JP2010133599A - Steering device and flying body having this steering device - Google Patents

Steering device and flying body having this steering device Download PDF

Info

Publication number
JP2010133599A
JP2010133599A JP2008308476A JP2008308476A JP2010133599A JP 2010133599 A JP2010133599 A JP 2010133599A JP 2008308476 A JP2008308476 A JP 2008308476A JP 2008308476 A JP2008308476 A JP 2008308476A JP 2010133599 A JP2010133599 A JP 2010133599A
Authority
JP
Japan
Prior art keywords
steering
roll
yaw
pitch
gear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2008308476A
Other languages
Japanese (ja)
Inventor
Kenichi Nakashio
健一 中塩
Shogo Harada
昌悟 原田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toshiba Corp
Original Assignee
Toshiba Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toshiba Corp filed Critical Toshiba Corp
Priority to JP2008308476A priority Critical patent/JP2010133599A/en
Publication of JP2010133599A publication Critical patent/JP2010133599A/en
Pending legal-status Critical Current

Links

Images

Abstract

<P>PROBLEM TO BE SOLVED: To provide a steering device of a flying body reducing the number of motors, by independently enabling steering without synthesizing a roll rudder, a pitch rudder and a yaw rudder. <P>SOLUTION: Respective steering blades is provided with: a front steering blade; and a rear steering blade. Steering angle control in the roll direction is made by rotating the front steering blade by a roll control driving part 103R. Steering angle control in the pitch direction is made by rotating a steering blade Y1 rear part 105R and a steering blade Y2 rear part 106R by a pitch control driving part 103P. Steering angle control in the yaw direction is made by rotating a steering blade Z1 rear part 107R and a steering blade Z2 rear part 108R by a yaw control driving part 103Y. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、飛しょう体の操舵装置に関し、特にロール舵、ピッチ舵、ヨー舵を合成せずに独立して操舵を可能とし、モータの数を低減させることが可能な飛しょう体の操舵翼の駆動機構に関する。   The present invention relates to a flying body steering apparatus, and more particularly to a flying body steering wing capable of independently steering without synthesizing a roll rudder, pitch rudder and yaw rudder and capable of reducing the number of motors. This relates to the drive mechanism.

従来のスキッド・トゥ・ターンの飛しょう体における操舵方法は、ロール舵、ピッチ舵、ヨー舵を合成した操舵量を４枚の操舵翼に振り分け、各操舵翼を独立して操舵していた（例えば特許文献１、図４）。
特開２００７−２４００１７号公報 The conventional skid-to-turn steering method uses a steering amount that is a combination of a roll rudder, pitch rudder, and yaw rudder, divided into four steering blades, and steers each steering blade independently ( For example, Patent Document 1 and FIG. 4).
JP 2007-240017 A

このため、操舵翼が４枚ある場合操舵翼毎に合計４つの駆動部が必要であり、飛しょう体の重量を増加させる原因となっていた。   For this reason, when there are four steering blades, a total of four drive units are required for each steering blade, which increases the weight of the flying object.

また、ロール、ピッチ、ヨーの操舵装置に対する操舵量の要求が異なる場合であってもより高い応答性能が要求される操舵方向に合わせて操舵装置の性能をそろえる必要があり、俊敏な操舵が妨げられるという問題点があった。   In addition, even if the steering amount requirements for the roll, pitch, and yaw steering devices are different, it is necessary to align the performance of the steering device in accordance with the steering direction for which higher response performance is required, which prevents agile steering. There was a problem of being.

本発明は上記のような問題点に鑑みてなされたものであり、ロール舵、ピッチ舵、ヨー舵を合成せずに独立して操舵を可能とし、モータの数を低減させることが可能な飛しょう体の操舵装置を提供することを目的とする。   The present invention has been made in view of the above-described problems, and enables the steering independently without combining the roll rudder, the pitch rudder, and the yaw rudder, and can reduce the number of motors. It is an object of the present invention to provide a steering body steering apparatus.

この目的を達成するために本発明は、駆動力を発生させるロール制御用駆動部と、ロール制御用駆動部からの駆動力を受けてこの駆動力を伝達するロールギアと、ロールギアからの駆動力を受けて機体中心から見て同方向に回動する複数のロール操舵翼と、駆動力を発生させるピッチ制御用駆動部と、ピッチ制御用駆動部からの駆動力を受けてこの駆動力を伝達するピッチギアと、ピッチギアからの駆動力を受けて機体中心から見て逆方向に回動する複数のピッチ操舵翼と、駆動力を発生させるヨー制御用駆動部と、ヨー制御用駆動部からの駆動力を受けてこの駆動力を伝達するヨーギアと、ヨーギアからの駆動力を受けて機体中心から見て逆方向に回動する複数のヨー操舵翼と、を備える操舵装置を提供する。   In order to achieve this object, the present invention provides a roll control drive unit that generates a drive force, a roll gear that receives the drive force from the roll control drive unit and transmits the drive force, and a drive force from the roll gear. A plurality of roll steering blades that receive and rotate in the same direction as seen from the center of the machine body, a pitch control drive unit that generates a drive force, and a drive force from the pitch control drive unit to receive this drive force A pitch gear, a plurality of pitch steering blades that receive a driving force from the pitch gear and rotate in the opposite direction when viewed from the center of the body, a yaw control driving unit that generates driving force, and a driving force from the yaw control driving unit And a yaw gear that transmits this driving force and a plurality of yaw steering blades that receive the driving force from the yaw gear and rotate in the opposite direction when viewed from the center of the machine body.

本発明によれば、俊敏な舵角制御が可能となり、機体の重量を低減させることが可能となるという効果がある。   According to the present invention, it is possible to perform agile steering angle control and to reduce the weight of the airframe.

以下、本発明による操舵装置の一実施の形態を、図面を用いて詳細に説明する。図１は操舵装置１０９の概要を示した構成図である。図１に示すように、レートセンサ１０１の出力が飛しょう制御回路１０２に出力され、飛しょう制御回路１０２の出力に従って操舵装置１０９が駆動する。   Hereinafter, an embodiment of a steering apparatus according to the present invention will be described in detail with reference to the drawings. FIG. 1 is a configuration diagram showing an outline of the steering device 109. As shown in FIG. 1, the output of the rate sensor 101 is output to the flying control circuit 102, and the steering device 109 is driven according to the output of the flying control circuit 102.

操舵翼Ｙ１（１０５）はヒンジにより回動可能に結合された操舵翼Ｙ１前部１０５Ｆと操舵翼Ｙ１後部１０５Ｒとを備える。操舵翼Ｙ２（１０６）はヒンジにより回動可能に結合された操舵翼Ｙ２前部１０６Ｆと操舵翼Ｙ２後部１０６Ｒとを備える。操舵翼Ｙ１（１０５）と操舵翼Ｙ２（１０６）とは機体を挟んで対向する位置に配置される。   The steering blade Y1 (105) includes a steering blade Y1 front portion 105F and a steering blade Y1 rear portion 105R that are rotatably coupled by a hinge. The steering blade Y2 (106) includes a steering blade Y2 front portion 106F and a steering blade Y2 rear portion 106R that are rotatably coupled by a hinge. The steering wing Y1 (105) and the steering wing Y2 (106) are arranged at positions facing each other with the fuselage interposed therebetween.

操舵翼Ｚ１（１０７）はヒンジにより回動可能に結合された操舵翼Ｚ１前部１０７Ｆと操舵翼Ｚ１後部１０７Ｒとを備える。操舵翼Ｚ２（１０８）はヒンジにより回動可能に結合された操舵翼Ｚ２前部１０８Ｆと操舵翼Ｚ２後部１０８Ｒとを備える。操舵翼Ｚ１（１０７）と操舵翼Ｚ２（１０８）とは機体を挟んで対向する位置に配置される。   The steering blade Z1 (107) includes a steering blade Z1 front portion 107F and a steering blade Z1 rear portion 107R that are rotatably coupled by a hinge. The steering wing Z2 (108) includes a steering wing Z2 front part 108F and a steering wing Z2 rear part 108R that are rotatably coupled by a hinge. The steering wing Z1 (107) and the steering wing Z2 (108) are arranged at positions facing each other with the airframe interposed therebetween.

ロールレートセンサ１０１Ｒはロール方向の機体の姿勢変化を示す機体レートをロール制御回路１０２Ｒに出力する。ロール制御回路１０２Ｒはロール操舵信号を生成し、例えばモータから構成されるロール制御用駆動部１０３Ｒに出力する。ロール制御用駆動部１０３Ｒはロール操舵信号に従ってロールギア（以下、Ｒギアと呼ぶ。）１０４Ｒを回転させる。Ｒギア１０４Ｒは操舵翼Ｙ１前部１０５Ｆと操舵翼Ｙ２前部１０６Ｆと操舵翼Ｚ１前部１０７Ｆと操舵翼Ｚ２前部１０８Ｆとを、それぞれ機体中心から見て同方向に回動させる。操舵翼Ｙ１前部１０５Ｆと操舵翼Ｙ２前部１０６Ｆと操舵翼Ｚ１前部１０７Ｆと操舵翼Ｚ２前部１０８Ｆとをロール操舵翼と呼ぶ。   The roll rate sensor 101R outputs an airframe rate indicating a change in the attitude of the airframe in the roll direction to the roll control circuit 102R. The roll control circuit 102R generates a roll steering signal and outputs the roll steering signal to a roll control drive unit 103R configured by, for example, a motor. The roll control drive unit 103R rotates a roll gear (hereinafter referred to as R gear) 104R according to a roll steering signal. The R gear 104R rotates the steering blade Y1 front portion 105F, the steering blade Y2 front portion 106F, the steering blade Z1 front portion 107F, and the steering blade Z2 front portion 108F in the same direction as viewed from the center of the body. The steering blade Y1 front portion 105F, the steering blade Y2 front portion 106F, the steering blade Z1 front portion 107F, and the steering blade Z2 front portion 108F are referred to as roll steering blades.

ピッチレートセンサ１０１Ｐはピッチ方向の機体の姿勢変化を示す機体レートをピッチ制御回路１０２Ｐに出力する。ピッチ制御回路１０２Ｐはピッチ操舵信号を生成し、例えばモータから構成されるピッチ制御用駆動部１０３Ｐに出力する。ピッチ制御用駆動部１０３Ｐはピッチ操舵信号に従ってピッチギア（以下、Ｐギアと呼ぶ。）１０４Ｐを回転させる。Ｐギア１０４Ｐは操舵翼Ｙ１後部１０５Ｒと操舵翼Ｙ２後部１０６Ｒとを、それぞれ機体中心から見て逆方向に回動させる。操舵翼Ｙ１後部１０５Ｒと操舵翼Ｙ２後部１０６Ｒとをピッチ操舵翼と呼ぶ。   The pitch rate sensor 101P outputs a body rate indicating a change in posture of the body in the pitch direction to the pitch control circuit 102P. The pitch control circuit 102P generates a pitch steering signal and outputs the pitch steering signal to a pitch control drive unit 103P constituted by, for example, a motor. The pitch control drive unit 103P rotates a pitch gear (hereinafter referred to as a P gear) 104P according to a pitch steering signal. The P gear 104P rotates the steering blade Y1 rear portion 105R and the steering blade Y2 rear portion 106R in opposite directions as viewed from the center of the body. The steering blade Y1 rear portion 105R and the steering blade Y2 rear portion 106R are referred to as pitch steering blades.

ヨーレートセンサ１０１Ｙはヨー方向の機体の姿勢変化を示す機体レートをヨー制御回路１０２Ｙに出力する。ヨー制御回路１０２Ｙはヨー操舵信号を生成し、例えばモータから構成されるヨー制御用駆動部１０３Ｙに出力する。ヨー制御用駆動部１０３Ｙはヨー操舵信号に従ってヨーギア（以下、Ｙギアと呼ぶ。）１０４Ｙを回転させる。Ｙギア１０４Ｙは操舵翼Ｚ１後部１０７Ｒと操舵翼Ｚ２後部１０８Ｒとを、それぞれ機体中心から見て逆方向に回動させる。操舵翼Ｚ１後部１０７Ｒと操舵翼Ｚ２後部１０８Ｒとをヨー操舵翼と呼ぶ。   The yaw rate sensor 101Y outputs a body rate indicating a change in posture of the body in the yaw direction to the yaw control circuit 102Y. The yaw control circuit 102Y generates a yaw steering signal and outputs the yaw steering signal to the yaw control drive unit 103Y configured by a motor, for example. The yaw control drive unit 103Y rotates a yaw gear (hereinafter referred to as Y gear) 104Y according to a yaw steering signal. The Y gear 104Y rotates the steering blade Z1 rear portion 107R and the steering blade Z2 rear portion 108R in opposite directions as viewed from the center of the body. The steering blade Z1 rear portion 107R and the steering blade Z2 rear portion 108R are referred to as yaw steering blades.

図２は操舵装置１０９を前方から見た図である。図３は操舵装置１０９を図２矢印Ｘの方向から見た図である。図４は操舵装置１０９を図２矢印Ｙの方向から見た図である。図５は操舵装置１０９の分解斜視図である。   FIG. 2 is a view of the steering device 109 as viewed from the front. FIG. 3 is a view of the steering device 109 as seen from the direction of the arrow X in FIG. FIG. 4 is a view of the steering device 109 as seen from the direction of the arrow Y in FIG. FIG. 5 is an exploded perspective view of the steering device 109.

図２乃至図５に示すように、操舵翼Ｙ１後部１０５Ｒと操舵翼Ｙ２後部１０６ＲとはＹロッド３０１により結合されている。Ｙロッド３０１はＰギア１０４Ｐを介してピッチ制御用駆動部１０３Ｐによって回転される。このＹロッド３０１の回転により機体中心から見て操舵翼Ｙ１後部１０５Ｒと操舵翼Ｙ２後部１０６Ｒとがそれぞれ逆方向に回動する。   As shown in FIGS. 2 to 5, the steering blade Y1 rear portion 105R and the steering blade Y2 rear portion 106R are coupled by a Y rod 301. The Y rod 301 is rotated by the pitch control drive unit 103P via the P gear 104P. The rotation of the Y rod 301 causes the steering blade Y1 rear portion 105R and the steering blade Y2 rear portion 106R to rotate in opposite directions as viewed from the center of the body.

操舵翼Ｚ１後部１０７Ｒと操舵翼Ｚ２後部１０８ＲとはＺロッド３０２により結合されている。Ｚロッド３０２はＹギア１０４Ｙを介してヨー制御用駆動部１０３Ｙによって回転される。このＺロッド３０２の回転により機体中心から見て操舵翼Ｚ１後部１０７Ｒと操舵翼Ｚ２後部１０８Ｒとがそれぞれ逆方向に回動する。   The steering blade Z1 rear portion 107R and the steering blade Z2 rear portion 108R are coupled by a Z rod 302. The Z rod 302 is rotated by the yaw control drive unit 103Y via the Y gear 104Y. The rotation of the Z rod 302 causes the steering blade Z1 rear portion 107R and the steering blade Z2 rear portion 108R to rotate in opposite directions as viewed from the center of the body.

Ｒギア１０４Ｒは、傘歯歯車を有するＹ１傘歯ロッド３０４と傘歯歯車を有するＹ１駆動ロッド３０３を介して操舵翼Ｙ１前部１０５Ｆを回動させる。Ｒギア１０４Ｒは、傘歯歯車を有するＹ２傘歯ロッド３０６と傘歯歯車を有するＹ２駆動ロッド３０５を介して操舵翼Ｙ２前部１０６Ｆを回動させる。   The R gear 104R rotates the steering blade Y1 front portion 105F via a Y1 bevel tooth rod 304 having a bevel gear and a Y1 drive rod 303 having a bevel gear. The R gear 104R rotates the steering blade Y2 front part 106F via a Y2 bevel tooth rod 306 having a bevel gear and a Y2 drive rod 305 having a bevel gear.

Ｒギア１０４Ｒは、傘歯歯車を有するＺ１傘歯ロッド４０４と傘歯歯車を有するＺ１駆動ロッド４０３を介して操舵翼Ｚ１前部１０７Ｆを回動させる。Ｒギア１０４Ｒは、傘歯歯車を有するＺ２傘歯ロッド４０６と傘歯歯車を有するＺ２駆動ロッド４０５を介して操舵翼Ｚ２前部１０８Ｆを回動させる。   The R gear 104R rotates the steering blade Z1 front portion 107F via a Z1 bevel tooth rod 404 having a bevel gear and a Z1 drive rod 403 having a bevel gear. The R gear 104R rotates the steering blade Z2 front portion 108F via a Z2 bevel tooth rod 406 having a bevel gear and a Z2 drive rod 405 having a bevel gear.

図６は操舵装置１０９のピッチ舵を示す図である。図６（ａ）は機体後方から、図６（ｂ）は機体側面操舵翼Ｙ２（１０６）方向から見た図である。ピッチ舵の場合、操舵装置１０９は操舵翼Ｙ１後部１０５Ｒと操舵翼Ｙ２後部１０６Ｒとを−Ｚ方向に回動させる。この回動により、矢印Ａ方向の揚力が生じピッチ方向に飛しょう体が旋回する。   FIG. 6 is a view showing the pitch rudder of the steering device 109. 6A is a view as seen from the rear of the fuselage, and FIG. 6B is a view as seen from the direction of the fuselage side steering blade Y2 (106). In the case of a pitch rudder, the steering device 109 rotates the steering blade Y1 rear portion 105R and the steering blade Y2 rear portion 106R in the -Z direction. By this rotation, lift in the direction of arrow A occurs, and the flying body turns in the pitch direction.

図７は操舵装置１０９のヨー舵を示す図である。図７（ａ）は機体後方から、図７（ｂ）は機体側面操舵翼Ｙ２（１０６）方向から見た図である。ヨー舵の場合、操舵装置１０９は操舵翼Ｚ１後部１０７Ｒと操舵翼Ｚ２後部１０８Ｒとを−Ｙ方向に回動させる。この回動により、矢印Ａ方向及び黒丸手前方向の揚力が生じヨー方向に飛しょう体が旋回する。   FIG. 7 is a view showing a yaw rudder of the steering device 109. FIG. 7A is a view from the rear of the fuselage, and FIG. 7B is a view from the direction of the fuselage side steering wing Y2 (106). In the case of a yaw rudder, the steering device 109 rotates the steering blade Z1 rear portion 107R and the steering blade Z2 rear portion 108R in the -Y direction. By this rotation, lift in the direction of arrow A and the front of the black circle occurs, and the flying body turns in the yaw direction.

図８は操舵装置１０９のロール舵を示す図である。図８（ａ）は機体後方から、図８（ｂ）は機体側面操舵翼Ｙ２（１０６）方向から見た図である。ロール舵の場合、操舵装置１０９は操舵翼Ｙ１前部１０５Ｆと操舵翼Ｙ２前部１０６Ｆと操舵翼Ｚ１前部１０７Ｆと操舵翼Ｚ２前部１０８Ｆとをそれぞれ時計回り方向に回動させる。この回動により、図８（ａ）の矢印Ａ方向に揚力が生じる。図８（ｂ）においては、操舵翼Ｙ１前部１０５Ｆには矢印Ｂ方向の、操舵翼Ｙ２前部１０６Ｆには矢印Ｂ方向の、操舵翼Ｚ１前部１０７Ｆには黒丸手前方向の、操舵翼Ｚ２前部１０８Ｆには白丸向方向の揚力がそれぞれ生じ、機体がロール方向に回転する。   FIG. 8 is a view showing a roll rudder of the steering device 109. 8A is a view as seen from the rear of the fuselage, and FIG. 8B is a view as seen from the direction of the fuselage side steering blade Y2 (106). In the case of a roll rudder, the steering device 109 rotates the steering blade Y1 front portion 105F, the steering blade Y2 front portion 106F, the steering blade Z1 front portion 107F, and the steering blade Z2 front portion 108F in the clockwise direction. By this rotation, lift is generated in the direction of arrow A in FIG. In FIG. 8B, the steering blade Z2 in the direction of the arrow B for the steering blade Y1 front portion 105F, the steering blade Z2 in the direction of the arrow B for the steering blade Y2 front portion 106F, and the forward direction of the black circle in the steering blade Z1 front portion 107F. A lift in the direction of the white circle is generated in the front portion 108F, and the body rotates in the roll direction.

図９は従来の操舵装置における舵角制御を示す図である。図９（ｂ）乃至図９（ｅ）は図９（ａ）におけるＹ１、Ｙ２、Ｚ１、Ｚ２の各方向から見た操舵翼を示す図である。例えば、ロール舵とピッチ舵とヨー舵とを同時に切る場合、操舵翼Ｙ１においてはロール角σＲ＋ピッチ角σＰ、操舵翼Ｙ２においてはσＲ−σＰ、操舵翼Ｚ１においてはヨー角σＹ＋σＲ、操舵翼Ｚ２においては−σＹ＋σＲとなり、すべて異なってしまう。このため、操舵翼を駆動させるモータを４つ備える必要があった。   FIG. 9 is a diagram showing steering angle control in a conventional steering apparatus. FIGS. 9B to 9E are views showing the steering blades viewed from the directions Y1, Y2, Z1, and Z2 in FIG. 9A. For example, when simultaneously turning the roll rudder, pitch rudder and yaw rudder, the roll angle σR + pitch angle σP for the steering blade Y1, σR−σP for the steering blade Y2, the yaw angle σY + σR for the steering blade Z1, and the steering blade Z2 Becomes −σY + σR, which are all different. For this reason, it is necessary to provide four motors for driving the steering blades.

図１０は操舵装置１０９における舵角制御を示す図である。図１０（ｂ）乃至図１０（ｅ）は図１０（ａ）におけるＹ１、Ｙ２、Ｚ１、Ｚ２の各方向から見た操舵翼を示す図である。例えば、ロール舵とピッチ舵とヨー舵とを同時に切る場合、ロール制御用駆動部１０３Ｒが操舵翼Ｙ１前部１０５Ｆと操舵翼Ｙ２前部１０６Ｆと操舵翼Ｚ１前部１０７Ｆと操舵翼Ｚ２前部１０８Ｆとを機体中心から見て同方向にσＲ回動させる。また、ピッチ制御用駆動部１０３Ｐは操舵翼Ｙ１後部１０５Ｒと操舵翼Ｙ２後部１０６Ｒとを機体中心から見て逆方向にσＰ回動させる。そして、ヨー制御用駆動部１０３Ｙは操舵翼Ｚ１後部１０７Ｒと操舵翼Ｚ２後部１０８Ｒとを機体中心から見て逆方向にσＹ回動させる。このため、操舵翼を駆動させるモータは３つで済む。   FIG. 10 is a diagram showing the steering angle control in the steering device 109. FIGS. 10B to 10E are views showing the steering blades viewed from the directions Y1, Y2, Z1, and Z2 in FIG. 10A. For example, when the roll rudder, the pitch rudder, and the yaw rudder are simultaneously turned off, the roll control drive unit 103R has the steering blade Y1 front portion 105F, the steering blade Y2 front portion 106F, the steering blade Z1 front portion 107F, and the steering blade Z2 front portion 108F. And σR in the same direction as seen from the center of the machine. Further, the pitch control drive unit 103P rotates the steering blade Y1 rear portion 105R and the steering blade Y2 rear portion 106R by σP in the opposite directions when viewed from the center of the body. Then, the yaw control drive unit 103Y rotates the steering blade Z1 rear portion 107R and the steering blade Z2 rear portion 108R by σY in the opposite directions when viewed from the center of the fuselage. For this reason, only three motors drive the steering blade.

以上述べたように、本実施形態の操舵装置１０９は各操舵翼が前部操舵翼と後部操舵翼とを備え、ロール方向の舵角制御をロール制御用駆動部１０３Ｒが前部操舵翼を回動させることにより行う。   As described above, in the steering device 109 according to the present embodiment, each steering wing includes a front steering wing and a rear steering wing, and the roll control drive unit 103R rotates the front steering wing in the roll direction. It is done by moving.

このため、俊敏な舵角制御が可能となり、機体の重量を低減させることが可能となるという効果がある。   For this reason, agile steering angle control is possible, and the weight of the aircraft can be reduced.

操舵装置１０９の概要を示した構成図である。FIG. 2 is a configuration diagram showing an outline of a steering device 109. 操舵装置１０９を前方から見た図である。It is the figure which looked at the steering apparatus 109 from the front. 操舵装置１０９を図２矢印Ｘの方向から見た図である。It is the figure which looked at the steering apparatus 109 from the direction of the arrow X of FIG. 操舵装置１０９を図２矢印Ｙの方向から見た図である。It is the figure which looked at the steering apparatus 109 from the direction of arrow Y of FIG. 操舵装置１０９の分解斜視図である。2 is an exploded perspective view of a steering device 109. FIG. 操舵装置１０９のピッチ舵を示す図である。It is a figure which shows the pitch rudder of the steering apparatus 109. FIG. 操舵装置１０９のヨー舵を示す図である。It is a figure which shows the yaw rudder of the steering apparatus. 操舵装置１０９のロール舵を示す図である。It is a figure which shows the roll rudder of the steering apparatus 109. FIG. 従来の操舵装置における舵角制御を示す図である。It is a figure which shows the steering angle control in the conventional steering apparatus. 操舵装置１０９における舵角制御を示す図である。It is a figure which shows the steering angle control in the steering apparatus.

符号の説明Explanation of symbols

１０３Ｒ：ロール制御用駆動部、
１０３Ｐ：ピッチ制御用駆動部、
１０３Ｙ：ヨー制御用駆動部、
１０４Ｒ：Ｒギア、
１０４Ｐ：Ｐギア、
１０４Ｙ：Ｙギア、
１０５：操舵翼Ｙ１、
１０６：操舵翼Ｙ２、
１０７：操舵翼Ｚ１、
１０８：操舵翼Ｚ２、
１０９：操舵装置。 103R: Roll control drive unit,
103P: Pitch control drive unit,
103Y: Yaw control drive unit,
104R: R gear,
104P: P gear,
104Y: Y gear,
105: Steering blade Y1,
106: Steering wing Y2,
107: Steering blade Z1,
108: Steering wing Z2,
109: Steering device.

Claims (4)

駆動力を発生させるロール制御用駆動部と、前記ロール制御用駆動部からの駆動力を受けてこの駆動力を伝達するロールギアと、前記ロールギアからの駆動力を受けて機体中心から見て同方向に回動する複数のロール操舵翼と、
駆動力を発生させるピッチ制御用駆動部と、前記ピッチ制御用駆動部からの駆動力を受けてこの駆動力を伝達するピッチギアと、前記ピッチギアからの駆動力を受けて機体中心から見て逆方向に回動する複数のピッチ操舵翼と、
駆動力を発生させるヨー制御用駆動部と、前記ヨー制御用駆動部からの駆動力を受けてこの駆動力を伝達するヨーギアと、前記ヨーギアからの駆動力を受けて機体中心から見て逆方向に回動する複数のヨー操舵翼と、
を備える操舵装置。 A roll control drive unit that generates a drive force, a roll gear that receives the drive force from the roll control drive unit, and transmits the drive force, and receives the drive force from the roll gear in the same direction as viewed from the center of the machine body A plurality of roll steering blades that rotate to
A pitch control drive unit that generates a drive force, a pitch gear that receives the drive force from the pitch control drive unit and transmits the drive force, and a reverse direction as viewed from the center of the machine body that receives the drive force from the pitch gear A plurality of pitch steering blades that rotate to
A yaw control drive unit that generates a driving force, a yaw gear that receives the driving force from the yaw control driving unit and transmits the driving force, and a reverse direction as viewed from the center of the machine body that receives the driving force from the yaw gear A plurality of yaw steering blades that rotate
A steering apparatus comprising: 前記ピッチ操舵翼が前記ロール操舵翼と回動可能に連結され、前記ヨー操舵翼が前記ロール操舵翼と回動可能に連結されていることを特徴とする請求項１記載の操舵装置。   The steering apparatus according to claim 1, wherein the pitch steering blade is rotatably connected to the roll steering blade, and the yaw steering blade is rotatably connected to the roll steering blade. 機体の姿勢変化を機体レートとして検出するレートセンサと、
前記機体レートに基づいて操舵信号を生成する飛しょう制御回路と、をさらに備え、
前記飛しょう制御回路が、
ロール方向の操舵信号のみをロール制御用駆動部に、
ピッチ方向の操舵信号のみをピッチ制御用駆動部に、
ヨー方向の操舵信号のみをヨー制御用駆動部に、それぞれ出力することを特徴とする請求項１記載の操舵装置。 A rate sensor that detects the attitude change of the aircraft as the aircraft rate;
A flight control circuit that generates a steering signal based on the airframe rate, and
The flight control circuit is
Only the steering signal in the roll direction is sent to the roll control drive unit.
Only the steering signal in the pitch direction is sent to the pitch control drive unit.
2. The steering apparatus according to claim 1, wherein only the steering signal in the yaw direction is output to the yaw control drive unit. 機体の姿勢変化を機体レートとして検出するレートセンサと、
前記機体レートに基づいて操舵信号を生成する飛しょう制御回路と、
前記操舵信号に基づいて駆動力を発生させるロール制御用駆動部と、前記ロール制御用駆動部からの駆動力を受けてこの駆動力を伝達するロールギアと、前記ロールギアからの駆動力を受けて機体中心から見て同方向に回動する複数のロール操舵翼と、
前記操舵信号に基づいて駆動力を発生させるピッチ制御用駆動部と、前記ピッチ制御用駆動部からの駆動力を受けてこの駆動力を伝達するピッチギアと、前記ピッチギアからの駆動力を受けて機体中心から見て逆方向に回動する複数のピッチ操舵翼と、
前記操舵信号に基づいて駆動力を発生させるヨー制御用駆動部と、前記ヨー制御用駆動部からの駆動力を受けてこの駆動力を伝達するヨーギアと、前記ヨーギアからの駆動力を受けて機体中心から見て逆方向に回動する複数のヨー操舵翼と、
を備える操舵装置と、
を備える飛しょう体。 A rate sensor that detects the attitude change of the aircraft as the aircraft rate;
A flight control circuit for generating a steering signal based on the airframe rate;
A roll control drive unit that generates a drive force based on the steering signal, a roll gear that receives the drive force from the roll control drive unit, and transmits the drive force, and an airframe that receives the drive force from the roll gear A plurality of roll steering blades rotating in the same direction as viewed from the center;
A pitch control drive unit that generates a drive force based on the steering signal, a pitch gear that receives the drive force from the pitch control drive unit, and transmits the drive force, and an airframe that receives the drive force from the pitch gear A plurality of pitch steering blades rotating in opposite directions when viewed from the center;
A yaw control driving unit that generates a driving force based on the steering signal, a yaw gear that receives the driving force from the yaw control driving unit and transmits the driving force, and an airframe that receives the driving force from the yaw gear A plurality of yaw steering blades rotating in opposite directions when viewed from the center;
A steering device comprising:
Flying body equipped with.
JP2008308476A 2008-12-03 2008-12-03 Steering device and flying body having this steering device Pending JP2010133599A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2008308476A JP2010133599A (en) 2008-12-03 2008-12-03 Steering device and flying body having this steering device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2008308476A JP2010133599A (en) 2008-12-03 2008-12-03 Steering device and flying body having this steering device

Publications (1)

Publication Number Publication Date
JP2010133599A true JP2010133599A (en) 2010-06-17

Family

ID=42345054

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2008308476A Pending JP2010133599A (en) 2008-12-03 2008-12-03 Steering device and flying body having this steering device

Country Status (1)

Country Link
JP (1) JP2010133599A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115325889A (en) * 2022-09-01 2022-11-11 北京中科宇航技术有限公司 Control system for leaf surface rotating grid rudder

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115325889A (en) * 2022-09-01 2022-11-11 北京中科宇航技术有限公司 Control system for leaf surface rotating grid rudder
CN115325889B (en) * 2022-09-01 2023-09-29 北京中科宇航技术有限公司 Leaf surface rotating grid rudder control system

Similar Documents

Publication Publication Date Title
CN112020465B (en) Thrust distribution for aircraft
US11970287B2 (en) Autonomous aerial vehicle hardware configuration
EP3098161B1 (en) Vertical take-off aircraft
EP3269640B1 (en) Unmanned aerial vehicle
US8777152B2 (en) Method and an aircraft provided with a swiveling tail rotor
EP3328731B1 (en) Multi-rotor uav flight control method
EP3385160A1 (en) Helicopter with wing augmented lift
US9272789B2 (en) Rotary wing rotorcraft having a plurality of propellers
JP2010208501A (en) Unmanned aircraft and unmanned aircraft system
KR20150073617A (en) Multi rotor aerial vehicle
JP2010254264A (en) Unmanned aircraft landing and departing perpendicularly by tilt wing mechanism
CN110155320B (en) Anti-torque system for rotorcraft
KR102651105B1 (en) A system for forming a two-degree-of-freedom actuator, for example, a system for changing the pitch angle of a propeller blade during rotation.
JP2012111475A (en) Vertical takeoff and landing unmanned aircraft by wing-rotor
WO2012080847A2 (en) Improved helicopter with two or more rotor heads
JP2009202737A (en) Unmanned aircraft and unmanned aircraft system
US20200324900A1 (en) Unmanned aerial vehicle and control method for unmanned aerial vehicle
JP2009051381A (en) Cycloidal blade
EP3269639B1 (en) Aircraft and roll method thereof
KR20150088639A (en) Unmanned aerial vehicle having a camera
JP2010133599A (en) Steering device and flying body having this steering device
EP3822732B1 (en) Control method and apparatus for unmanned aerial vehicle and unmanned aerial vehicle
KR101261867B1 (en) Pod type propulsion device and ship with the same
JP6772917B2 (en) Aircraft
JP2017074868A (en) Rotorcraft