called axis of roll X.
  • an orientation device 1 housed in a nose 104 and having control surfaces 2 integral with the projectile 100 and each being pivotable on a steering axis 7 perpendicular to the roll axis X so as to modify their impact.
  • control surfaces 2 integral with the projectile 100 and each being pivotable on a steering axis 7 perpendicular to the roll axis X so as to modify their impact.
  • To operate a trajectory in turn to a projectile it is necessary to master on the one hand the radius of curvature of the turn and on the other hand the orientation of the turn. For this maneuver we will therefore vary the incidence ⁇ of the control surfaces to create a lift force P radial to the longitudinal axis X of the projectile. It is also necessary to angularly orient this force P around this same axis X and relative to an absolute reference to favorably direct the projectile 100 on a desired trajectory.
  • control surfaces 2 being integral with the projectile 100, they are also driven by the same rotational movement R around the roll axis X as the projectile 100 which implies that the orientation device 1 will have to vary the incidence of the control surfaces 2 proportionally to the angular orientation that they have in an absolute reference to obtain a desired direction for the projectile.
  • the orientation device 1 comprises control surfaces 2 shown here in their folded position and four in number.
  • the skilled person may choose to equip the projectile with at least two or more control surfaces, in even or odd quantities, and regularly distributed angularly around the projectile.
  • Each rudder 2 comprises a steering plane whose base is integral with a first end of a rudder foot 2b intended to be pivotally mounted in a cylindrical and radial bore of the projectile body 100 (not shown).
  • the control feet 2b are connected to a central control means 5 by transmission members 20.
  • the orientation of the central control means 5 is controlled by a control arm 11 which is pivotally mounted relative to the central control means 5 by means of to a ball bearing 5a (visible mounting at the figure 6a ).
  • the central control means 5 comprises at least one spherical shape 5 whose center 0 is located on the longitudinal axis X of the projectile 100 and on the pivot axes 7 of the control surfaces 2 (the spherical shape or sphere 5 will be better seen at the figure 3 ).
  • the central control means 5 is thus a sphere 5 having 8 meridian grooves.
  • Figures 6a and 6b when the control surfaces 2 are oriented at zero incidence (also called neutral position) the grooves 8 of the sphere 5 are parallel to the longitudinal axis X.
  • the control arm 11 is then coaxial with this axis X.
  • a transmission member 20 intended to transmit to the rudder 2, only the rotational movements of the sphere 5 around the pivot axes 7 in yaw and pitch of the control surfaces 2.
  • each transmission member 20 cooperates with a first profile 20a with a slot 2c of the steering foot 2b and cooperates with a second profile 20b with a groove 8 of the sphere 5.
  • the first and the second profile 20a and 20b have a lobe-shaped (partially cylindrical profile) capable of sliding and pivoting respectively in the slot 2c and in the groove 8 in order to advantageously tolerate the differences in axial alignment between the steering foot 2b and the sphere 5 and this while transmitting the movements of the sphere 5, which provide a torque capable of pivoting the foot of each rudder 2b about its pivot axis 7.
  • the arm 11 pivots the sphere 5 at an angle ⁇ around the axis A0.
  • a first pair of rudders 2 has its pivot axis 7 contained in the plane K containing the yaw axis Z and a second pair of rudders 2bis has its pivot axis 7bis collinear with the axis of pitch Y which is also collinear with the axis of orientation AO.
  • the transmission member 20bis (not visible) then communicates a pivoting torque to the control surfaces 2bis via its first and second profiles (not visible in these figures) which respectively correspond with the groove of the sphere 5 and the steering base 2a, thus making an incidence ⁇ to the control surfaces 2a.
  • each transmission member 20 associated with the control surfaces 2 without incidence can transmit force but allows the groove 8 associated with it to slip without transmitting pivoting to the control surfaces 2 which then remain in the plane K defined by the axes X and Z at zero incidence.
  • each groove 8 will alternately and gradually undergo an inclination of an angle ⁇ when the axis of the rudder 7 will pass through the plane normal to the plane K and will be aligned on the longitudinal axis X when the axis of pivoting 7 of the rudder 2 will pass through the plane K.
  • control surfaces 2 whatever the angular position of the control surfaces 2 around the longitudinal axis X, the control surfaces 2 always adopt the appropriate incidence to generate a lift force P in the direction that is given by the positioning of the second end 11b of the arm 11 (either down on the figure 6b ).
  • the projectile comprises a positioning means 12.
  • this positioning means 12 comprises a cone 13 movable axially along the roll axis X by means of a thread 13a and intended to interfere with a ramp 14 located at the first end 11a of the control arm 11, ramp 14 inclined relative to the longitudinal axis of the control arm 11.
  • this ramp 14 will have an inclination relatively to the longitudinal axis of the arm 11 smaller than that of the cone 13 relative to the longitudinal axis X of the projectile and will adopt a curved profile to provide more progressivity in the grip. incidence of the control surfaces 2.
  • the ramp 14 may have a cone portion shape having a tip adapted to fit with the tip of the cone 13 to form a limit stop.
  • FIGs 6a and 6b the cone 13 is surrounded by a cage 19 (see also figure 5 ).
  • This cage 19 comprises four curved edges 25 intended to correspond with notches 21 of the control surfaces 2 thereby constituting a locking means 22 for locking the control surfaces 2 in the folded position inside the projectile when the positioning means 12 is in said position.
  • neutral where the cone 13 is located at a distance from the ramp 14 as at figure 6a (distance between the ramp 14 and the cone 13 not visible).
  • a movement of the cone 13 from the neutral position to the ramp 14 is performed under the action of a first motor M1 (motor visible at the figure 5 ) said M1 incidence motor.
  • M1 motor visible at the figure 5
  • This movement moves the cage 19 and releases the curved edges 25 of the notches 21 of the control surfaces 2 which under the action of leaf springs 24 are radially deployed and locked in this position by the support of each leaf spring 24 at the foot of the rudder 2 ( figure 6b ).
  • the cone 13 interferes with it and causes a progressive pivoting of the control arm 11 around the axis of orientation AO centered on the sphere 5, which causes a gradual increase in the incidence of control surfaces 2bis located on this axis AO as seen above.
  • the site engine M1 causes a translation of the cone from the so-called pilot position that it occupies when it induces a incidence of the control surfaces to the so-called neutral initial position where the arm 11 is aligned with the longitudinal axis X of the projectile.
  • the positioning means 12 comprises a return means 28 integral with the cage 19, which is constituted by a bore 28 of the cage which surrounds the control arm 11 and which is coaxial with the longitudinal axis X of the projectile.
  • the counter ramp 23 has a profile (for example conical) allowing the edge of the bore 28 to gradually incline the arm 11 during movement of the cage 19 to the neutral position.
  • the positioning means 12 makes it possible to adjust the amplitude of the desired correction, that is to say the maximum pivoting angle for the control surfaces 2.
  • the arm 11 is oriented in an absolute reference in the desired direction for the course correction.
  • the axis of orientation AO for the correction of trajectory is the axis passing through the center of the sphere 5 and perpendicular to the arm 11.
  • a second motor M2 said motor M2 orientation (visible to the figure 5 ) makes it possible to mesh a pinion 26 with a toothed wheel 16 located at the second end 11b of the arm 11.
  • This wheel 16 is centered on the longitudinal axis X or roll axis X of the projectile. To ensure its maintenance centered it is contained in a housing 27 of the projectile (visible to the figure 7 ). This housing 27 rotates the wheel 16 while keeping it coaxial with the roll axis X.
  • the wheel 16 carries a diametrical and rectilinear groove 18 in which the second end 11b of the arm 11, which has a rectangular pin shape cooperating with the groove 18, flows.
  • the second end 11b of the arm 11 and the groove 18 are thus in slide connection.
  • the groove 18 has its longitudinal direction oriented perpendicular to the longitudinal axis X of the projectile but is also perpendicular to the axis of orientation AO.
  • the groove 18 causes the control arm 11 to pivot about the longitudinal axis X, thereby vary the angular position of the axis of orientation AO in the absolute reference.
  • control surfaces during their passage at the axis of orientation will be at their maximum incidence and then exert a lift force tending to deflect the projectile in the direction parallel to the groove 18 or in other words perpendicular to the axis of orientation AO.
  • control law of motors M1 and M2 must take into account the permanent gyration of the projectile on itself in order to compensate for it. A simple acceleration or a slowdown of the speed of rotation of the motors M1 and M2 will then be sufficient to control the incidence of the control surfaces and the orientation of the axis of orientation in the absolute reference.
  • the device allows a projectile according to the invention to be controllable easily while orienting control surfaces reliably.
  • the control solution proposed by the invention is simpler than that described by the patent FR3002319 .

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Toys (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

L'invention porte sur un projectile (100) à gouvernes (2) orientables en incidence, pouvant chacune pivoter par rapport au projectile (100) et comportant :un moyen central (5) de commande des gouvernes (2),un bras de commande (11) apte à faire tourner le moyen central de commande (5) autour des axes de tangage (Y) et lacet (Z) du projectile (100),un moyen de positionnement du bras (11) apte à positionner une extrémité du bras (11) dans une position déterminée relativement à un repère absolu,le moyen de positionnement comporte un cône mobile (13) en translation pour faire pivoter le moyen central (5) de commande autour d'un axe d'orientation (AO), ainsi qu'une roue dentée (16) engrenant avec une motorisation destinée à piloter la position angulaire de l'axe d'orientation dans un repère absolu.The invention relates to a projectile (100) with steerable steerings (2), each pivotable relative to the projectile (100) and comprising: central control means (5) for controlling the control surfaces (2), a control arm (11) adapted to rotate the central control means (5) around the pitch axes (Y) and yaw (Z) of the projectile (100), a positioning means of the arm (11) adapted to position an end of the arm (11) in a determined position relative to an absolute reference, the positioning means comprises a mobile cone (13) in translation to pivot the central control means (5) around an orientation axis (AO), and a toothed wheel (16) meshing with a motor for controlling the angular position of the axis of orientation in an absolute reference.

Description

Le domaine technique de l'invention est celui des projectiles guidés par des gouvernes orientables en incidence.The technical field of the invention is that of the projectiles guided by steerable steerings in incidence.

Pour guider un projectile jusqu'à son but il est connu d'avoir recours à des gouvernes placées sur le pourtour du projectile, soit en empennage soit en position avant (gouvernes dites canard). L'incidence des gouvernes est adaptée en vol en fonction de la trajectoire que l'on souhaite donner au projectile. Le pilotage de l'incidence est assuré par des moteurs électriques le plus souvent.To guide a projectile to its goal it is known to use the control surfaces placed on the circumference of the projectile, either in empennage or in the forward position (so-called duck controls). The incidence of the control surfaces is adapted in flight according to the trajectory that one wishes to give to the projectile. The steering of the incidence is provided by electric motors most often.

Le brevet FR3002319 décrit ainsi un dispositif de pilotage de gouvernes d'un projectile qui peuvent chacune pivoter par rapport au projectile autour d'un axe de pivotement perpendiculaire à l'axe longitudinal du projectile. Un moyen central de commande des gouvernes est disposé dans un logement du projectile et comporte au moins une forme sphérique dont le centre est situé sur l'axe longitudinal. Un bras de commande solidaire de la forme sphérique permet de la faire tourner au moins autour des axes de tangage et lacet du projectile passant par le centre de la forme sphérique.The patent FR3002319 thus describes a control device of control surfaces of a projectile which can each pivot relative to the projectile around a pivot axis perpendicular to the longitudinal axis of the projectile. A central control means of the control surfaces is disposed in a housing of the projectile and comprises at least one spherical shape whose center is located on the longitudinal axis. A control arm integral with the spherical shape allows it to rotate at least around the pitch and yaw axes of the projectile passing through the center of the spherical shape.

Chaque gouverne a un organe de transmission qui coopère avec la forme sphérique par un premier côté et avec un pied de gouverne par un second côté. L'organe de transmission transmet à la gouverne les mouvements de rotation de la forme sphérique autour de l'axe de pivotement de la gouverne. Un moyen de positionnement du bras permet de positionner une extrémité du bras dans une position déterminée relativement à un repère absolu centré sur l'axe longitudinal du projectile.Each rudder has a transmission member which cooperates with the spherical shape by a first side and with a rudder foot by a second side. The transmission member transmits to the rudder the rotational movements of the spherical shape around the axis of pivoting of the rudder. A means for positioning the arm makes it possible to position an end of the arm in a determined position relative to an absolute reference centered on the longitudinal axis of the projectile.

Un projectile ainsi équipé demeure assez compliqué à manoeuvrer du fait de la rotation continue des gouvernes autour de l'axe longitudinal du projectile. En outre la transmission de la rotation de la forme sphérique au pied de gouverne est imparfaite.A projectile thus equipped remains quite complicated to maneuver due to the continuous rotation of the control surfaces around the longitudinal axis of the projectile. In addition Transmission of the rotation from the spherical form to the foot of rudder is imperfect.

L'invention propose un projectile doté d'un dispositif d'orientation plus simple à manoeuvrer. L'invention propose également des moyens permettant une transmission plus efficace des mouvements de la forme sphérique aux gouvernes.The invention provides a projectile with a simpler steering device to maneuver. The invention also provides means for a more efficient transmission of the movements of the spherical shape to the control surfaces.

Ainsi, l'invention porte sur un projectile à gouvernes orientables en incidence, projectile comportant au moins deux gouvernes pouvant chacune pivoter par rapport au projectile autour d'un axe de pivotement perpendiculaire à l'axe longitudinal du projectile, le projectile comportant :

  • un moyen central de commande des gouvernes comportant au moins une forme sphérique dont le centre est situé sur l'axe longitudinal, forme sphérique qui est disposée dans un logement du projectile,
  • un bras de commande solidaire de la forme sphérique et apte à faire tourner la forme sphérique au moins autour des axes de tangage et lacet du projectile passant par le centre de la forme sphérique,
  • pour chaque gouverne un organe de transmission coopérant avec la forme sphérique par un premier côté et avec un pied de gouverne par un second côté, organe de transmission destiné à transmettre à la gouverne les mouvements de rotation de la forme sphérique autour de l'axe de pivotement de la gouverne,
  • un moyen de positionnement du bras apte à positionner une extrémité du bras dans une position déterminée relativement à un repère absolu centré sur l'axe longitudinal du projectile, projectile caractérisé en ce que :
  • le moyen de positionnement comporte un cône mobile en translation le long de l'axe longitudinal du projectile entre une première position dite neutre et une seconde position dite de pilotage où le cône pousse une rampe portée par une première extrémité du bras de commande afin de faire pivoter le moyen central de commande autour d'un axe, dit axe d'orientation passant par le centre du moyen central de commande,
  • le moyen central de commande est libre de tourner autour de l'axe longitudinal du bras de commande,
  • le moyen de positionnement comporte une roue dentée centrée sur l'axe longitudinal du projectile et liée à une seconde extrémité du bras par une liaison glissière située dans le plan de la roue et perpendiculaire à l'axe d'orientation, roue dentée engrenant avec une motorisation destinée à piloter la position angulaire de l'axe d'orientation dans un repère absolu.
Thus, the invention relates to a projectile projectile steerable projectile having at least two control surfaces each pivotable relative to the projectile about a pivot axis perpendicular to the longitudinal axis of the projectile, the projectile comprising:
  • a central control means of the control surfaces comprising at least one spherical shape whose center is situated on the longitudinal axis, a spherical shape which is arranged in a housing of the projectile,
  • a control arm integral with the spherical shape and able to rotate the spherical shape at least around the pitch and yaw axes of the projectile passing through the center of the spherical shape,
  • for each rudder a transmission member cooperating with the spherical shape by a first side and with a steering base by a second side, transmission member for transmitting to the rudder the rotational movements of the spherical shape around the axis of pivoting of the rudder,
  • arm positioning means adapted to position an end of the arm in a determined position relative to an absolute reference centered on the longitudinal axis of the projectile, characterized in that:
  • the positioning means comprises a cone movable in translation along the longitudinal axis of the projectile between a first so-called neutral position and a second so-called piloting position where the cone pushes a ramp carried by a first end of the control arm to make swing the central control means around an axis, said orientation axis passing through the center of the central control means,
  • the central control means is free to rotate about the longitudinal axis of the control arm,
  • the positioning means comprises a gear wheel centered on the longitudinal axis of the projectile and connected to a second end of the arm by a slide connection located in the plane of the wheel and perpendicular to the axis of orientation, toothed wheel meshing with a motor for controlling the angular position of the axis of orientation in an absolute reference.

Avantageusement, le moyen de positionnement comporte un moyen de rappel du bras en une position alignée avec l'axe longitudinal du projectile fournissant une incidence nulle aux gouvernes.Advantageously, the positioning means comprises a means for returning the arm in a position aligned with the longitudinal axis of the projectile providing zero incidence to the control surfaces.

Avantageusement, le moyen de rappel est solidaire en translation du cône et comporte un perçage coaxial à l'axe longitudinal du projectile et dont le bord est destiné à interférer avec une contre rampe du bras lorsque le cône retourne en position neutre en s'éloignant de la première rampe.Advantageously, the biasing means is integral in translation with the cone and comprises a bore coaxial with the longitudinal axis of the projectile and whose edge is intended to interfere with a ramp against the arm when the cone returns to neutral position away from the first ramp.

Avantageusement, le cône est solidaire d'une cage qui entoure le cône et porte le perçage.Advantageously, the cone is secured to a cage which surrounds the cone and carries the bore.

Avantageusement, le moyen de positionnement comporte un moyen de verrouillage des gouvernes en position repliée dans le projectile.Advantageously, the positioning means comprises a locking means of the control surfaces in the folded position in the projectile.

Avantageusement, le moyen de verrouillage comporte un bord externe recourbé solidaire de la cage, bord destiné à coopérer avec une encoche du bord d'attaque d'une gouverne pour maintenir la gouverne repliée quand le cône est en position neutre.Advantageously, the locking means comprises a curved outer edge integral with the cage, an edge intended to cooperate with a notch of the leading edge of a rudder to maintain the rudder folded when the cone is in the neutral position.

Avantageusement, la forme sphérique comporte pour chaque gouverne une rainure orientée selon une méridienne de la forme sphérique et partant du bras de commande, les rainures étant disposées parallèlement à l'axe longitudinal du projectile lorsque les gouvernes sont-elles mêmes parallèles à l'axe longitudinal du projectile.Advantageously, the spherical shape comprises for each rudder a groove oriented along a meridian of the spherical shape and from the control arm, the grooves being arranged parallel to the longitudinal axis of the projectile when the control surfaces themselves are parallel to the longitudinal axis of the projectile.

Avantageusement, chaque rainure coopère avec un profil de l'organe de transmission dit second profil correspondant à la rainure, second profil apte à coulisser et à pivoter dans la rainure.Advantageously, each groove cooperates with a profile of the transmission member said second profile corresponding to the groove, second profile capable of sliding and pivoting in the groove.

Avantageusement, l'organe de transmission comporte un profil dit premier profil parallèle au second profil, premier profil coopérant avec une fente portée par le pied de la gouverne, premier profil apte à coulisser et à pivoter dans la fente.Advantageously, the transmission member comprises a profile said first profile parallel to the second profile, first profile cooperating with a slot carried by the foot of the rudder, first profile adapted to slide and pivot in the slot.

Avantageusement, le premier et second profil de l'organe de transmission comportent chacun une forme de lobe apte à coopérer d'une part avec les rainures de la forme sphérique et d'autre part avec la fente du pied de gouverne.Advantageously, the first and second profile of the transmission member each comprise a lobe shape adapted to cooperate on the one hand with the grooves of the spherical shape and on the other hand with the slot of the rudder foot.

L'invention sera mieux comprise à la lecture de la description suivante, description faite en référence aux dessins annexés dans lesquels :

  • La figure 1 représente une vue schématique d'un projectile selon l'invention en vol.
  • La figure 2 représente une vue éclatée du dispositif d'orientation du projectile selon l'invention.
  • La figure 3 représente une vue de détail du dispositif d'orientation sans moyen de positionnement.
  • La figure 4 représente une vue en coupe partielle schématique d'un moyen de transmission de couple.
  • La figure 5 représente une vue de trois quarts d'un dispositif d'orientation du projectile selon l'invention.
  • La figure 6a représente une vue en coupe longitudinale partielle d'un dispositif d'orientation avec les gouvernes repliées.
  • La figure 6b représente une vue en coupe longitudinale partielle d'un dispositif d'orientation avec les gouvernes dépliées.
  • La figure 7 représente une vue en coupe longitudinale partielle d'un dispositif d'orientation avec les gouvernes dépliées et situé dans un projectile selon l'invention.
The invention will be better understood on reading the following description, description given with reference to the accompanying drawings in which:
  • The figure 1 represents a schematic view of a projectile according to the invention in flight.
  • The figure 2 represents an exploded view of the projectile orientation device according to the invention.
  • The figure 3 represents a detailed view of the orientation device without positioning means.
  • The figure 4 is a schematic partial sectional view of a torque transmission means.
  • The figure 5 represents a three-quarter view of a projectile orientation device according to the invention.
  • The figure 6a represents a partial longitudinal sectional view of an orientation device with the folded control surfaces.
  • The figure 6b represents a partial longitudinal sectional view of an orientation device with the unfolded control surfaces.
  • The figure 7 represents a partial longitudinal sectional view of an orientation device with the unfolded control surfaces and located in a projectile according to the invention.

Selon la figure 1 un projectile 100 en vol comporte un corps 101 sensiblement cylindrique. Ce projectile 100 comporte en partie arrière AR un empennage comportant lui-même des ailerons 102 à incidence fixe destinés à stabiliser le projectile 100 selon ses axes de tangage Y et lacet Z. Le projectile 100 est animé d'un mouvement de rotation R autour de son axe longitudinal dit axe de roulis X.According to figure 1 a projectile 100 in flight has a substantially cylindrical body 101. This projectile 100 comprises, at the rear end, a stabilizer which itself comprises fixed-effect fins 102 for stabilizing the projectile 100 along its Y and Z-axis. The projectile 100 is driven in a rotational movement R around its longitudinal axis called axis of roll X.

En partie avant AV du projectile 100 se situe un dispositif d'orientation 1 logé dans une ogive 104 et comportant des gouvernes 2 solidaires du projectile 100 et pouvant chacune pivoter sur un axe de gouverne 7 perpendiculaire à l'axe de roulis X de manière à modifier leur incidence. Pour faire opérer une trajectoire en virage à un projectile il est nécessaire de maitriser d'une part le rayon de courbure du virage et d'autre part l'orientation du virage. Pour cette manoeuvre on fera donc varier l'incidence α des gouvernes afin de faire naitre une force de portance P radiale à l'axe longitudinal X du projectile. Il faut par ailleurs orienter angulairement cette force P autour de ce même axe X et relativement à un repère absolu pour diriger favorablement le projectile 100 sur une trajectoire souhaitée.In part before the front of the projectile 100 is an orientation device 1 housed in a nose 104 and having control surfaces 2 integral with the projectile 100 and each being pivotable on a steering axis 7 perpendicular to the roll axis X so as to modify their impact. To operate a trajectory in turn to a projectile it is necessary to master on the one hand the radius of curvature of the turn and on the other hand the orientation of the turn. For this maneuver we will therefore vary the incidence α of the control surfaces to create a lift force P radial to the longitudinal axis X of the projectile. It is also necessary to angularly orient this force P around this same axis X and relative to an absolute reference to favorably direct the projectile 100 on a desired trajectory.

Les gouvernes 2 étant solidaires du projectile 100, elles sont aussi animées du même mouvement de rotation R autour de l'axe de roulis X que le projectile 100 ce qui implique que le dispositif d'orientation 1 devra faire varier l'incidence des gouvernes 2 proportionnellement à l'orientation angulaire qu'elles ont dans un repère absolu pour obtenir une direction souhaitée pour le projectile.The control surfaces 2 being integral with the projectile 100, they are also driven by the same rotational movement R around the roll axis X as the projectile 100 which implies that the orientation device 1 will have to vary the incidence of the control surfaces 2 proportionally to the angular orientation that they have in an absolute reference to obtain a desired direction for the projectile.

Selon la figure 2, le dispositif d'orientation 1 comporte des gouvernes 2 représentées ici dans leur position repliée et au nombre de quatre. L'Homme du Métier pourra choisir d'équiper le projectile d'au moins deux gouvernes ou plus, en quantité paire ou impaire, et régulièrement réparties angulairement autour du projectile.According to figure 2 , the orientation device 1 comprises control surfaces 2 shown here in their folded position and four in number. The skilled person may choose to equip the projectile with at least two or more control surfaces, in even or odd quantities, and regularly distributed angularly around the projectile.

Chaque gouverne 2 comporte un plan directeur dont la base est solidaire d'une première extrémité d'un pied de gouverne 2b destiné à être monté pivotant dans un alésage cylindrique et radial du corps de projectile 100 (non représenté). Les pieds de gouvernes 2b sont reliés à un moyen central de commande 5 par des organes de transmission 20. L'orientation du moyen central de commande 5 est pilotée par un bras de commande 11 qui est monté pivotant relativement au moyen central de commande 5 grâce à un roulement à bille 5a (montage visible à la figure 6a).Each rudder 2 comprises a steering plane whose base is integral with a first end of a rudder foot 2b intended to be pivotally mounted in a cylindrical and radial bore of the projectile body 100 (not shown). The control feet 2b are connected to a central control means 5 by transmission members 20. The orientation of the central control means 5 is controlled by a control arm 11 which is pivotally mounted relative to the central control means 5 by means of to a ball bearing 5a (visible mounting at the figure 6a ).

Comme dans le brevet FR3002319 , le moyen central de commande 5 comporte au moins une forme sphérique 5 dont le centre 0 est situé sur l'axe longitudinal X du projectile 100 et sur les axes de pivotement 7 des gouvernes 2 (la forme sphérique ou sphère 5 sera mieux vue à la figure 3).As in the patent FR3002319 , the central control means 5 comprises at least one spherical shape 5 whose center 0 is located on the longitudinal axis X of the projectile 100 and on the pivot axes 7 of the control surfaces 2 (the spherical shape or sphere 5 will be better seen at the figure 3 ).

Selon le mode de réalisation représenté, le moyen de commande central 5 est ainsi une sphère 5 comportant des rainures 8 méridiennes. Il y a autant de rainures 8 qu'il y a de gouvernes 2. On notera aux figures 6a et 6b que, quand les gouvernes 2 sont orientées à incidence nulle (aussi appelée position neutre), les rainures 8 de la sphère 5 sont parallèles à l'axe longitudinal X. Le bras de commande 11 est alors coaxial à cet axe X.According to the embodiment shown, the central control means 5 is thus a sphere 5 having 8 meridian grooves. There are as many grooves 8 as there are control surfaces 2. It will be noted that Figures 6a and 6b when the control surfaces 2 are oriented at zero incidence (also called neutral position), the grooves 8 of the sphere 5 are parallel to the longitudinal axis X. The control arm 11 is then coaxial with this axis X.

Comme visible aux figures 3,4 et 6a, entre la sphère 5 et le pied de gouverne 2b se situe un organe de transmission 20, destiné à transmettre à la gouverne 2, uniquement les mouvements de rotation de la sphère 5 autour des axes de pivotement 7 en lacet et tangage des gouvernes 2.As visible to figures 3 , 4 and 6a between the sphere 5 and the steering foot 2b is a transmission member 20, intended to transmit to the rudder 2, only the rotational movements of the sphere 5 around the pivot axes 7 in yaw and pitch of the control surfaces 2.

Comme il est possible de le voir à la figure 4, chaque organe de transmission 20 coopère grâce à un premier profil 20a avec une fente 2c du pied de gouverne 2b et coopère grâce à un second profil 20b avec une rainure 8 de la sphère 5. Le premier et le second profil 20a et 20b ont une forme en lobe (profil partiellement cylindrique) apte à coulisser et à pivoter respectivement dans la fente 2c et dans la rainure 8 afin de tolérer avantageusement les différences d'alignement axial entre le pied de gouverne 2b et la sphère 5 et ceci tout en transmettant les mouvements de la sphère 5, qui fournissent un couple apte à faire pivoter le pied de chaque gouverne 2b autour de son axe de pivotement 7.As it is possible to see him at the figure 4 , each transmission member 20 cooperates with a first profile 20a with a slot 2c of the steering foot 2b and cooperates with a second profile 20b with a groove 8 of the sphere 5. The first and the second profile 20a and 20b have a lobe-shaped (partially cylindrical profile) capable of sliding and pivoting respectively in the slot 2c and in the groove 8 in order to advantageously tolerate the differences in axial alignment between the steering foot 2b and the sphere 5 and this while transmitting the movements of the sphere 5, which provide a torque capable of pivoting the foot of each rudder 2b about its pivot axis 7.

Une telle solution est plus simple et moins encombrante que les joints d'Oldham proposés par le brevet FR3002319 .Such a solution is simpler and less cumbersome than the Oldham joints proposed by the patent. FR3002319 .

Pour faire varier l'incidence des gouvernes 2, il suffit donc de faire pivoter la sphère 5. Pour cela on oriente la première extrémité 11a du bras de commande 11 qui est logé dans un alésage de la sphère vers le haut en le faisant tourner autour d'un axe AO dit axe d'orientation passant par le centre de la sphère 5 (voir la figure 6b).To vary the incidence of the control surfaces 2, it is sufficient to rotate the sphere 5. For this we orient the first end 11a of the control arm 11 which is housed in a bore of the sphere upwards by rotating it around an axis AO said axis of orientation passing through the center of the sphere 5 (see the figure 6b ).

Le bras 11 entraine en pivotement la sphère 5 selon un angle α autour de l'axe AO. Dans le cas de figure représenté, une première paire de gouvernes 2 a son axe de pivotement 7 contenu dans le plan K contenant l'axe de lacet Z et une seconde paire de gouvernes 2bis a son axe de pivotement 7bis colinéaire à l'axe de tangage Y qui se trouve être colinéaire aussi à l'axe d'orientation AO.The arm 11 pivots the sphere 5 at an angle α around the axis A0. In the case shown, a first pair of rudders 2 has its pivot axis 7 contained in the plane K containing the yaw axis Z and a second pair of rudders 2bis has its pivot axis 7bis collinear with the axis of pitch Y which is also collinear with the axis of orientation AO.

Pour chaque gouverne de la seconde paire 2bis, l'organe de transmission 20bis (non visible) communique alors un couple de pivotement aux gouvernes 2bis par l'intermédiaire de ses premier et deuxième profils (non visibles sur ces figures) qui correspondent respectivement avec la rainure de la sphère 5 et le pied de gouverne 2bis, faisant ainsi prendre une incidence α aux gouvernes 2bis.For each rudder of the second pair 2bis, the transmission member 20bis (not visible) then communicates a pivoting torque to the control surfaces 2bis via its first and second profiles (not visible in these figures) which respectively correspond with the groove of the sphere 5 and the steering base 2a, thus making an incidence α to the control surfaces 2a.

Dans le même temps, les rainures 8 associées aux gouvernes 2, d'axe de pivotement 7 colinéaire à l'axe de lacet Z, sont orientées parallèlement à l'axe longitudinal X et ne présentent donc pas d'angle d'incidence. Le premier profil 20a de chaque organe de transmission 20 associé aux gouvernes 2 sans incidence ne peut transmettre d'effort mais laisse glisser la rainure 8 qui lui est associée sans transmettre de pivotement aux gouvernes 2 qui restent alors dans le plan K défini par les axes X et Z à incidence nulle.At the same time, the grooves 8 associated with the control surfaces 2, of pivot axis 7 collinear with the yaw axis Z, are oriented parallel to the longitudinal axis X and therefore have no angle of incidence. The first profile 20a of each transmission member 20 associated with the control surfaces 2 without incidence can transmit force but allows the groove 8 associated with it to slip without transmitting pivoting to the control surfaces 2 which then remain in the plane K defined by the axes X and Z at zero incidence.

Lorsque le projectile et l'ensemble des gouvernes 2 et 2bis est en rotation R autour de l'axe longitudinal X, la sphère 5 est entrainée en rotation par les organes de transmission 20 et 20bis sur les parois latérales des rainures 8. Si l'on considère que l'on conserve la position précédemment donnée à la première extrémité 11a du bras 11 vers le haut, l'axe de pivotement 7 de chaque paire de gouvernes 2 et 2bis va passer successivement par le plan K et par un plan normal à ce plan K. Ainsi chaque rainure 8 va alternativement et progressivement subir une inclinaison d'un angle α lorsque l'axe de la gouverne 7 passera par le plan normal au plan K et sera alignée sur l'axe longitudinal X lorsque l'axe de pivotement 7 de la gouverne 2 passera par le plan K.When the projectile and the assembly of the control surfaces 2 and 2bis is rotated R about the longitudinal axis X, the sphere 5 is rotated by the transmission members 20 and 20bis on the side walls of the grooves 8. If the it is considered that we keep the position previously given to the first end 11a of the arm 11 upwards, the pivot axis 7 of each pair of control surfaces 2 and 2bis will pass successively by the plane K and a plane normal to this plane K. Thus each groove 8 will alternately and gradually undergo an inclination of an angle α when the axis of the rudder 7 will pass through the plane normal to the plane K and will be aligned on the longitudinal axis X when the axis of pivoting 7 of the rudder 2 will pass through the plane K.

Ainsi, quelle que soit la position angulaire des gouvernes 2 autour de l'axe longitudinal X, les gouvernes 2 adoptent toujours l'incidence adaptée pour générer une force de portance P dans la direction qui est donnée par le positionnement de la seconde extrémité 11b du bras 11 (soit vers le bas sur la figure 6b).Thus, whatever the angular position of the control surfaces 2 around the longitudinal axis X, the control surfaces 2 always adopt the appropriate incidence to generate a lift force P in the direction that is given by the positioning of the second end 11b of the arm 11 (either down on the figure 6b ).

Pour obtenir le mouvement du bras 11 dans le plan K autour de l'axe Y, le projectile comporte un moyen de positionnement 12.To obtain the movement of the arm 11 in the plane K around the axis Y, the projectile comprises a positioning means 12.

Comme visible aux figures 6a et 6b, ce moyen de positionnement 12 comporte un cône 13 mobile axialement le long de l'axe de roulis X grâce à un pas de vis 13a et destiné à interférer avec une rampe 14 située à la première extrémité 11a du bras de commande 11, rampe 14 inclinée relativement à l'axe longitudinal du bras de commande 11.As visible to Figures 6a and 6b , this positioning means 12 comprises a cone 13 movable axially along the roll axis X by means of a thread 13a and intended to interfere with a ramp 14 located at the first end 11a of the control arm 11, ramp 14 inclined relative to the longitudinal axis of the control arm 11.

Idéalement, cette rampe 14 aura une inclinaison relativement à l'axe longitudinal du bras 11 plus faible que celle du cône 13 relativement à l'axe longitudinal X du projectile et adoptera un profil en courbe afin de fournir plus de progressivité dans la prise d'incidence des gouvernes 2. La rampe 14 pourra avoir une forme de portion de cône comportant une pointe apte à s'encastrer avec la pointe du cône 13 pour former une butée de fin de course.Ideally, this ramp 14 will have an inclination relatively to the longitudinal axis of the arm 11 smaller than that of the cone 13 relative to the longitudinal axis X of the projectile and will adopt a curved profile to provide more progressivity in the grip. incidence of the control surfaces 2. The ramp 14 may have a cone portion shape having a tip adapted to fit with the tip of the cone 13 to form a limit stop.

On notera également aux figures 6a et 6b que le cône 13 est entouré par une cage 19 (voir aussi la figure 5). Cette cage 19 comporte quatre bords recourbés 25 destinés à correspondre avec des encoches 21 des gouvernes 2 constituant ainsi un moyen de verrouillage 22 permettant de verrouiller les gouvernes 2 en position repliée à l'intérieur du projectile lorsque le moyen de positionnement 12 est en position dite neutre où le cône 13 est situé à distance de la rampe 14 comme à la figure 6a (distance entre la rampe 14 et le cône 13 non visible).It will also be noted Figures 6a and 6b that the cone 13 is surrounded by a cage 19 (see also figure 5 ). This cage 19 comprises four curved edges 25 intended to correspond with notches 21 of the control surfaces 2 thereby constituting a locking means 22 for locking the control surfaces 2 in the folded position inside the projectile when the positioning means 12 is in said position. neutral where the cone 13 is located at a distance from the ramp 14 as at figure 6a (distance between the ramp 14 and the cone 13 not visible).

Afin de commander le déploiement des gouvernes 2, un mouvement du cône 13 depuis la position neutre vers la rampe 14 est effectué sous l'action d'un premier moteur M1 (moteur visible à la figure 5) dit moteur d'incidence M1. Ce mouvement déplace la cage 19 et dégage les bords recourbés 25 des encoches 21 des gouvernes 2 qui sous l'action de lames ressorts 24 sont déployées radialement et bloquées dans cette position par l'appui de chaque lame ressort 24 au niveau du pied de la gouverne 2 (figure 6b).In order to control the deployment of the control surfaces 2, a movement of the cone 13 from the neutral position to the ramp 14 is performed under the action of a first motor M1 (motor visible at the figure 5 ) said M1 incidence motor. This movement moves the cage 19 and releases the curved edges 25 of the notches 21 of the control surfaces 2 which under the action of leaf springs 24 are radially deployed and locked in this position by the support of each leaf spring 24 at the foot of the rudder 2 ( figure 6b ).

En continuant son mouvement vers la rampe 14, le cône 13 entre en interférence avec celle-ci et provoque un pivotement progressif du bras de commande 11 autour de l'axe d'orientation AO centré sur la sphère 5 ce qui entraîne une augmentation progressive de l'incidence des gouvernes 2bis situées sur cet axe AO comme vu précédemment.Continuing its movement towards the ramp 14, the cone 13 interferes with it and causes a progressive pivoting of the control arm 11 around the axis of orientation AO centered on the sphere 5, which causes a gradual increase in the incidence of control surfaces 2bis located on this axis AO as seen above.

Lorsqu'une correction d'incidence dans le sens d'une diminution est voulue, ou bien un retour à une position neutre, le moteur de site M1 provoque une translation du cône depuis la position dite de pilotage qu'il occupe quand il induit une incidence des gouvernes jusque vers la position initiale dite neutre où le bras 11 est aligné sur l'axe longitudinal X du projectile. Pour cela le moyen de positionnement 12 comporte un moyen de rappel 28 solidaire de la cage 19, qui est constitué par un perçage 28 de la cage qui entoure le bras de commande 11 et qui est coaxial à l'axe longitudinal X du projectile.When an incidence correction in the direction of a reduction is desired, or a return to a neutral position, the site engine M1 causes a translation of the cone from the so-called pilot position that it occupies when it induces a incidence of the control surfaces to the so-called neutral initial position where the arm 11 is aligned with the longitudinal axis X of the projectile. For this the positioning means 12 comprises a return means 28 integral with the cage 19, which is constituted by a bore 28 of the cage which surrounds the control arm 11 and which is coaxial with the longitudinal axis X of the projectile.

Lorsque la cage 19 se translate vers la position neutre, le bord du perçage 28 interfère avec le bras de commande 11 au niveau d'une contre rampe 23 et réaligne progressivement le bras 11 avec l'axe longitudinale du projectile. La contre rampe 23 comporte un profil (par exemple conique) permettant au bord du perçage 28 d'incliner progressivement le bras 11 lors du mouvement de la cage 19 vers la position neutre.When the cage 19 is translated to the neutral position, the edge of the bore 28 interferes with the control arm 11 at a counter ramp 23 and progressively realigns the arm 11 with the longitudinal axis of the projectile. The counter ramp 23 has a profile (for example conical) allowing the edge of the bore 28 to gradually incline the arm 11 during movement of the cage 19 to the neutral position.

Le moyen de positionnement 12 permet de régler l'amplitude de la correction souhaitée, c'est-à-dire l'angle de pivotement maximal pour les gouvernes 2. Plus le moteur M1 fait avancer le cône 14, plus l'angle α maximal pour les gouvernes lors de la rotation du projectile est important.The positioning means 12 makes it possible to adjust the amplitude of the desired correction, that is to say the maximum pivoting angle for the control surfaces 2. The more the motor M1 advances the cone 14, the higher the angle α for the control surfaces during the rotation of the projectile is important.

Pour maitriser la direction de la trajectoire du projectile, il est nécessaire que le bras 11 soit orienté dans un repère absolu dans la direction souhaité pour la correction de trajectoire. Concrètement l'axe d'orientation AO pour la correction de trajectoire est l'axe passant par le centre de la sphère 5 et perpendiculaire au bras 11. Lorsque les gouvernes, au cours de la rotation du projectile, ont leur axe 7 qui se confond avec l'axe d'orientation AO, leur incidence est maximale et la correction est maximale. Le projectile est donc dirigé suivant la direction perpendiculaire à l'axe d'orientation AO.To control the direction of the trajectory of the projectile, it is necessary that the arm 11 is oriented in an absolute reference in the desired direction for the course correction. Specifically, the axis of orientation AO for the correction of trajectory is the axis passing through the center of the sphere 5 and perpendicular to the arm 11. When the control surfaces, during the rotation of the projectile, have their axis 7 which merges with the axis of orientation AO, their incidence is maximum and the correction is maximum. The projectile is thus directed in the direction perpendicular to the axis of orientation AO.

Pour commander l'orientation de la direction de l'axe d'orientation AO (donc de la correction de trajectoire) il est donc nécessaire de déplacer la seconde extrémité 11b du bras 11. Un second moteur M2 dit moteur d'orientation M2 (visible à la figure 5) permet d'engrener un pignon 26 avec une roue dentée 16 située au niveau de la seconde extrémité 11b du bras 11.To control the orientation of the direction of the axis of orientation AO (thus of the trajectory correction) it is therefore necessary to move the second end 11b of the arm 11. A second motor M2 said motor M2 orientation (visible to the figure 5 ) makes it possible to mesh a pinion 26 with a toothed wheel 16 located at the second end 11b of the arm 11.

Cette roue 16 est centrée sur l'axe longitudinal X ou axe de roulis X du projectile. Pour assurer son maintien centré elle est contenue dans un logement 27 du projectile (visible à la figure 7). Ce logement 27 permet de guider en rotation la roue 16 tout en la maintenant coaxiale à l'axe de roulis X.This wheel 16 is centered on the longitudinal axis X or roll axis X of the projectile. To ensure its maintenance centered it is contained in a housing 27 of the projectile (visible to the figure 7 ). This housing 27 rotates the wheel 16 while keeping it coaxial with the roll axis X.

La roue 16 porte une rainure diamétrale et rectiligne 18 dans laquelle circule la seconde extrémité 11b du bras 11 qui a une forme de tenon rectangulaire coopérant avec la rainure 18.The wheel 16 carries a diametrical and rectilinear groove 18 in which the second end 11b of the arm 11, which has a rectangular pin shape cooperating with the groove 18, flows.

La seconde extrémité 11b du bras 11 et la rainure 18 sont ainsi en liaison glissière. La rainure 18 a son sens longitudinal orienté perpendiculairement à l'axe longitudinal X du projectile mais elle est également perpendiculaire à l'axe d'orientation AO.The second end 11b of the arm 11 and the groove 18 are thus in slide connection. The groove 18 has its longitudinal direction oriented perpendicular to the longitudinal axis X of the projectile but is also perpendicular to the axis of orientation AO.

Ainsi, lorsque la roue dentée 16 tourne par rapport au repère absolu, la rainure 18 entraine le bras de commande 11 en pivotement autour de l'axe longitudinal X, faisant ainsi varier la position angulaire de l'axe d'orientation AO dans le repère absolu.Thus, when the toothed wheel 16 rotates relative to the absolute reference, the groove 18 causes the control arm 11 to pivot about the longitudinal axis X, thereby vary the angular position of the axis of orientation AO in the absolute reference.

Les gouvernes lors de leur passage au niveau de l'axe d'orientation seront à leur incidence maximale et exerceront alors un effort de portance tendant à dévier le projectile dans la direction parallèle à la rainure 18 ou en d'autres termes perpendiculairement à l'axe d'orientation AO.The control surfaces during their passage at the axis of orientation will be at their maximum incidence and then exert a lift force tending to deflect the projectile in the direction parallel to the groove 18 or in other words perpendicular to the axis of orientation AO.

Pour assurer le pilotage il suffit de maîtriser, d'une part la position axiale du cône 13 qui donne l'amplitude maximale du pivotement α des gouvernes, et d'autre part l'orientation dans le repère absolu de la rainure 18 qui est perpendiculaire à l'axe d'orientation AO. Cette orientation de la rainure 18 peut être mesurée à l'aide d'un capteur optique solidaire du corps de projectile et qui va lire une couronne codeuse portée par la roue 16. La position du projectile dans un repère absolu sera connue grâce à une centrale inertielle portée par le projectile. Un calculateur embarqué pourra alors aisément connaître la position de la rainure 18 dans le repère absolu et commander les moteurs M1 et M2 en fonction de l'orientation souhaitée pour la correction de trajectoire.To control, it is sufficient to control on the one hand the axial position of the cone 13 which gives the maximum amplitude of the pivoting α of the control surfaces, and on the other hand the orientation in the absolute reference of the groove 18 which is perpendicular to the axis of orientation AO. This orientation of the groove 18 can be measured using an optical sensor integral with the projectile body and which will read an encoding ring carried by the wheel 16. The position of the projectile in an absolute reference will be known through a central inertial carried by the projectile. An on-board computer can then easily know the position of the groove 18 in the absolute reference and control the motors M1 and M2 according to the desired orientation for the trajectory correction.

La loi de commande des moteurs M1 et M2 doit tenir compte de la giration permanente du projectile sur lui-même afin de la compenser. Une simple accélération ou un ralentissement ponctuel de la vitesse de rotation des moteurs M1 et M2 suffira alors à maitriser l'incidence des gouvernes et l'orientation de l'axe d'orientation dans le repère absolu.The control law of motors M1 and M2 must take into account the permanent gyration of the projectile on itself in order to compensate for it. A simple acceleration or a slowdown of the speed of rotation of the motors M1 and M2 will then be sufficient to control the incidence of the control surfaces and the orientation of the axis of orientation in the absolute reference.

Le dispositif permet à un projectile selon l'invention d'être pilotable facilement tout en orientant des gouvernes de façon fiable. La solution de commande proposée par l'invention est plus simple que celle décrite par le brevet FR3002319 .The device allows a projectile according to the invention to be controllable easily while orienting control surfaces reliably. The control solution proposed by the invention is simpler than that described by the patent FR3002319 .

Claims (10)

Projectile (100) à gouvernes (2) orientables en incidence, projectile (100) comportant au moins deux gouvernes (2) pouvant chacune pivoter par rapport au projectile (100) autour d'un axe de pivotement (7) perpendiculaire à l'axe longitudinal (X) du projectile, le projectile comportant - un moyen central (5) de commande des gouvernes (2) comportant au moins une forme sphérique (5) dont le centre (O) est situé sur l'axe longitudinal (X), forme sphérique (5) qui est disposée dans un logement du projectile, - un bras de commande (11) solidaire de la forme sphérique (5) et apte à faire tourner la forme sphérique (5) au moins autour des axes de tangage (Y) et lacet (Z) du projectile (100) passant par le centre (O) de la forme sphérique (5), - pour chaque gouverne (2) un organe de transmission (20) coopérant avec la forme sphérique (5) par un premier côté et avec un pied de gouverne (2b) par un second côté, organe de transmission (11) destiné à transmettre à la gouverne (2) les mouvements de rotation de la forme sphérique (5) autour de l'axe de pivotement (7) de la gouverne (2), - un moyen de positionnement (12) du bras (11) apte à positionner une extrémité du bras (11) dans une position déterminée relativement à un repère absolu centré sur l'axe longitudinal du projectile, projectile caractérisé en ce que : - le moyen de positionnement (12) comporte un cône mobile (13) en translation le long de l'axe longitudinal (X) du projectile (100) entre une première position dite neutre et une seconde position dite de pilotage où le cône (13) pousse une rampe (11a) portée par une première extrémité (11a) du bras de commande (11) afin de faire pivoter le moyen central (5) de commande autour d'un axe (AO), dit axe d'orientation (AO) passant par le centre du moyen central (5) de commande, - le moyen central de commande (5) est libre de tourner autour de l'axe longitudinal (X) du bras de commande (11), - le moyen de positionnement (12) comporte une roue dentée (16) centrée sur l'axe longitudinal du projectile (X) et liée à une seconde extrémité (11b) du bras (11) par une liaison glissière (17) située dans le plan de la roue (16) et perpendiculaire à l'axe d'orientation (AO), roue dentée (16) engrenant avec une motorisation (M2) destinée à piloter la position angulaire de l'axe d'orientation (AO) dans un repère absolu. Projectile (100) with steerable steers (2), projectile (100) having at least two control surfaces (2) each pivotable relative to the projectile (100) about a pivot axis (7) perpendicular to the axis longitudinal (X) of the projectile, the projectile comprising - a central control means (5) for controlling the control surfaces (2) comprising at least one spherical shape (5) whose center (O) is situated on the longitudinal axis (X), a spherical shape (5) which is arranged in a projectile housing, - A control arm (11) integral with the spherical shape (5) and able to rotate the spherical shape (5) at least about the pitch axes (Y) and yaw (Z) of the projectile (100) passing through the center (O) of the spherical shape (5), - for each rudder (2) a transmission member (20) cooperating with the spherical shape (5) by a first side and with a rudder foot (2b) by a second side, transmission member (11) for transmitting to the rudder (2) the rotational movements of the spherical shape (5) around the pivot axis (7) of the rudder (2), - A positioning means (12) of the arm (11) adapted to position an end of the arm (11) in a specific position relative to an absolute reference centered on the longitudinal axis of the projectile, characterized in that : the positioning means (12) comprises a mobile cone (13) in translation along the longitudinal axis (X) of the projectile (100) between a first so-called neutral position and a second so-called piloting position where the cone (13) ) pushes a ramp (11a) carried by a first end (11a) of the control arm (11) to pivot the central means (5) control about an axis (AO), said axis of orientation (AO) passing through the center of the central control means (5), the central control means (5) is free to rotate about the longitudinal axis (X) of the control arm (11), the positioning means (12) comprises a toothed wheel (16) centered on the longitudinal axis of the projectile (X) and connected to a second end (11b) of the arm (11) by a sliding connection (17) located in the plane of the wheel (16) and perpendicular to the axis of orientation (AO), toothed wheel (16) meshing with a motor (M2) for controlling the angular position of the axis of orientation (AO) in a absolute benchmark. Projectile (100) selon la revendication 1, caractérisé en ce que le moyen de positionnement (12) comporte un moyen de rappel (28) du bras (11) en une position alignée avec l'axe longitudinal (X) du projectile (100) fournissant une incidence nulle aux gouvernes (2).Projectile (100) according to claim 1, characterized in that the positioning means (12) comprises a return means (28) of the arm (11) at a position aligned with the longitudinal axis (X) of the projectile (100) providing zero influence to control surfaces (2). Projectile (100) selon la revendication 2, caractérisé en ce que le moyen de rappel (28) est solidaire en translation du cône (13) et comporte un perçage coaxial (28) à l'axe longitudinal (X) du projectile et dont le bord est destiné à interférer avec une contre rampe (23) du bras (11) lorsque le cône (13) retourne en position neutre en s'éloignant de la première rampe (11a).Projectile (100) according to claim 2, characterized in that the return means (28) is integral in translation with the cone (13) and comprises a coaxial bore (28) to the longitudinal axis (X) of the projectile and the edge is intended to interfere with a counter ramp (23) of the arm (11) when the cone (13) returns to the neutral position away from the first ramp (11a). Projectile (100) selon la revendication 3, caractérisé en ce que le cône (13) est solidaire d'une cage (19) qui entoure le cône (13) et porte le perçage (28).Projectile (100) according to claim 3, characterized in that the cone (13) is integral with a cage (19) which surrounds the cone (13) and carries the bore (28). Projectile (100) selon une des revendications 1 à 4, caractérisé en ce que le moyen de positionnement (5) comporte un moyen de verrouillage (21,25) des gouvernes (2) en position repliée dans le projectile (100).Projectile (100) according to one of claims 1 to 4, characterized in that the positioning means (5) comprises a locking means (21,25) of the control surfaces (2) in the folded position in the projectile (100). Projectile (100) selon les revendications 4 et 5, caractérisé en ce que le moyen de verrouillage (21,25) comporte un bord externe recourbé (25) solidaire de la cage (19), bord (25) destiné à coopérer avec une encoche (21) du bord d'attaque d'une gouverne (2) pour maintenir la gouverne (2) repliée quand le cône (13) est en position neutre.Projectile (100) according to claims 4 and 5, characterized in that the locking means (21,25) comprises a curved outer edge (25) integral with the cage (19), edge (25) for cooperating with a notch (21) of the leading edge of a rudder (2) to maintain the rudder (2) bent when the cone (13) is in the neutral position. Projectile (100) selon une des revendications 1 à 6, caractérisé en ce que la forme sphérique (5) comporte pour chaque gouverne (2) une rainure (8) orientée selon une méridienne de la forme sphérique (5) et partant du bras de commande (11), les rainures (8) étant disposées parallèlement à l'axe longitudinal (X) du projectile (100) lorsque les gouvernes (2) sont-elles mêmes parallèles à l'axe longitudinal (X) du projectile (100).Projectile (100) according to one of claims 1 to 6, characterized in that the spherical shape (5) comprises for each rudder (2) a groove (8) oriented along a meridian of the spherical shape (5) and starting from the arm of control (11), the grooves (8) being arranged parallel to the longitudinal axis (X) of the projectile (100) when the control surfaces (2) are themselves parallel to the longitudinal axis (X) of the projectile (100) . Projectile (100) selon la revendication 7, caractérisé en ce que chaque rainure (8) coopère avec un profil (20b) de l'organe de transmission (20) dit second profil (20b) correspondant à la rainure (8), second profil (20b) apte à coulisser et à pivoter dans la rainure (8).Projectile (100) according to claim 7, characterized in that each groove (8) cooperates with a profile (20b) of the transmission member (20) said second profile (20b) corresponding to the groove (8), second profile (20b) slidable and pivotable in the groove (8). Projectile (100) selon la revendication 8, caractérisé en ce que l'organe de transmission (20) comporte un profil (20a) dit premier profil (20a) parallèle au second profil (20b), premier profil (20a) coopérant avec une fente (2c) portée par le pied (2b) de la gouverne (2), premier profil (20a) apte à coulisser et à pivoter dans la fente (2c).Projectile (100) according to claim 8, characterized in that the transmission member (20) comprises a profile (20a) said first profile (20a) parallel to the second profile (20b), first profile (20a) cooperating with a slot (2c) carried by the foot (2b) of the rudder (2), first profile (20a) capable of sliding and pivoting in the slot (2c). Projectile (100) selon les revendications 8 et 9, caractérisé en ce que le premier et second profil (20b,20a) de l'organe de transmission (20) comportent chacun une forme de lobe (20a,20b) apte à coopérer d'une part avec les rainures (8) de la forme sphérique (5) et d'autre part avec la fente (2c) du pied de gouverne (2b).Projectile (100) according to claims 8 and 9, characterized in that the first and second profiles (20b, 20a) of the transmission member (20) each comprise a lobe shape (20a, 20b) adapted to cooperate with each other. a part with the grooves (8) of the spherical shape (5) and secondly with the slot (2c) of the rudder foot (2b).
EP19158669.2A 2018-02-22 2019-02-21 Projectile with adjustable fins Active EP3531061B1 (en)

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FR1800164A FR3078152B1 (en) 2018-02-22 2018-02-22 ORIENTABLE GOVERNANCE PROJECTILE

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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

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US4738412A (en) * 1987-08-24 1988-04-19 The United States Of America As Represented By The Secretary Of The Navy Air stabilized gimbal platform
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FR3002319A1 (en) * 2013-02-18 2014-08-22 Nexter Munitions PROJECTILE WITH ORIENTABLE GOVERNMENTS AND METHOD OF ORDERING THE GOVERNMENTS OF SUCH PROJECTILE

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US20190257628A1 (en) 2019-08-22
FR3078152A1 (en) 2019-08-23
US11015909B2 (en) 2021-05-25
FR3078152B1 (en) 2021-11-05
EP3531061B1 (en) 2020-11-04

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