EP3531061B1 - Projectile with adjustable fins - Google Patents

Projectile with adjustable fins 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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German (de)
French (fr)
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EP3531061A1 (en
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/en
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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)

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 projectiles guided by control surfaces adjustable 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 have recourse to control surfaces placed on the periphery of the projectile, either in the tail or in the forward position (so-called duck control surfaces). The incidence of the control surfaces is adapted in flight as a function of the trajectory that one wishes to give to the projectile. The incidence control is most often provided by electric motors.

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 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.

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 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.

Un projectile ainsi équipé demeure assez compliqué à manœuvrer 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 the transmission of the rotation of the spherical shape to the rudder base is imperfect.

L'invention propose un projectile doté d'un dispositif d'orientation plus simple à manœuvrer. L'invention propose également des moyens permettant une transmission plus efficace des mouvements de la forme sphérique aux gouvernes.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.

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,
  • le moyen de positionnement comportant 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 étant libre de tourner autour de l'axe longitudinal du bras de commande,
  • le moyen de positionnement comportant 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 with steerable control surfaces, a projectile comprising at least two control surfaces which can each pivot 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, the center of which is located on the longitudinal axis, which spherical shape is placed in a housing of the projectile,
  • a control arm integral with the spherical shape and capable of rotating 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 on a first side and with a rudder base on a second side, a transmission member intended to transmit to the rudder the rotational movements of the spherical shape around the axis of rudder pivoting,
  • means for positioning the arm capable of positioning one end of the arm in a determined position relative to an absolute mark centered on the longitudinal axis of the projectile,
  • the positioning means comprising 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 in order 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 being free to rotate around the longitudinal axis of the control arm,
  • the positioning means comprising a toothed wheel centered on the longitudinal axis of the projectile and linked to a second end of the arm by a sliding connection situated in the plane of the wheel and perpendicular to the orientation axis, the toothed wheel meshing with a motorization intended to control the angular position of the orientation axis 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 comprise means for returning the arm to 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 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.

Avantageusement, le cône est solidaire d'une cage qui entoure le cône et porte le perçage.Advantageously, the cone is integral with 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 means for locking 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 on the leading edge of a control surface to keep the control surface folded when the cone is in 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 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.

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 called the 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 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.

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 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.

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 appended drawings in which:
  • The figure 1 represents a schematic view of a projectile according to the invention in flight.
  • The figure 2 shows an exploded view of the projectile orientation device according to the invention.
  • The figure 3 shows a detail view of the orientation device without positioning means.
  • The figure 4 shows a schematic partial sectional view of a torque transmission means.
  • The figure 5 shows a three-quarter view of a projectile orientation device according to the invention.
  • The figure 6a shows a partial longitudinal sectional view of an orientation device with the control surfaces folded.
  • The figure 6b shows a partial longitudinal sectional view of an orientation device with the control surfaces unfolded.
  • The figure 7 shows a view in partial longitudinal section of an orientation device with the control surfaces unfolded 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 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.

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 the front part AV of the projectile 100 is located 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. To make a projectile operate a trajectory in a turn, it is necessary to control on the one hand the radius of curvature of the turn and on the other hand the orientation of the turn. For this maneuver, the incidence α 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.

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 proportional to 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. 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.

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 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 ).

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 comprising meridian grooves 8. There are as many grooves 8 as there are control surfaces 2. Note figures 6a and 6b that, 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 rudder base 2b is 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.

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 at the figure 4 , 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.

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 bulky than the Oldham seals 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 therefore sufficient to rotate the sphere 5. To do this, 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 ).

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 drives the sphere 5 in pivoting at an angle α around the axis AO. In the figure shown, 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.

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 2a, 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 α to take an incidence α 2bis.

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, 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.

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 set of control surfaces 2 and 2a is in rotation R around the longitudinal axis X, the sphere 5 is driven in rotation by the transmission members 20 and 20a on the side walls of the grooves 8. If the it is considered that the position previously given to the first end 11a of the arm 11 upwards is retained, the pivot axis 7 of each pair of control surfaces 2 and 2a will pass successively through the plane K and through a plane normal to this plane K. Thus each groove 8 will alternately and progressively 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 with 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 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 ).

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 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.

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 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.

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).Note also to figures 6a and 6b that 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).

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 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. 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 ).

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.By continuing its movement towards the ramp 14, 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.

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 a correction of incidence in the direction of a decrease is desired, or a return to a neutral position, 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. 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 translates to the neutral position, the edge of the bore 28 interferes with the control arm 11 at the level of 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 the movement of the cage 19 towards 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 pivot angle for the control surfaces 2. The more the motor M1 advances the cone 14, the more the maximum angle α for rudders when rotating 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 direction desired for the course correction. Concretely 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 therefore directed in the direction perpendicular to the orientation axis 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 orientation axis AO (therefore of the trajectory correction) it is therefore necessary to move the second end 11b of 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.

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 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.

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 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.

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 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.

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 mark, 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.

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 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.

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 ensure piloting, it suffices 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 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.

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 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.

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 easily piloted while orienting the control surfaces reliably. The control solution proposed by the invention is simpler than that described by the patent FR3002319 .

Claims (10)

  1. A projectile (100) with incidence steerable control surfaces (2), the projectile (100) comprising at least two control surfaces (2) each pivotable with respect to the projectile (100) around a pivot axis (7) perpendicular to the longitudinal axis (X) of the projectile, the projectile comprising:
    - central means (5) for controlling the control surfaces (2) comprising at least one spherical form (5) whose center (O) is located on the longitudinal axis (X), the spherical form (5) being arranged in a housing of the projectile,
    - a control arm (11) integral with the spherical form (5) and adapted to rotate the spherical form (5) at least around the pitch (Y) and yaw (Z) axes of the projectile (100) passing through the center (O) of the spherical form (5),
    - for each control surface (2), a transmission member (20) cooperating with the spherical form (5) by a first side and with a control surface foot (2b) by a second side, the transmission member (20) being intended to transmit to the control surface (2) the rotation movements of the spherical form (5) around the pivot axis (7) of the control surface (2),
    - means (12) for positioning the arm (11), adapted to position one end of the arm (11) in a position determined with respect to an absolute reference frame centered on the longitudinal axis of the projectile,
    - wherein the positioning means (12) comprises a cone (13) movable 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 in which the cone (13) pushes a ramp (11a) carried by a first end (11a) of the control arm (11) so as to pivot the central control means (5) around an axis (A0), so-called orientation axis (AO), passing through the center of the central control means (5),
    - wherein the central control means (5) is freely rotatable around the longitudinal axis (X) of the control arm (11),
    - wherein 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 orientation axis (AO), the toothed wheel (16) meshing with a motorization (M2) intended to pilot the angular position of the orientation axis (AO) in an absolute reference frame.
  2. The projectile (100) according to claim 1, characterized in that the positioning means (12) comprises means (28) for returning the arm (11) to a position aligned with the longitudinal axis (X) of the projectile (100), placing the control surfaces (2) at zero incidence.
  3. The projectile (100) according to claim 2, characterized in that the return means (28) is integral in translation with the cone (13) and comprises a bore (28) coaxial to the longitudinal axis (X) of the projectile and whose edge is intended to interfere with a counter-ramp (23) of the arm (11) when the cone (13) returns in neutral position by moving away from the first ramp (11a).
  4. The 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) .
  5. The projectile (100) according to one of claims 1-4, characterized in that the positioning means (12) comprises means (21, 25) for locking the control surfaces (2) in a position folded in the projectile (100).
  6. The projectile (100) according to claims 4 and 5, characterized in that the locking means (21, 25) comprises a bent outer edge (25) integral with the cage (19), the edge (25) being intended to cooperate with a notch (21) of the leading edge of a control surface (2) in order to maintain the control surface (2) folded when the cone (13) is in the neutral position.
  7. The projectile (100) according to one of claims 1 to 6, characterized in that the spherical form (5) comprises, for each control surface (2), a groove (8) oriented along a meridian line of the spherical form (5) and starting from the control arm (11), the grooves (8) being arranged parallel to the longitudinal axis (X) of the projectile (100) when the control surfaces (2) themselves are parallel to the longitudinal axis (X) of the projectile (100) .
  8. The projectile (100) according to claim 7, characterized in that each groove (8) cooperates with a profile (20b), so-called second profile (20b), of the transmission member (20) that corresponds to the groove (8), the second profile (20b) being adapted to slide and pivot in the groove (8).
  9. The projectile (100) according to claim 8, characterized in that the transmission member (20) comprises a profile (20a), so-called first profile (20a), that is parallel to the second profile (20b), the first profile (20a) cooperating with a slot (2c) carried by the foot (2b) of the control surface (2), the first profile (20a) being adapted to slide and pivot in the slot (2c).
  10. The 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, on one hand, with the grooves (8) of the spherical form (5) and, on the other hand, with the slot (2c) of the control surface foot (2b) .
EP19158669.2A 2018-02-22 2019-02-21 Projectile with adjustable fins Active EP3531061B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1800164A FR3078152B1 (en) 2018-02-22 2018-02-22 ORIENTABLE GOVERNANCE PROJECTILE

Publications (2)

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

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EP19158669.2A Active EP3531061B1 (en) 2018-02-22 2019-02-21 Projectile with adjustable fins

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

Families Citing this family (1)

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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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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 (en) * 2005-10-05 2010-06-11 Giat Ind Sa DEVICE FOR DRIVING PROJECTILE GOVERNMENTS.
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 (en) * 2012-08-31 2014-03-07 Nexter Munitions PROJECTILE WITH ORIENTABLE GOVERNMENTS AND METHOD OF ORDERING THE GOVERNMENTS OF SUCH PROJECTILE
FR3002319B1 (en) * 2013-02-18 2015-02-27 Nexter Munitions PROJECTILE WITH ORIENTABLE GOVERNMENTS AND METHOD OF ORDERING THE GOVERNMENTS OF SUCH 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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Also Published As

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

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