EP3531061B1 - Projektil mit ausrichtbaren steuerflächen - Google Patents

Projektil mit ausrichtbaren steuerflächen Download PDF

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Publication number
EP3531061B1
EP3531061B1 EP19158669.2A EP19158669A EP3531061B1 EP 3531061 B1 EP3531061 B1 EP 3531061B1 EP 19158669 A EP19158669 A EP 19158669A EP 3531061 B1 EP3531061 B1 EP 3531061B1
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EP
European Patent Office
Prior art keywords
projectile
control
longitudinal axis
arm
axis
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EP19158669.2A
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English (en)
French (fr)
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EP3531061A1 (de
Inventor
Richard Roy
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Nexter Munitions SA
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Nexter Munitions SA
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Publication of EP3531061A1 publication Critical patent/EP3531061A1/de
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
    • F42B10/60—Steering arrangements
    • F42B10/62—Steering by movement of flight surfaces
    • F42B10/64—Steering by movement of flight surfaces of fins
    • 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

Definitions

  • the technical field of the invention is that of projectiles guided by control surfaces adjustable in incidence.
  • the patent FR3002319 thus describes a device for piloting the control surfaces of a projectile which can each pivot relative to the projectile about a pivot axis perpendicular to the longitudinal axis of the projectile.
  • a central control means of the control surfaces is arranged in a housing of the projectile and comprises at least one spherical shape, the center of which is located on the longitudinal axis.
  • a control arm integral with the spherical shape makes it possible to rotate it 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 on a first side and with a rudder base on a second side.
  • the transmission member transmits to the rudder the rotational movements of the spherical shape around the pivot axis of the rudder.
  • An arm positioning means makes it possible to position one end of the arm in a determined position relative to an absolute mark 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.
  • the transmission of the rotation of the spherical shape to the rudder base is imperfect.
  • the invention proposes a projectile provided with an orientation device that is simpler to maneuver.
  • the invention also proposes means allowing a more efficient transmission of the movements of the spherical shape to the control surfaces.
  • the positioning means comprise means for returning the arm to a position aligned with the longitudinal axis of the projectile providing zero incidence to the control surfaces.
  • the return means is integral in translation with the cone and comprises a bore coaxial with the longitudinal axis of the projectile and the edge of which is intended to interfere with a counter-ramp of the arm when the cone returns to neutral position while moving away from the first ramp.
  • the cone is integral with a cage which surrounds the cone and carries the bore.
  • the positioning means comprises a means for locking 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 on the leading edge of a control surface to keep the control surface folded when the cone is in neutral position.
  • the spherical shape comprises for each surface a groove oriented along a meridian of the spherical shape and starting from the control arm, the grooves being arranged parallel to the longitudinal axis of the projectile when the control surfaces are themselves parallel to the longitudinal axis of the projectile.
  • each groove cooperates with a profile of the transmission member called the second profile corresponding to the groove, second profile capable of sliding and pivoting in the groove.
  • the transmission member comprises a so-called first profile profile parallel to the second profile, first profile cooperating with a slot carried by the base of the control surface, first profile capable of sliding and pivoting in the slot.
  • the first and second profile of the transmission member each comprise a lobe shape capable of cooperating on the one hand with the grooves of the spherical shape and on the other hand with the slot in the rudder foot.
  • a projectile 100 in flight comprises a substantially cylindrical body 101.
  • This projectile 100 comprises in the rear part AR a tail unit itself comprising fins 102 at fixed incidence intended to stabilize the projectile 100 according to its pitch Y and yaw axes Z.
  • the projectile 100 is driven in a rotational movement R around its longitudinal axis called the roll axis X.
  • an orientation device 1 housed in a warhead 104 and comprising control surfaces 2 integral with the projectile 100 and each capable of pivoting on a control axis 7 perpendicular to the roll axis X so as to modify their incidence.
  • the incidence ⁇ of the control surfaces will therefore be varied in order to create a lift force P radial to the longitudinal axis X of the projectile.
  • This force P must also be oriented angularly around this same axis X and relative to an absolute reference point in order 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 proportional to 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.
  • a person skilled in the art 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 master plane, the base of which is integral with a first end of a rudder base 2b intended to be pivotally mounted in a cylindrical and radial bore of the projectile body 100 (not shown).
  • the control bases 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 mounted to pivot relative to the central control means 5 thanks to to a ball bearing 5a (mounting visible at 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 comprising meridian grooves 8.
  • the control arm 11 is then coaxial with this axis X.
  • a transmission member 20 intended to transmit to the rudder 2, only the movements of rotation of the sphere 5 around the pivot axes 7 in yaw and pitch of the control surfaces 2.
  • each transmission member 20 cooperates through a first profile 20a with a slot 2c of the rudder base 2b and cooperates through a second profile 20b with a groove 8 of the sphere 5.
  • the first and the second profile 20a and 20b have a lobe shape (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 rudder base 2b and the sphere 5 and this while transmitting the movements of the sphere 5, which provide a torque capable of causing the foot of each rudder 2b to pivot around its pivot axis 7.
  • the first end 11a of the control arm 11 which is housed in a bore of the sphere upwards is oriented by rotating it around. of an axis AO called axis of orientation passing through the center of the sphere 5 (see figure 6b ).
  • the arm 11 drives the sphere 5 in pivoting at an angle ⁇ around the axis AO.
  • a first pair of control surfaces 2 has its pivot axis 7 contained in the plane K containing the yaw axis Z and a second pair of control surfaces 2bis has its pivot axis 7bis collinear with the axis of pitch Y which also happens to be collinear with the axis of orientation AO.
  • the transmission member 20a (not visible) then communicates a pivoting torque to the control surfaces 2a via its first and second profiles (not visible in these figures) which correspond respectively with the groove the sphere 5 and the rudder base 2bis, thus causing the control surfaces ⁇ to take an incidence ⁇ 2bis.
  • the grooves 8 associated with the control surfaces 2, with a pivot axis 7 collinear with the yaw axis Z, are oriented parallel to the longitudinal axis X and therefore do not have an angle of incidence.
  • the first profile 20a of each transmission member 20 associated with the control surfaces 2 without incidence cannot transmit any force but allows the groove 8 which is associated with it to slide without transmitting any 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 progressively 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 with 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 angle of incidence adapted to generate a lift force P in the direction which 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 screw 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 relative to the longitudinal axis of the arm 11 less than that of the cone 13 relative to the longitudinal axis X of the projectile and will adopt a curved profile in order to provide more progressiveness in the grip of the projectile. incidence of the control surfaces 2.
  • the ramp 14 may have the shape of a cone portion comprising a point adapted to fit into the point of the cone 13 to form an end stop.
  • the cone 13 is surrounded by a cage 19 (see also figure 5 ).
  • This cage 19 has four curved edges 25 intended to correspond with notches 21 of the control surfaces 2 thus constituting a locking means 22 making it possible to lock the control surfaces 2 in the folded position inside the projectile when the positioning means 12 is in the so-called position.
  • neutral where the cone 13 is located at a distance from the ramp 14 as at figure 6a (distance between ramp 14 and cone 13 not visible).
  • a movement of the cone 13 from the neutral position towards the ramp 14 is carried out under the action of a first motor M1 (motor visible at figure 5 ) known as M1 incidence motor.
  • M1 incidence motor a first motor known as 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 deployed radially and blocked in this. position by the support of each leaf spring 24 at the base of the rudder 2 ( figure 6b ).
  • the cone 13 interferes with the latter and causes a progressive pivoting of the control arm 11 around the orientation axis AO centered on the sphere 5 which causes a progressive increase in the incidence of control surfaces 2a located on this axis AO as seen previously.
  • the site motor M1 causes a translation of the cone from the so-called piloting position that it occupies when it induces a incidence of the control surfaces up 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 the movement of the cage 19 towards the neutral position.
  • the positioning means 12 makes it possible to adjust the amplitude of the desired correction, that is to say the maximum pivot angle for the control surfaces 2.
  • the arm 11 is oriented in an absolute reference in the direction desired 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 called the orientation motor M2 (visible to the figure 5 ) makes it possible to engage 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 that it is kept centered, it is contained in a housing 27 of the projectile (visible at figure 7 ). This housing 27 makes it possible to guide the wheel 16 in rotation while keeping it coaxial with the roll axis X.
  • the wheel 16 has a diametrical and rectilinear groove 18 in which circulates the second end 11b of the arm 11 which has the shape of a rectangular tenon cooperating with the groove 18.
  • the second end 11b of the arm 11 and the groove 18 are thus in a sliding connection.
  • the groove 18 has its longitudinal direction oriented perpendicular to the longitudinal axis X of the projectile but it is also perpendicular to the orientation axis AO.
  • the groove 18 drives the control arm 11 in pivoting about the longitudinal axis X, thus making vary the angular position of the orientation axis AO in the absolute coordinate system.
  • control surfaces during their passage at the level of the orientation axis will be at their maximum incidence and will 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 AO orientation axis.
  • the axial position of the cone 13 which gives the maximum amplitude of the pivoting ⁇ of the control surfaces
  • 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 secured to the projectile body and which will read a coding ring carried by the wheel 16.
  • the position of the projectile in an absolute reference will be known thanks to a central unit. inertial carried by the projectile.
  • An on-board computer can then easily know the position of the groove 18 in the absolute coordinate system and control the motors M1 and M2 according to the orientation desired for the trajectory correction.
  • the control law of the M1 and M2 motors must take into account the permanent gyration of the projectile on itself in order to compensate for it. A simple acceleration or a one-time deceleration of the rotational speed of the motors M1 and M2 will then suffice to control the incidence of the control surfaces and the orientation of the orientation axis in the absolute frame of reference.
  • the device allows a projectile according to the invention to be easily piloted while orienting the 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)

Claims (10)

  1. Projektil (100) mit angestellt ausrichtbaren Steuerflächen (2), wobei das Projektil (100) mindestens zwei Steuerflächen (2) aufweist, die jede in Bezug auf das Projektil (100) um eine zur Längsachse (X) des Projektils senkrechten Schwenkachse (7) schwenkbar sind, wobei das Projektil aufweist
    - ein zentrales Steuermittel (5) der Steuerflächen (2), aufweisend mindestens eine Kugelform (5), dessen Zentrum (O) sich auf der Längsachse (X) befindet, wobei die Kugelform (5) in einer Aufnahme des Projektils angeordnet ist,
    - einen Steuerarm (11), der mit der Kugelform (5) fest verbunden und imstande ist, die Kugelform (5) mindestens um eine Nickachse (Y) und eine Gierachse (Z) des Projektils (100) zu drehen, die durch das Zentrum (O) der Kugelform (5) verlaufen,
    - für jede Steuerfläche (2) ein Übertragungsorgan (20), das mit der Kugelform (5) durch eine erste Seite und mit einem Steuerflächenfuß (2b) durch eine zweite Seite zusammenwirkt, wobei das Übertragungsorgan (11) zur Übertragung der Rotationsbewegungen der Kugelform (5) an die Steuerfläche (2) um die Schwenkachse (7) der Steuerfläche (2) bestimmt ist,
    - ein Positionierungsmittel (12) des Arms (11), das imstande ist, ein Ende des Arms (11) in einer bestimmten Position relativ zu einem absoluten Bezug, der auf der Längsachse des Projektils zentriert ist, zu positionieren,
    - wobei das Positionierungsmittel (12) einen entlang der Längsachse (X) des Projektils (100) zwischen einer ersten, als neutral bezeichneten Position und einer zweiten, als steuernd bezeichneten Position, in der der Konus (13) auf eine Rampe (11a) drückt, die von einem ersten Ende (11a) des Steuerarms (11) getragen wird, um das zentrale Steuermittel (5) um eine Achse (AO), bezeichnet als Ausrichtungsachse (AO), die durch das Zentrum des zentralen Steuermittels (5) verläuft, zu schwenken, translatorisch beweglichen Konus (13) aufweist,
    - wobei das zentrale Steuermittel (5) frei ist, um die Längsachse (X) des Steuerarms (11) zu drehen,
    - wobei das Positionierungsmittel (12) ein Zahnrad (16) aufweist, das auf der Längsachse des Projektils (X) zentriert und mit einem zweiten Ende (11b) des Arms (11) durch eine Gleitverbindung (17) verbunden ist, die sich in der Ebene des Rads (16) und senkrecht zur Ausrichtungsachse (AO) befindet, wobei das Zahnrad (16) in eine Motorisierung (M2) eingreift, die zum Steuern der Winkelposition der Ausrichtungsachse (AO) in einem absoluten Bezug bestimmt ist.
  2. Projektil (100) nach Anspruch 1, dadurch gekennzeichnet, dass das Positionierungsmittel (12) ein Rückstellmittel (28) des Arms (11) in eine mit der Längsachse (X) des Projektils (100) fluchtende Position aufweist, das die Steuerflächen (2) auf null anstellt.
  3. Projektil (100) nach Anspruch 2, dadurch gekennzeichnet, dass das Rückstellmittel (28) mit dem Konus (13) translatorisch fest verbunden ist und eine zur Längsachse (X) des Projektils koaxiale Bohrung (28) aufweist und dessen Rand zum Interferieren mit einer Gegenrampe (23) des Arms (11) bestimmt ist, wenn der Konus (13) in neutrale Position zurückkehrt, indem er sich von der ersten Rampe (11a) entfernt.
  4. Projektil (100) nach Anspruch 3, dadurch gekennzeichnet, dass der Konus (13) mit einem Käfig (19) fest verbunden ist, der den Konus (13) umgibt und die Bohrung (28) trägt.
  5. Projektil (100) nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass das Positionierungsmittel (5) ein Verriegelungsmittel (21, 25) der Steuerflächen (2) in in das Projektil (100) gefalteter Position aufweist.
  6. Projektil (100) nach den Ansprüchen 4 und 5, dadurch gekennzeichnet, dass das Verriegelungsmittel (21, 25) einen mit dem Käfig (19) fest verbundenen gekrümmten Außenrand (25) aufweist, wobei der Rand (25) zum Zusammenwirken mit einer Nut (21) der Vorderkante einer Steuerfläche (2) bestimmt ist, um die Steuerfläche (2) gefaltet zu halten, wenn der Konus (13) in neutraler Position ist.
  7. Projektil (100) nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Kugelform (5) für jede Steuerfläche (2) eine gemäß einem Meridian der Kugelform (5) ausgerichtete und vom Steuerarm (11) ausgehende Rille (8) aufweist, wobei die Rillen (8) parallel zur Längsachse (X) des Projektils (100) angeordnet sind, wenn die Steuerflächen (2) selbst parallel zur Längsachse (X) des Projektils (100) sind.
  8. Projektil (100) nach Anspruch 7, dadurch gekennzeichnet, dass jede Rille (8) mit einem Profil (20b) des Übertragungsorgans (20), bezeichnet als zweites Profil (20b), zusammenwirkt, das der Rille (8) entspricht, wobei das zweite Profil (20b) imstande ist, in der Rille (8) zu gleiten und zu schwenken.
  9. Projektil (100) nach Anspruch 8, dadurch gekennzeichnet, dass das Übertragungsorgan (20) ein Profil (20a), bezeichnet als erstes Profil (20a), aufweist, das parallel zum zweiten Profil (20b) ist, wobei das erste Profil (20a) mit einem Schlitz (2c) zusammenwirkt, der von dem Fuß (2b) der Steuerfläche (2) getragen wird, wobei das erste Profil (20a) imstande ist, in dem Schlitz (2c) zu gleiten und zu schwenken.
  10. Projektil (100) nach den Ansprüchen 8 und 9, dadurch gekennzeichnet, dass das erste und zweite Profil (20b, 20a) des Übertragungsorgans (20) jeweils eine Kreisbogenform (20a, 20b) aufweisen, die zum Zusammenwirken zum einem mit den Rillen (8) der Kugelform (5) und zum anderen mit dem Schlitz (2c) des Steuerflächenfußes (2b) imstande sind.
EP19158669.2A 2018-02-22 2019-02-21 Projektil mit ausrichtbaren steuerflächen Active EP3531061B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1800164A FR3078152B1 (fr) 2018-02-22 2018-02-22 Projectile a gouvernes orientables

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Publication Number Publication Date
EP3531061A1 EP3531061A1 (de) 2019-08-28
EP3531061B1 true EP3531061B1 (de) 2020-11-04

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US (1) US11015909B2 (de)
EP (1) EP3531061B1 (de)
FR (1) FR3078152B1 (de)

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Publication number Priority date Publication date Assignee Title
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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Publication number Priority date Publication date Assignee Title
US2821924A (en) * 1954-07-09 1958-02-04 Lawrence J Hansen Fin stabilized projectile
US4210298A (en) * 1978-08-01 1980-07-01 The United States Of America As Represented By The Secretary Of The Army Electro-mechanical guidance actuator for a missile
US4560121A (en) * 1983-05-17 1985-12-24 The Garrett Corporation Stabilization of automotive vehicle
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
US5788180A (en) * 1996-11-26 1998-08-04 Sallee; Bradley Control system for gun and artillery projectiles
US6073880A (en) * 1998-05-18 2000-06-13 Versatron, Inc. Integrated missile fin deployment system
US7246539B2 (en) * 2005-01-12 2007-07-24 Lockheed Martin Corporation Apparatus for actuating a control surface
FR2891618B1 (fr) * 2005-10-05 2010-06-11 Giat Ind Sa Dispositif d'entrainement de gouvernes de projectile.
US20080006736A1 (en) * 2006-07-07 2008-01-10 Banks Johnny E Two-axis trajectory control system
US9341453B2 (en) * 2007-07-10 2016-05-17 Omnitek Partners, Llc Mechanical stepper motors for guided munitions and industrial machinery
US9228815B2 (en) * 2011-07-04 2016-01-05 Omnitek Partners Llc Very low-power actuation devices
FR2995074A1 (fr) * 2012-08-31 2014-03-07 Nexter Munitions Projectile a gouvernes orientables et procede de commande des gouvernes d'un tel projectile
FR3002319B1 (fr) * 2013-02-18 2015-02-27 Nexter Munitions Projectile a gouvernes orientables et procede de commande des gouvernes d'un tel projectile
US8921749B1 (en) * 2013-07-10 2014-12-30 The United States Of America As Represented By The Secretary Of The Navy Perpendicular drive mechanism for a missile control actuation system

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Publication number Publication date
EP3531061A1 (de) 2019-08-28
US20190257628A1 (en) 2019-08-22
US11015909B2 (en) 2021-05-25
FR3078152A1 (fr) 2019-08-23
FR3078152B1 (fr) 2021-11-05

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