EP4095480A1 - Verfahren und system zur elektronischen steuerung der bewegung einer servounterstützten vorrichtung zur aufnahme und/oder übertragung und/oder reflexion elektromagnetischer strahlungen - Google Patents

Verfahren und system zur elektronischen steuerung der bewegung einer servounterstützten vorrichtung zur aufnahme und/oder übertragung und/oder reflexion elektromagnetischer strahlungen Download PDF

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Publication number
EP4095480A1
EP4095480A1 EP22172570.8A EP22172570A EP4095480A1 EP 4095480 A1 EP4095480 A1 EP 4095480A1 EP 22172570 A EP22172570 A EP 22172570A EP 4095480 A1 EP4095480 A1 EP 4095480A1
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European Patent Office
Prior art keywords
sensor
sensor data
servo
control signal
assisted device
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EP22172570.8A
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English (en)
French (fr)
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EP4095480B1 (de
Inventor
Domenico Borzacchiello
Gianluigi FERRARA
Gaetano Prisco
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MBDA Italia SpA
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MBDA Italia SpA
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2213—Homing guidance systems maintaining the axis of an orientable seeking head pointed at the target, e.g. target seeking gyro
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2246—Active homing systems, i.e. comprising both a transmitter and a receiver
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2273—Homing guidance systems characterised by the type of waves
    • F41G7/2286—Homing guidance systems characterised by the type of waves using radio waves

Definitions

  • the present invention relates to the technical field of servo-assisted devices for receiving and/or transmitting and/or reflecting electromagnetic radiations, such as for example antenna systems, optical systems, radar systems,.
  • the present invention relates to a method and system for electronically controlling the movement of a servo-assisted device for receiving and/or transmitting and/or reflecting electromagnetic radiations.
  • Servo-assisted devices for receiving and/or transmitting and/or reflecting electromagnetic radiations are known and widely used.
  • these servo-assisted devices comprise receiving and/or transmitting antennas, for example of radar systems, or comprise electro-optical emitters and/or receivers which can be moved by one or more actuators to vary or stabilize the pointing direction, and in general to electronically control the movement of the aforesaid devices.
  • the aforesaid servo-assisted devices may also include movable and/or deformable mirrors, for example orientable mirrors.
  • a servo-assisted device of the type indicated above is disclosed in European patent application EP 2887455 A1 , which in particular discloses a steerable antenna.
  • control systems comprising:
  • control systems of the type described are currently widely used, the known control systems are not yet adequately robust or reliable with respect to possible breakdowns, malfunctioning or operating conditions which may compromise the operation or accuracy of the systems, and in particular, but not exclusively, of the related sensors.
  • a control method for electronically controlling the movement of a servo-assisted device for receiving and/or transmitting and/or reflecting electromagnetic radiations as defined in claim 1.
  • Preferred and advantageous embodiments of the aforementioned control method are defined in the appended dependent claims.
  • the present invention also relates to a control system for electronically controlling the movement of a servo-assisted device for receiving and/or transmitting and/or reflecting electromagnetic radiations, as defined in claim 10.
  • FIG. 1 shows an exemplary and non-limiting embodiment of an avionics system 1.
  • the aforesaid avionics system 1 comprises a support platform 2, in particular an avionics platform 2, and a servo-assisted device 3 for receiving and/or transmitting and/or reflecting electromagnetic radiations mounted on the avionics platform 2.
  • the aforesaid avionics platform 2 may, for example be a drone, airplane, rocket, missile, satellite.
  • the servo-assisted device 3 for receiving and/or transmitting and/or reflecting electromagnetic radiations will also be referred to as a servo-assisted device 3 in short.
  • the embodiments of the present invention are not limited to avionics systems because they can be extended to land or marine applications requiring the use of a servo-assisted device 3 for receiving and/or transmitting and/or reflecting electromagnetic radiations mounted in a stationary or movable support platform 2, for example mounted on a land vehicle, on a spacecraft or on a watercraft.
  • the land vehicle may, for example be a motor vehicle, a van, a truck, a train.
  • the watercraft may, for example be a boat or a ship.
  • the aforesaid land vehicle or watercraft or spacecraft may also be a self-driven vehicle.
  • the support platform 2 preferably comprises propulsion means 4, for example it comprises at least one motor. If the support platform 2 is an avionics platform, the aforesaid propulsion means 4 comprise a rocket motor, for example a solid or liquid propellant rocket motor. If the support platform 2 is a land platform, the aforesaid propulsion means 4 comprise, for example a thermal, electric or hybrid powertrain.
  • propulsion means 4 for example it comprises at least one motor. If the support platform 2 is an avionics platform, the aforesaid propulsion means 4 comprise a rocket motor, for example a solid or liquid propellant rocket motor. If the support platform 2 is a land platform, the aforesaid propulsion means 4 comprise, for example a thermal, electric or hybrid powertrain.
  • system 1 comprises an inertial measurement unit (IMU) 5 preferably accommodated in the support platform 2.
  • IMU inertial measurement unit
  • An inertial measurement unit is an electronic device which measures and signals the specific force of a body, the angular speed and sometimes, the orientation of the body, using a combination of sensors such as accelerometers, gyroscopes and at times, magnetometers.
  • IMUs conventionally are used to maneuver aircraft (a heading and attitude reference system), including unmanned aerial vehicles (UAVs), among many others, and spacecraft, including satellites. In certain cases, IMUs are currently also employed in land vehicles, for example motor vehicles, or in watercrafts.
  • the system 1 comprises an on-board electronic control unit 6, preferably accommodated in the support platform 2 and operatively connected to the propulsion means 4 and the inertial measurement unit 5 to control the movement of the support platform 2, in particular to maneuver the support platform 2.
  • system 1 may further comprise a wireless data communication interface 7, accommodated on board platform 2, operatively connected to the on-board electronic control unit 6 and operatively connectable to a remote control device, for example by means of a wireless data communication link, for example land or satellite.
  • the servo-assisted device 3 comprises at least one actuator 8 and at least one movable part 9, or payload 9, operatively connected to actuator 8 to be moved by actuator 9.
  • the movable part 9 comprises, for example at least one transmitting and/or receiving antenna device, or at least one optical device, for example a photosensor adapted to capture visual signals in the visible and/or infrared spectrum.
  • the aforesaid optical device may comprise an image sensor.
  • the aforesaid optical device comprises at least one optical emission device, such as a laser and/or an LED and/or an optical reflection device, for example, such as a mirror, for example.
  • the aforesaid servo-assisted device 3 comprises a gimbal support with two rotation axes, which preferably are perpendicular.
  • the aforesaid servo-assisted device 3 is made according to European patent application EP 2887455 A1 .
  • actuator 8 comprises two actuators, for example two electric servomotors, one for each rotation axis.
  • the movable part 9 preferably comprises a transmitting and/or receiving array antenna, more preferably a radar antenna of a guide system of the support platform 2.
  • the movable part 9 is orientable so as to rotate about the two aforesaid rotation axes.
  • the servo-assisted device 3 is a steerable antenna of a missile seeker.
  • the servo-assisted device 3, or at least the movable part 9 thereof, is housed in a radome 10 fastened to the support platform 2.
  • System 1 comprises at least one first sensor s1, s2 adapted and configured to acquire first sensor data.
  • System 1 further comprises at least one second sensor s2, s3 adapted and configured to acquire second sensor data.
  • the aforesaid sensors s1, s2, s3 allow acquiring position and/or movement parameters of the support platform 2 and/or of the servo-assisted device 3.
  • the at least one first sensor s1, s2 comprises a first group of sensors, comprising at least one inertial sensor s1, for example comprised in the IMU 5, and at least one non-inertial sensor s2, for example at least one non-inertial position sensor, such as, for example an angular sensor.
  • actuator 8 comprises a servomotor and the aforesaid angular sensor s2 is, or comprises, an encoder integrated in the servomotor.
  • actuator 8 comprises two servomotors, one for each rotation axis of the movable part 9, and the aforesaid angular sensor s2 is, or comprises, a pair of encoders, each of which integrated in a respective servomotor.
  • the at least one second sensor s2, s3 comprises a second group of sensors s2, s3, among which there is the non-inertial sensor s2 described in the previous paragraph, and there is a further sensor s3 which is, for example a gyro sensor integrated in the servo-assisted device 3 and integral with the movable part 9.
  • sensor s3 is a biaxial inertial sensor.
  • the system 1 further comprises an electronic control module 20 operatively connected to the first sensor s1, s2 to receive the first sensor data and operatively connected to the second sensor s2, s3 to receive the second sensor data.
  • Figure 1 shows the electronic control module 20 integrated in the electronic control unit 6 of the support platform 2 only by way of example.
  • the electronic control module 20 could form part of a dedicated electronic control unit, for example integrated in the servo-assisted device 3 or placed in the vicinity thereof.
  • the electronic control module 20 is a unit which comprises firmware and hardware components and advantageously is implemented by means of one or more FPGAs (Field Programmable Array Logic).
  • FPGAs Field Programmable Array Logic
  • the electronic control module 20 is adapted and configured, i.e., programmed, to process the first sensor data to synthesize a first control signal cs1 by means of a first algorithm for controlling the movement and/or the positioning of the servo-assisted device 3.
  • the electronic control module 20 is further configured to process, in parallel to processing the first sensor data, the second sensor data to synthesize a second control signal cs2 by means of a second algorithm for controlling the movement and/or the positioning of the servo-assisted device 3.
  • the electronic control module 20 is further operatively connected to the servo-assisted device 3 to provide the latter with the first control signal cs1 or the second control signal cs2 based on of the control method 100 described below with reference to Figure 2 .
  • Figure 2 particularly shows an exemplary and non-limiting flow diagram of a control method 100 for electronically controlling the movement of a servo-assisted device 3 for receiving and/or transmitting and/or reflecting electromagnetic radiations.
  • the control method 100 comprises the steps of:
  • the control method 100 further comprises the steps of:
  • the first and second control algorithms implement, or are based on, different laws for controlling the movement and/or positioning of the servo-assisted device 3, in particular for considering the possible heterogeneity of the sensor data provided by the at least one first sensor s1, s2 and the at least one second sensor s2, s3, respectively.
  • the control method 100 further comprises an integrity check step 103 of the first sensor data to determine if the first sensor data and/or the first control signal cs1 are intact or compromised.
  • "Compromised” means both the case in which the aforesaid integrity check is such as to ascertain that the sensor data and/or the control signal are actually compromised and the case in which the aforesaid check is such as to provide an indication concerning the fact that the sensor data and/or the first control signal cs1 potentially are compromised.
  • the aforesaid integrity check step 103 is performed according to at least one first control criterion in which the first sensor data and/or the first control signal cs1 are directly analyzed.
  • This first control criterion is, for example based on fault detection and prediction checks and/or integrity checks of the data according to one or more of the following analyses: bit alarm, parity check, checksum, consistency, maximum value reached, statistical analysis.
  • the integrity check is performed based on a second control criterion which analyzes data provided by one or more sources of additional data (such as, for example temperature sensors, humidity sensors, shock sensors) and/or by comparing data provided by combinations of sensors.
  • the control method 100 comprises a step of providing 105 the servo-assisted device 3 with the first control signal cs1. Instead, if it is determined from the integrity check step 103 that the first sensor data and/or the first control signal cs1 are corrupt, the control method 100 comprises a step of providing 205 the servo-assisted device 3 with the second control signal cs2.
  • the aforesaid control method 100 may be executed in real time and iteratively during the acquisition of the first and second sensor data, whereby while the servo-assisted device 3 is being provided with the second control signal cs2, if with respect to a successive integrity check step 103 of the first sensor data and/or the first control signal cs1, the control method 100 determines that the first sensor data and/or the first control signal become intact again, it may be established to perform step 105 again to resume providing the servo-assisted device 3 with the first control signal cs1.
  • control method 100 may also include an additional step of checking the integrity of the second sensor data and/or the second control signal cs2, and a step of comparing the results of the integrity check step 103 of the first sensor data and/or the first control signal with the results of the aforesaid additional checking step may also be provided to select, based on the results of the comparison, whether the servo-assisted device 3 is to be provided with the first control signal cs1 or the second control signal cs2.
  • the servo-assisted device 3 is carried or supported by a support platform 2, and the first sensor s1, s2 comprises at least one sensor s1 integrated in the support platform 2, and said second sensor s2, s3 comprises at least one sensor s3 integrated in the servo-assisted device 3.
  • the support platform 2 is an avionics platform, preferably a missile platform.
  • the support platform 2 comprises an inertial measurement unit - IMU - 5, and said at least one first sensor s1 is a sensor of said IMU.
  • said at least one first sensor s1, s2 comprises a first group of sensors and said at least one second sensor comprises a second group of sensors s2, s3.
  • the first and second groups of sensors comprise at least one shared sensor s2 and at least one dedicated sensor s1, s3.
  • the shared sensor s2 comprises the non-inertial angular sensor and is integrated in an actuator 8 of the servo-assisted device 3.
  • the servo-assisted device 3 is, or comprises, an antenna of a missile seeker, or a camera or a thermal imager.
  • control method 100 can be derived directly from the above description for system 1 and for this reason they will not be described again.
  • control system 300 for electronically controlling the movement of a servo-assisted device 3 for receiving and/or transmitting and/or reflecting electromagnetic radiations.
  • the control system 300 comprises at least one first sensor s1, s2 adapted and configured to acquire first sensor data.
  • the control system 300 further comprises at least one second sensor s2, s3 adapted and configured to acquire second sensor data.
  • the aforesaid sensors s1, s2, s3 allow acquiring position and/or movement parameters of the support platform 2 and/or of the servo-assisted device 3.
  • the at least one first sensor s1, s2 and the at least one second sensor s2, s3 comprise sensors arranged on board the servo-assisted device 3 and/or a support platform 2 of the servo-assisted device 3.
  • control system 300 comprises at least one auxiliary sensor s4 adapted and configured to acquire additional sensor data.
  • Said auxiliary sensor s4 preferably comprises one or more of the sensors from the following list: temperature sensor, humidity sensor, shock sensor, vibration sensor.
  • the control system 300 further comprises an electronic control module 20 operatively connected to the first sensor s1, s2 to receive the first sensor data and operatively connected to the second sensor s2, s3 to receive the second sensor data. If at least one auxiliary sensor s4 is provided in the control system 300, the electronic control module 20 is also operatively connected to this auxiliary sensor s4 to receive additional sensor data.
  • the electronic control module 20 is a unit which comprises firmware and hardware components and preferably is implemented by means of one or more FPGAs.
  • the electronic control module 20 further comprises:
  • the electronic control module 20 further comprises an integrity check module 303 for checking the integrity of the first sensor data and/or of said first control signal cs1, which is adapted and configured to determine if the first sensor data and/or the first control signal cs1 are intact or compromised.
  • the electronic control module 20 further comprises a selection module 304 operatively connected to the first processing module 301, the second processing module 302, the integrity check module 303, and preferably connected to the servo-assisted device 3.
  • the selection module 304 receives in input both the first control signal cs1 and the second control signal cs2.
  • the selection module 304 is adapted and configured to provide the servo-assisted device 3 with the first control signal cs1. If instead the integrity check module 303 determines that the first sensor data and/or the first control signal cs1 are compromised, the selection module 304 is adapted and configured to provide the servo-assisted device 3 with the second control signal cs2. To make the aforesaid selection of the control signal to be provided to the servo-assisted device 3, the selection module 304 may, for example be controlled by a switching signal sw_s provided by the integrity check module 303.
  • the integrity check module 303 may perform a direct check based on the analysis of the first sensor data and/or the first control signal cs1 and/or may perform an indirect check by analyzing the additional sensor data acquired by means of the at least one auxiliary sensor s4.
  • the integrity check module 303 may determine that the first sensor data are intact if the temperature detected or measured by virtue of the data provided by the auxiliary sensor s4 is comprised in a range of operating temperatures in which it is possible to assume that the first sensor s1, s2 is capable of providing accurate data, for example based on the technical specifications provided by the manufacturer or based on data acquired during characterization.
  • the servo-assisted device 3 is a radar antenna which is steerable along two perpendicular rotation axes.
  • the radar antenna comprises, for example an antenna sensor which represents the movable, in particular steerable, part 9 of the servo-assisted device 3.
  • the steerable part 9 is, for example supported by a biaxial gimbal electromechanical support device.
  • the servo-assisted device 3 comprises two actuators 8, for example two brushless motors, each associated with a respective rotation axis.
  • Each of the two brushless motors comprises a non-inertial angular sensor s2, for example an angular encoder, respectively.
  • Each of the two actuators 8 receives in input a respective first control signal cs1 provided by the selection module 304, which determines the torque of the respective actuator 8.
  • the first processing module 301 synthesizes a first pair of control signals cs1 to be provided to the actuators 8 based on the first sensor data provided by the inertial sensor s1 and by the two non-inertial angular sensors s2.
  • first processing module 301 synthesizes a first pair of control signals cs1 to be provided to the actuators 8 based on the first sensor data provided by the inertial sensor s1 and by the two non-inertial angular sensors s2.
  • the first processing module 301 compares the inertial speeds of the sensors s2 with the speeds it would have imparted to such sensors s2 with the control signals provided and the resulting error is used to synthesize the new first control signals cs1 of the actuators 8. If the integrity check block 103 determines that the first sensor data provided by the sensors s1, s2 are intact, the actuators 8 are provided with said new first control signals cs1.
  • the second processing module 302 In parallel to the processing performed by the first processing module 301, the second processing module 302:
  • the second processing module 302 compares the inertial angular speeds of the movable part 9 with the speeds it would have imparted to such sensors s2 by means of the second synthetized control signals cs2 and the resulting error is used to synthesize the new second control signals cs2 of the actuators 8. If the integrity check block 303 determines that the first sensor data provided by sensor s1 are corrupt, the selection block 304 forwards the aforesaid new second control signals cs2 synthesized by the second processing block 302 to the actuators 8. Thereby, the control system 300 is capable of correctly and continuously controlling the movement of the servo-assisted device 3 also in the event of an actual or hypothetical breakdown or malfunction of sensor s1.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
  • Radio Relay Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
EP22172570.8A 2021-05-28 2022-05-10 Verfahren und system zur elektronischen steuerung der bewegung einer servounterstützten vorrichtung zur aufnahme und/oder übertragung und/oder reflexion elektromagnetischer strahlungen Active EP4095480B1 (de)

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IT102021000013952A IT202100013952A1 (it) 2021-05-28 2021-05-28 Metodo e sistema per controllare elettronicamente il movimento di un dispositivo servoassistito di ricezione e/o trasmissione e/o riflessione di radiazioni elettromagnetiche

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EP4095480A1 true EP4095480A1 (de) 2022-11-30
EP4095480B1 EP4095480B1 (de) 2024-07-03

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1020699A1 (de) * 1998-12-15 2000-07-19 Bodenseewerk Gerätetechnik GmbH Flugkörper
US7741991B1 (en) * 1987-06-26 2010-06-22 Mbda Uk Limited Radar tracking system
EP2887455A1 (de) 2013-12-18 2015-06-24 MBDA ITALIA S.p.A. Steuerbare Antenne
EP3136047A1 (de) * 2014-04-25 2017-03-01 Nec Corporation Vorrichtung zur bestimmung der lage und der orientierung, bildverarbeitungsvorrichtung sowie verfahren zur bestimmung der lage und der orientierung

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7741991B1 (en) * 1987-06-26 2010-06-22 Mbda Uk Limited Radar tracking system
EP1020699A1 (de) * 1998-12-15 2000-07-19 Bodenseewerk Gerätetechnik GmbH Flugkörper
EP2887455A1 (de) 2013-12-18 2015-06-24 MBDA ITALIA S.p.A. Steuerbare Antenne
EP3136047A1 (de) * 2014-04-25 2017-03-01 Nec Corporation Vorrichtung zur bestimmung der lage und der orientierung, bildverarbeitungsvorrichtung sowie verfahren zur bestimmung der lage und der orientierung

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EP4095480B1 (de) 2024-07-03

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