JP2003262500A - Direction and attitude control device for flying object - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device solving nonconformity of a conventional control device, wherein the direction and the attitude are controlled by an aerodynamic steering vane and a thrust deflection body to be disposed after completing the control, such as being unusable for the flying body whose aerodynamic steering vane and thrust deflection body are separated from each other, in the direction and attitude control device for a flying object interlocking and simultaneously controlling the direction and the attitude of the flying object. <P>SOLUTION: This direction and attitude control device for the flying body is provided with a support fixture which is provided in the outer circumferential surface of a machine body for installing the thrust deflection part and pivotally supports the rear end part of a joint swinging following to the aerodynamic vane, a support mount installed in the outer circumference of the thrust deflection vane and pivotally supporting an arm fixed to a rotary shaft of the thrust deflection vane, and a long transmission element disposed between the joint and the arm, transmitting the swinging of the aerodynamic steering vane to the thrust force deflection vane, and composed of a soft material. Thereby, this control device can be used for the flying body whose thrust deflection part and aerodynamic steering part are disposed in a largely separated state in the machine body axial direction and control the direction and the attitude in simultaneously controlling the aerodynamic steering vane with the thrust deflection body without impairing the control by the aerodynamic steering part in a regular flying. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flying body direction / posture control device for simultaneously controlling the initial stage of launch of a flying body until it is accelerated, and the direction and posture of the flying body.

[0002]

2. Description of the Related Art In general, aerodynamic steering blades and rocket motors are used to control the direction and attitude of a flying object at the initial stage of launch until the flying vehicle is accelerated, for example, at the completion of turning at the initial stage of launch. This is performed by simultaneously controlling a thrust deflector called a jet vane that directly deflects the jet direction of the jet. In other words, the flight speed cannot be obtained until a certain time has elapsed from the launch, so the control using only the aerodynamic steering blades does not provide the large control force required for the initial turning, etc., which is performed at the initial stage of launch. After controlling the steering wing and the thrust deflector at the same time and reaching the flight speed at which the aerodynamic steering wing can obtain the control force, the thrust deflector is burned and the control force is reduced. It is designed to control only the wings.

In addition, in the case of a flying body or the like, an auxiliary rocket motor called a booster is used for acceleration from the launch until a predetermined flying speed is obtained. In this case, the body weight is large. Therefore, since it will impair the flight performance of the flying object and hinder the achievement of the mission, when the flight speed is obtained, the booster is detached to make it lightweight and fly so that high exercise performance can be exhibited. ing.

The inventors of the present invention previously proposed in Japanese Patent Application No. 7-15781 a flying body direction and attitude control device developed in consideration of the peculiarities of such flying bodies.
FIG. 5 is a perspective view showing an example of the proposed device for controlling the direction and attitude of a flying body in a partially broken section.

As shown in the figure, this flying body direction and attitude control device is provided with a linear actuator 1 and a linear actuator 1 installed inside a cylindrical casing 4.
An arm 2, one end of which is pivotally attached to the end of the output shaft and the other end of which is integrated with a drive shaft projecting from the outer circumference of the casing 6 to the outside.
The protrusion of the drive shaft to the outside is fixed to the blade root, and the arm 2
The aerodynamic steering section including the aerodynamic steering wing 3 that swings in response to the movement of the drive shaft that rotates in response to the operation of the steering shaft and that generates the control force required for control with the steering angle set, and the explosion bolt 7
By a clamp 7 having a interposed therebetween, a casing 8 coaxially connected to the rear of the casing 6, is arranged at the rear end of the casing 8, and is arranged in combustion gas from a rocket motor (not shown). The thrust deflector 15 that deflects the deflecting plate to generate the control force required for control by deflecting the ejection direction of the combustion gas. One end of the thrust deflector 15 is fixed to the blade root of the thrust deflector 15. A gear 13 fixed to the other end, a front end of which is formed into a fork so as to sandwich the rear edge of the aerodynamic steering blade 3, and a gear 12 which is screwed with the gear 13 is formed at the rear end.
The thrust deflector comprises a joint 4 adapted to swing and deflect the thrust deflector 15 in response to the swing of the aerodynamic steering blade 3.

Since the direction and attitude control device of this flying object is configured as described above, it is necessary to set the flight direction and attitude necessary for the initial turning of the flying object when the flying object is launched. The aerodynamic steering blade 3 is steered, and the joint 4 swings in response to the steering of the aerodynamic steering blade 3 to swing the thrust deflector 15 via the gear 12 and the gear 13, and the rocket motor The jet direction of combustion gas from the vehicle is deflected, and the flight speed is low, so the aerodynamic steering blade 3
It becomes possible to control the direction and attitude of the flying object that cannot be controlled by the control force only by adding the control force generated by the thrust deflector 15.

Further, at the completion of the initial turning, an explosion occurs because the flight speed is such that the control force for controlling the direction and attitude of the flying object can be generated only by controlling the aerodynamic force generated in the aerodynamic steering section. By igniting the bolt 7a and disconnecting the clamp 7, most of the combustion gas is burned at this point due to the high heat of the combustion gas, the deflection thrust by the thrust deflector 15 decreases, the control force becomes small, and it becomes almost unnecessary. By separating the thrust-deflecting part, the weight of the flying body can be reduced, and the flying performance thereafter can be improved.

As described above, in the direction and attitude control device of the flying body proposed previously, until the initial turning is completed, the direction and attitude control of the flying object are performed by the thrust deflection section and the aerodynamic steering section. After the turning is completed, the aerodynamic steering section controls the direction and attitude, and the unnecessary thrust deflection section is discarded, resulting in an extremely simple configuration and with sufficient and necessary functions. The advantage is that it is a lightweight, inexpensive, and highly reliable device that can be used as a flying body with excellent flight performance.

However, in the proposed flying body direction and attitude control apparatus, the rotation shaft for swinging the thrust deflector 15 is directly rotated by the swinging of the joint 4, as is apparent from the figure. However, there is a problem that it can be applied only to a flying body in which the aerodynamic steering blade 3 and the thrust deflector 15 are arranged very close to each other. As described above, there are some flying objects that use a booster to accelerate until a predetermined flying speed is obtained. In such a flying object, the thrust deflector 15 is used. Since the rear end portion of the booster for arranging the vehicle and the aerodynamic steering blade 3 are disposed far apart from each other, there is a problem that the above-described direction and attitude control device of the flying object cannot be adopted.

[0010]

SUMMARY OF THE INVENTION According to the present invention, in order to solve such a problem, in the case where the thrust deflection section and the aerodynamic steering section are arranged far apart from each other, in other words, the thrust deflection body is used. Even in a flying body equipped with a booster in which the aerodynamic steering blade and the aerodynamic steering blade must be arranged at a great distance from each other in the axial direction of the aircraft, it is possible to control the direction and attitude by the thrust deflecting unit and the aerodynamic steering unit, and When the aerodynamic steering wing is steered, sufficient control force can be obtained, and when the thrust deflector is no longer needed, it is separated and discarded to improve the flight performance thereafter. An object is to provide a body direction and posture control device.

[0011]

For this reason, the direction and attitude control device of the flying body of the present invention has the following means.

(1) The aerodynamic steering wing and the thrust deflector are simultaneously controlled to control the direction and attitude of the projectile at the initial stage of flight after launch, and thrust provided with the thrust deflector after the simultaneous control is completed. In the direction and attitude control device of the flying body that separates and discards the deflection part and makes it fly by the control of the aerodynamic steering blade, it is installed on the outer peripheral surface of the aircraft where the thrust deflection part behind the aerodynamic steering blade is installed, A support metal fitting that pivotally supports the rear end of the joint that swings in response to the swing of the steering blade, and the rotation axis of the thrust deflector that is installed on the outer periphery of the blade root of the thrust deflector and is fixed to the center of the arm. The thrust that is installed between the joint and the arm that is made of a flexible material and that is pivotally supported on the aerodynamic steering blade, and that is installed with the rocking of the aerodynamic steering blade largely separated from the installation of the aerodynamic steering blade in the airframe direction. A long transmission element that transmits to the deflector It was assumed to be provided with a door.

(A) As a result, like a flying body in which a booster is provided between the thrust deflection body and the aerodynamic steering body, the thrust deflection portion and the aerodynamic steering portion are arranged at a great distance from each other in the axial direction of the machine body. It can also be used in a flying vehicle that cannot help but does not hinder control by only the aerodynamic steering section during steady flight, and is required for initial turning by simultaneous control of the aerodynamic steering blade and thrust deflector. It becomes possible to control the direction and the attitude.

In addition to the above-mentioned means (1), the flying body direction and attitude control device of the present invention has the following means.

(2) The transmission element is fixed to both ends of the joint arm formed at the rear end of the joint arranged to swing in response to the swing of the aerodynamic steering blade and to the thrust deflector. Two cables, each of which has a rotating shaft fixed to the central portion, has its ends connected to both ends of the arm, crosses the outer peripheral surface of the aircraft, and is arranged in the axial direction of the aircraft, and has a fair lead in the central portion. Shall consist of

(B) As a result, the oscillation of the aerodynamic steering blade in one direction is transmitted to one of the two cables, and the oscillation in the other direction is transmitted to the thrust deflector by the other cable. ,
The thrust deflector can be swung at a deflection angle corresponding to the swing of the aerodynamic steering blade. Incidentally, "corresponding to swing" does not mean only one-to-one swing, but also includes that the thrust deflector swings at a deflection angle proportional to the swing angle of the aerodynamic steering blade. It is a waste. Further, by providing the fair lead, it is possible to prevent the deflection of the cable caused by aerodynamic force, airframe vibration, etc., even though a simple cable is used as the transmission element.

In addition to the above-mentioned means (1), the flying body direction and attitude control device of the present invention has the following means.

(3) The transmission element is connected to one end of the joint arm and one end of the arm at the ends thereof, respectively, and penetrates through a fixing metal fitting installed on the outer peripheral surface of the machine body and is clamped on the outer peripheral surface of the machine body. The push-pull cable is configured to be slidable back and forth in the fixed conduit.
It should be noted that one or more push-pull cables for transmitting the swing between the corresponding aerodynamic steering blades and thrust deflectors may be provided. However, when only one push-pull cable is provided, both ends of the cable are connected. It is preferable that the joints are connected to one end of the joint arm and the other end of the arm, that is, to the opposite sides of the pivotal joints on both sides of the axis of the machine.

(C) As a result, the transmission mechanism can reduce the portion exposed to the outside and can increase the mechanical rigidity, so that the transmission efficiency of the swing from the aerodynamic steering blade to the thrust deflector is increased, The swing of the thrust deflector can follow the swing of the aerodynamic steering blade well. In addition, since the push-pull cable is free to move inside and is installed on the outer peripheral surface of the fuselage, the conduit is fixed to the outer peripheral surface of the fuselage by fixing brackets and clamps, which may cause flapping during flight. Instead, the push-pull cable can be stably held in place.

Further, due to the arrangement of aerodynamic steering blades and a plurality of sets of transmission mechanisms which are required to be provided in correspondence with the number of thrust deflectors installed in the circumferential direction, the outer periphery of the fuselage such as a rocket booster is complicated. Often becomes,
In the case where one push-pull cable is provided, the number of wires can be reduced by half compared to the case where two cables are provided, and the outer circumference of the fuselage can be simplified, and mutual interference between the transmission mechanisms arranged side by side. Can be eliminated.
Further, the flying object direction and attitude control device of the present invention,
In addition to the above-mentioned means (1), the following means are adopted.

(4) In the above-mentioned means (3), the transmission element is connected to both end portions of the joint arm and both end portions of the arm, respectively, and the transmission element is arranged to cross on the outer peripheral surface of the machine body. Two push-pull cables similar to the push-pull cable are provided.

(D) As a result, the above-mentioned (c) is excluded except the action and effect associated with the single push-pull cable.
In addition to the same operation and effect as above, by providing two push-pull cables, the mechanical rigidity can be further increased, and the transmission efficiency of the swing from the aerodynamic steering blade to the thrust deflector is increased, The swing of the thrust deflector accurately follows the swing of the aerodynamic steering blade.

[0023]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a flying body direction and attitude control apparatus of the present invention will be described below with reference to the drawings. In the figure, the same or similar members as those shown in FIG. 5 are designated by the same reference numerals and the description thereof will be omitted as much as possible. FIG. 1 is a partially cutaway perspective view showing a first embodiment of a flying object direction and attitude control apparatus of the present invention.

As shown in the figure, the flying body direction and attitude control device of this embodiment comprises a linear actuator 1, an arm 2, an aerodynamic steering blade 3 and a casing 6.
An aerodynamic steering unit similar to that shown in FIG. 5, a clamp 7, a joint 4, a support bracket 5, and a cable having a rear end of the casing 6 and an explosion bolt 7a concentrically connecting the front end of the rocket booster 8a. (Rope) 9, fair lead 10, support 1
1, a thrust deflector including an arm 18 and a thrust deflector 15.

Of these, the joint 4 has a front end formed like a fork like that shown in FIG. 5, and is attached so as to sandwich the rear edge of the aerodynamic steering blade 3, but the other end. A joint arm 4a, which is formed in the shape of a crank arm and extends in the left-right direction, is provided in the section.
The upper and lower ends of the pivot shaft 19, which is pivotally attached to the center of a, are fixed, supported by a support fitting 5 installed on the outer peripheral surface of the rocket booster 8a, and swingably mounted around the pivot shaft 19. Further, the thrust deflector 15 is connected to the arm 18 having the other end of the rotary shaft 20 fixed to the center thereof via the rotary shaft 20 having one end fixed to the blade root, so that the rotary shaft 20 can swing. The rocket booster 8a, which penetrates the rocket booster 8a, is mounted on a support 11 protruding from the rear end surface of the rocket booster 8a so as to be swingable around a rotation shaft 20.

Further, both ends of the joint arm 4a and the arm 1 are
Both ends of 8 are connected to each other by two cables 9 arranged on the outer peripheral surface of a rocket booster 8a as a machine body in a crossed manner. That is, both ends of the two cables 9 are connected to both ends of the joint arm 4a and the arm 1.
The joint arms 4a and 18 are connected to pivot pins 21 provided at both ends of the joint 8, respectively. Further, a fair lead 10 which penetrates the cable 9 is provided in the middle of the cable 9 so as to prevent a steady.

The flying body direction and attitude control device of the present embodiment is constructed as described above, and when the linear actuator 1 is operated, the aerodynamic steering blade 3 is passed through the arm 2.
Swivels in the same manner as shown in FIG. 5, and the steering angle is set. Further, by swinging the aerodynamic steering blade 3, the joint 4 sandwiching the trailing edge portion of the aerodynamic steering blade 3 at the front end portion swings, and by swinging the joint 4, the joint 4 is provided at the rear end portion of the joint 4. One of the cables 9, one end of which is connected to each of the pivot pins 21 at both ends of the crank arm-shaped joint arm 4a, is axially moved and the other end of the cable 9 is moved. The end of the connected arm 18 is axially moved and rocked.

By swinging the arm 18, the arm 18
The thrust deflector 1 having one end fixed to the center of the rotary shaft 20 rotates and the other end fixed to the rotary shaft 20.
5 is rocked. That is, by setting the rudder angle of the aerodynamic steering wing 3, the rotary shaft 20 is rotated via the joint 4, the cable 9 and the arm 18 in accordance with this rudder angle setting, and the thrust deflector 15 sets the set rudder angle. Can be deflected according to
The deflection angle can be set to generate the deflection thrust required for control.

As described above, since the flying body direction and attitude control device of the present embodiment is configured, it is difficult to control the flying body direction and attitude only by steering the aerodynamic steering blades 3. In order to generate the control force required for the initial turning to be performed, the thrust deflector 15 and the aerodynamic steering blade 3 have to be arranged at a great distance from each other. Become.

Next, FIG. 2 is a partially cutaway perspective view showing a second embodiment of the flying object direction and attitude control apparatus of the present invention. The flying object direction and attitude control device of the present embodiment has substantially the same configuration as the above-described flying object direction and attitude control device of the first embodiment, but the joint of the first embodiment A push-pull cable 14 is used as a transmission element instead of the cable 9 that connects the arm 4a and the arm 18 and transmits the swing of the aerodynamic steering blade 3 to the thrust deflector 15.

That is, the pivot pin 21 provided at one end of the joint arm 4a of the joint 4 and the pivot pin provided at the other end of the arm 18 arranged on the side opposite to the one end of the joint arm 4a. Two fixing metal fittings 16 are installed on the outer peripheral surface line of the rocket booster 8a that connects the landing pins 21.
The conduit 17 is provided by penetrating each of the conduits 6,
7. A push-pull cable 14 slidable in 7 is passed through, and both ends of the push-pull cable 14 are attached to a pivot pin 21 provided at one end of the joint arm 4a and a pivot attachment provided at the other end of the arm 18. It is connected to each of the pins 21 to transmit the swing of the aerodynamic steering blade 3 to the thrust deflector 15 to deflect the thrust deflector 15. A clamp 22 is provided at the center of the conduit 17 to fix the conduit 17 on the outer peripheral surface of the rocket booster 8a to prevent flapping of the conduit 17 and the push-pull cable 14 due to aerodynamic load, vibration, etc. It is designed so that it can be held in a stable position.

The flying object direction and attitude control apparatus of the present embodiment has the above-described configuration, and thus is provided in the first embodiment.
In the form, although it was necessary to dispose two cables 9 on the outer peripheral surface of the rocket booster 8a, it is only necessary to dispose one push-pull cable 14, and the outer peripheral surface of the rocket booster 8a is simple. You can That is, the transmission mechanism for transmitting the swing of the aerodynamic steering wing 3 to the thrust deflector 15 needs to be provided in four sets corresponding to the aerodynamic steering wing 3 and the thrust deflector 15 which are installed in the circumferential direction. Although the outer peripheral surface of the rocket booster 8a becomes complicated, the number of the rocket boosters 8a according to the present embodiment is half that of the first embodiment and can be simplified.

Next, FIG. 3 is a partially cutaway perspective view showing a third embodiment of the flying body direction and attitude control apparatus of the present invention. The direction and attitude control device for a flying object of the present embodiment has substantially the same configuration as the direction and attitude control device for a flying object of the first embodiment described above. Instead of the cable 9, the push-pull cable 14 is adopted as in the second embodiment, but unlike the second embodiment, the joint arm 4a is used.
4, two push-pull cables 14 are crossed between the both ends of the arm 18 and the arm 18, and the conduit 17 is provided on the outer peripheral surface of the rocket booster 8a.
The inside is pierced and connected.

The flying object direction and attitude control apparatus of the present embodiment has the above-described configuration, and thus the second embodiment
Although the advantage of providing only one push-pull cable 14 in the form is lost, by providing two push-pull cables 14, a transmission mechanism that transmits the swing of the aerodynamic steering blade 3 to the thrust deflector 15. Mechanical rigidity can be increased, the transmissibility can be improved as compared with the first and second embodiments, and the swing angle of the thrust deflector 15 can be set to the swing of the aerodynamic steering blade 3. The angle can be followed.

[0035]

As described above, the flying body direction and attitude control device of the present invention is provided on the outer peripheral surface of the machine body where the thrust deflection portion behind the aerodynamic steering blade is provided, and follows the swing of the aerodynamic steering blade. Support metal fittings that pivotally support the rear end of the swinging joint,
It is installed on the outer circumference of the thrust deflector and is installed between a support, a joint, and an arm that fixes the arm around the rotation axis of the thrust deflector and pivotally supports the arm, and transmits the swing of the aerodynamic steering blade to the thrust deflector. An elongate transfer element of flexible material was provided.

As a result, the thrust deflector and the aerodynamic steering unit can be used even in a flying vehicle in which the thrust deflecting unit and the aerodynamic steering unit are widely separated from each other in the axial direction of the body, and the aerodynamic steering blade can be used without impairing the control by the aerodynamic steering unit during steady flight. , It becomes possible to control the direction and the attitude when the thrust deflectors are simultaneously controlled.

In the control device of the present invention, the transmission element is
Two ends with joint arms formed at the rear end of the joint, and the ends are connected to both ends of the arm, respectively, arranged crosswise on the outer peripheral surface of the fuselage, and provided with a fair lead in the center It consists of a cable.

As a result, the swing of the aerodynamic steering blade is transmitted to the thrust deflector by one of the two cables, and the thrust deflector provides a control force equivalent to the control force generated by the swing of the aerodynamic steering blade. It can swing to a deflection angle that can be generated. Also, by installing the fair lead, it is possible to prevent the cable from being shaken due to aerodynamic force, vibration, etc., which is caused by using the cable as the transmission element.

Further, in the control device of the present invention, the transmission element is
One end of the joint arm and one end of the arm are connected to each other, and the end of the joint arm is penetrated through the fixing metal fitting installed on the outer peripheral surface of the machine body and slidably penetrates through the conduit fixed by the clamp on the outer peripheral surface of the machine body. It consists of a push-pull cable.

This reduces the exposed portion of the transmission mechanism to the outside and enhances the mechanical rigidity of the aerodynamic steering blade,
The transmission efficiency of the swing between the thrust deflectors is increased, and the thrust deflector follows the swing of the aerodynamic steering blade well. Also, since the conduit on the outer peripheral surface of the machine is fixed to the outer peripheral surface of the machine by fixing metal fittings and clamps, there is no fluttering when flying, and there is a push-pull that conducts electricity inside. The cable can be stably held in place.

Further, in the apparatus of the present invention, the transmission element is connected to both ends of the joint arm and both ends of the arm, and the two push-pulls are arranged crosswise on the outer peripheral surface of the machine body. It consists of a cable.

As a result, the mechanical rigidity is further increased, and the rocking transmission efficiency between the aerodynamic steering blade and the thrust deflector is increased,
The thrust deflector accurately follows the oscillation of the aerodynamic steering blade.

[Brief description of drawings]

FIG. 1 is a partially cutaway perspective view showing a first embodiment of a flying object direction and attitude control apparatus of the present invention;

FIG. 2 is a partially cutaway perspective view showing a second embodiment of a flying object direction and attitude control apparatus of the present invention;

FIG. 3 is a partially cutaway perspective view showing a third embodiment of a flying object direction and attitude control device of the present invention;

4 is a layout view of the push-pull cable shown in FIG. 3 on the outer peripheral surface of the rocket booster, FIG. 4 (a) is a side view, and FIG. 4 (b) is an arrow A- shown in FIG. 4 (a). End view of A,

FIG. 5 is a perspective view showing an example of a conventional direction and attitude control device for a flying body in a partially broken section.

[Explanation of symbols]

1 Linear actuator Two arms 3 aerodynamic steering wings 4 joints 4a Joint arm 5 Support bracket 6 body 7 clamps 7a Explosion bolt 8 modern body 8a rocket booster 9 cables 10 Fairlead 11 Support 12 gears 13 gears 14 push-pull cable 15 Thrust deflector 16 Fixing bracket 17 conduits 18 arms 19 pivot 20 rotation axis 21 pivot pin 22 Clamp

Claims (4)

[Claims] 1. A thrust deflector that controls the direction and attitude of a flying body by simultaneously controlling the aerodynamic steering blade and the thrust deflector at the beginning of flight and provides the thrust deflector after the control is completed. In a direction and attitude control device for a flying body, which is separately thrown away and is made to fly only by controlling the aerodynamic steering blade, it is installed on the outer peripheral surface of the aircraft behind the aerodynamic steering blade and swings the aerodynamic steering blade. And a supporting metal fitting for pivotally supporting the rear end of the joint that swings in accordance with, and a pivot shaft of the thrust deflector fixed to the center of the arm, which is installed on the outer circumference of the blade root of the thrust deflector. A support base that supports the support base and a flexible member that is disposed between the joint and the arm and that transmits the swing of the aerodynamic steering blade to the thrust deflector that is disposed at a large distance in the axial direction of the machine body. A flying element characterized by having a transmission element for Body direction and posture control device. 2. The transmission element is arranged such that both ends of a joint arm formed at a rear end of the joint and end portions of the arm are connected to both ends of the joint arm and the transmission element is crossed on the outer peripheral surface of the machine body. The flight direction and attitude control device according to claim 1, wherein the two cables are provided with a fair lead in the center. 3. The transmission element, one end of which is connected to one end of the joint arm and the other end of which is connected to one end of the arm, passes through a fixing metal fitting installed on the outer peripheral surface of the machine body, and is attached to the outer peripheral surface of the machine body. 2. The flying object direction and attitude control device according to claim 1, wherein the push-pull cable is a push-pull cable that is slidably movable in a conduit fixed by a clamp. 4. The two push-pull cables in which the transmission element is connected to both end portions of the joint arm and both end portions of the arm, respectively, and are arranged to cross each other on an outer peripheral surface of the machine body. 4. The method according to claim 3, wherein
Direction and attitude control device of the flying object.